+ python -m lidar_slam --no-model /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a Lidar SLAM 0.0.14 ===================================================== The recording path: /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a 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 0.015898227 Adjusted end_distance from 9.223372036854776e+18 to 397.625898227 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.015898227 meters Centerline goodness : 0.133430 Centerline is valid? [0, False] SLAMing on 0.045898227 meters Centerline goodness : 0.153153 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999703e-01 6.36224846e-04 -4.35523062e-04 9.12558899e-03] [-6.35976014e-04 9.99999635e-01 5.71241726e-04 -4.18682040e-03] [ 4.35886341e-04 -5.70964574e-04 9.99999742e-01 -3.87960793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.075898227 meters Centerline goodness : 0.174545 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99998854e-01 1.08356926e-03 -1.05763670e-03 1.49616908e-02] [-1.08277846e-03 9.99999134e-01 7.47992763e-04 -3.55232954e-03] [ 1.05844629e-03 -7.46846720e-04 9.99999161e-01 -6.54054333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.105898227 meters Centerline goodness : 0.204136 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99999719 0.00169931 -0.0016521 0.02151727] [-0.00169756 0.99999799 0.00106386 -0.00368753] [ 0.0016539 -0.00106105 0.99999807 -0.01016355] [ 0. 0. 0. 1. ]] SLAMing on 0.13589822699999998 meters Centerline goodness : 0.114685 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99999546 0.00221719 -0.00204086 0.0270142 ] [-0.00221426 0.99999651 0.00144009 -0.00573094] [ 0.00204405 -0.00143556 0.99999688 -0.01343233] [ 0. 0. 0. 1. ]] SLAMing on 0.165898227 meters Centerline goodness : 0.144296 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99999293 0.00275558 -0.00255781 0.03323071] [-0.00275108 0.99999467 0.00176067 -0.00659308] [ 0.00256265 -0.00175362 0.99999518 -0.01691268] [ 0. 0. 0. 1. ]] SLAMing on 0.19589822699999998 meters Centerline goodness : 0.170969 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 0.99998916 0.00354589 -0.00301901 0.04350867] [-0.00353986 0.99999173 0.0020004 -0.00870988] [ 0.00302608 -0.00198969 0.99999344 -0.02086473] [ 0. 0. 0. 1. ]] SLAMing on 0.225898227 meters Centerline goodness : 0.197572 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 0.9999855 0.00404373 -0.00355645 0.04972603] [-0.00403561 0.99998924 0.00228639 -0.00981198] [ 0.00356566 -0.002272 0.99999106 -0.02383509] [ 0. 0. 0. 1. ]] SLAMing on 0.255898227 meters Centerline goodness : 0.196941 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.03 [[ 0.99998167 0.00336223 -0.00503453 0.06619033] [-0.00335504 0.99999334 0.00143526 -0.01035764] [ 0.00503932 -0.00141835 0.9999863 -0.03001353] [ 0. 0. 0. 1. ]] SLAMing on 0.285898227 meters Centerline goodness : 0.230337 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.03 [[ 0.9999777 0.00381095 -0.00548493 0.0718881 ] [-0.00380132 0.99999122 0.00176464 -0.01271335] [ 0.0054916 -0.00174375 0.9999834 -0.03270254] [ 0. 0. 0. 1. ]] SLAMing on 0.315898227 meters Centerline goodness : 0.226420 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.04 [[ 0.99997317 0.00424051 -0.00597373 0.07760832] [-0.00422902 0.99998919 0.00193393 -0.0133431 ] [ 0.00598187 -0.00190861 0.99998029 -0.03531521] [ 0. 0. 0. 1. ]] SLAMing on 0.34589822699999995 meters Centerline goodness : 0.234938 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.04 [[ 0.99996949 0.0047315 -0.00621495 0.08273824] [-0.00471795 0.99998647 0.00219324 -0.01548496] [ 0.00622524 -0.00216385 0.99997828 -0.03788042] [ 0. 0. 0. 1. ]] SLAMing on 0.375898227 meters Centerline goodness : 0.231956 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.04 [[ 0.99997753 0.00146547 -0.00654129 0.0871505 ] [-0.00147921 0.99999671 -0.00209659 -0.01074516] [ 0.0065382 0.00210622 0.99997641 -0.03847484] [ 0. 0. 0. 1. ]] SLAMing on 0.405898227 meters Centerline goodness : 0.233400 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.04 [[ 0.99997244 0.00211333 -0.00711713 0.09410087] [-0.0021262 0.99999612 -0.00180089 -0.01155094] [ 0.0071133 0.00181598 0.99997305 -0.04185148] [ 0. 0. 0. 1. ]] SLAMing on 0.43589822699999997 meters Centerline goodness : 0.238770 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.04 [[ 0.9999202 0.0067637 -0.01066959 0.12484736] [-0.00679826 0.99997175 -0.00320606 -0.00784113] [ 0.0106476 0.00327834 0.99993794 -0.03769216] [ 0. 0. 0. 1. ]] SLAMing on 0.46589822699999994 meters Centerline goodness : 0.242351 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.04 [[ 0.9999029 0.00776024 -0.01157486 0.13427204] [-0.0077925 0.99996587 -0.0027449 -0.00763409] [ 0.01155316 0.00283484 0.99992924 -0.04221164] [ 0. 0. 0. 1. ]] SLAMing on 0.49589822699999997 meters Centerline goodness : 0.238321 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.05 [[ 0.99988693 0.00848377 -0.0124157 0.14252534] [-0.00851565 0.99996057 -0.00251676 -0.00716223] [ 0.01239386 0.0026222 0.99991975 -0.04574059] [ 0. 0. 0. 1. ]] SLAMing on 0.525898227 meters Centerline goodness : 0.250265 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.05 [[ 0.99987076 0.00915075 -0.0132183 0.15025038] [-0.00918158 0.99995526 -0.00227348 -0.00670502] [ 0.01319691 0.00239455 0.99991005 -0.04896002] [ 0. 0. 0. 1. ]] SLAMing on 0.555898227 meters SLAMing on 0.5858982269999999 meters Centerline goodness : 0.271906 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.05 [[ 0.99984299 0.01417718 -0.01063035 0.22074629] [-0.01414679 0.99989564 0.00292884 -0.00539779] [ 0.01067076 -0.00277799 0.99993921 -0.05254255] [ 0. 0. 0. 1. ]] SLAMing on 0.615898227 meters Centerline goodness : 0.287182 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.06 [[ 0.99982884 0.01471641 -0.01121219 0.22770518] [-0.01468149 0.99988713 0.00318991 -0.00585282] [ 0.01125787 -0.00302475 0.99993205 -0.05574241] [ 0. 0. 0. 1. ]] SLAMing on 0.645898227 meters Centerline goodness : 0.276752 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.06 [[ 0.99981413 0.01523668 -0.01181293 0.23487086] [-0.01519641 0.99987843 0.00349116 -0.00729981] [ 0.01186469 -0.003311 0.99992413 -0.0592437 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6758982269999999 meters Centerline goodness : 0.277420 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.00, Z:-0.06 [[ 0.99970362 0.01866473 -0.01563007 0.26712155] [-0.01863783 0.99982456 0.00186483 -0.00492991] [ 0.01566214 -0.00157297 0.9998761 -0.05714671] [ 0. 0. 0. 1. ]] SLAMing on 0.7058982269999999 meters Centerline goodness : 0.356852 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:-0.06 [[ 0.99967721 0.01942368 -0.01637659 0.27524917] [-0.01938959 0.9998095 0.00223807 -0.00374577] [ 0.01641695 -0.00191981 0.99986339 -0.06104343] [ 0. 0. 0. 1. ]] SLAMing on 0.735898227 meters Centerline goodness : 0.079723 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:-0.06 [[ 0.99965422 0.01999488 -0.01707778 0.28250548] [-0.01995584 0.99979785 0.00245312 -0.00242862] [ 0.01712338 -0.00211147 0.99985115 -0.06412409] [ 0. 0. 0. 1. ]] SLAMing on 0.765898227 meters Centerline goodness : 0.322338 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:-0.07 [[ 0.99963438 0.02045766 -0.01768003 0.28927149] [-0.02041369 0.99978807 0.00266396 -0.00258689] [ 0.01773078 -0.00230207 0.99984015 -0.06712825] [ 0. 0. 0. 1. ]] SLAMing on 0.795898227 meters Centerline goodness : 0.064195 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.00, Z:-0.07 [[ 0.99961422 0.0208995 -0.0182927 0.29628923] [-0.02084961 0.99977838 0.00291369 -0.00374842] [ 0.01834954 -0.00253117 0.99982843 -0.07042037] [ 0. 0. 0. 1. ]] SLAMing on 0.8258982269999999 meters Centerline goodness : 0.280982 Centerline is valid? [False, False] Translation: X:0.34, Y:0.00, Z:-0.06 [[ 9.99482129e-01 2.09769058e-02 -2.44017138e-02 3.35183817e-01] [-2.09513870e-02 9.99779649e-01 1.30100234e-03 2.95138627e-03] [ 2.44236279e-02 -7.89078842e-04 9.99701387e-01 -5.93773666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.855898227 meters Centerline goodness : 0.321899 Centerline is valid? [False, False] Translation: X:0.34, Y:0.00, Z:-0.06 [[ 9.99452695e-01 2.14841747e-02 -2.51543537e-02 3.43025408e-01] [-2.14555086e-02 9.99768811e-01 1.40897578e-03 4.47727372e-03] [ 2.51788089e-02 -8.68505191e-04 9.99682586e-01 -6.23893954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.885898227 meters Centerline goodness : 0.289096 Centerline is valid? [False, False] Translation: X:0.35, Y:0.01, Z:-0.07 [[ 9.99421769e-01 2.19906603e-02 -2.59333465e-02 3.51187572e-01] [-2.19583209e-02 9.99757714e-01 1.53117154e-03 5.86641453e-03] [ 2.59607347e-02 -9.60833425e-04 9.99662502e-01 -6.56740178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9158982269999999 meters Centerline goodness : 0.303177 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:-0.07 [[ 0.99938982 0.02250417 -0.02671244 0.35938036] [-0.02246624 0.99974612 0.00171912 0.00620213] [ 0.02674434 -0.00111794 0.99964168 -0.06896204] [ 0. 0. 0. 1. ]] SLAMing on 0.9458982269999999 meters Centerline goodness : 0.296596 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.07 [[ 0.99935903 0.02300036 -0.02743208 0.36735365] [-0.0229559 0.99973461 0.00193468 0.00551101] [ 0.0274693 -0.00130371 0.9996218 -0.0722508 ] [ 0. 0. 0. 1. ]] SLAMing on 0.975898227 meters SLAMing on 1.005898227 meters SLAMing on 1.0358982270000001 meters Centerline goodness : 0.308745 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.07 [[ 9.99276465e-01 2.62054203e-02 -2.75648631e-02 4.54438716e-01] [-2.61847834e-02 9.99656504e-01 1.10942153e-03 1.24352849e-02] [ 2.75844675e-02 -3.86838859e-04 9.99619401e-01 -7.48654404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0658982270000001 meters Centerline goodness : 0.308745 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.07 [[ 9.99276465e-01 2.62054203e-02 -2.75648631e-02 4.54438716e-01] [-2.61847834e-02 9.99656504e-01 1.10942153e-03 1.24352849e-02] [ 2.75844675e-02 -3.86838859e-04 9.99619401e-01 -7.48654404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0958982270000002 meters Centerline goodness : 0.332896 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.07 [[ 0.99902309 0.02842962 -0.0338324 0.49475872] [-0.02832088 0.99959208 0.00368913 0.017049 ] [ 0.03392348 -0.00272736 0.99942071 -0.06696975] [ 0. 0. 0. 1. ]] SLAMing on 1.125898227 meters Centerline goodness : 0.322838 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:-0.07 [[ 0.99899044 0.02890785 -0.03438668 0.501133 ] [-0.02879746 0.99957841 0.00370144 0.01878865] [ 0.03447919 -0.00270745 0.99940175 -0.06933934] [ 0. 0. 0. 1. ]] SLAMing on 1.155898227 meters Centerline goodness : 0.310840 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.07 [[ 0.9989563 0.02941764 -0.0349417 0.5074641 ] [-0.02930201 0.99956332 0.00381681 0.01972102] [ 0.03503872 -0.00278897 0.99938206 -0.07176657] [ 0. 0. 0. 1. ]] SLAMing on 1.185898227 meters Centerline goodness : 0.294535 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.07 [[ 0.99892206 0.02990507 -0.03550207 0.51436517] [-0.02978177 0.99954843 0.00399684 0.02017685] [ 0.03560556 -0.00293522 0.99936161 -0.07473866] [ 0. 0. 0. 1. ]] SLAMing on 1.215898227 meters Centerline goodness : 0.305421 Centerline is valid? [False, False] Translation: X:0.54, Y:0.02, Z:-0.08 [[ 0.99910599 0.02176032 -0.03624501 0.54079257] [-0.02144049 0.99972789 0.00918937 0.02434452] [ 0.03643511 -0.00840404 0.99930068 -0.07910378] [ 0. 0. 0. 1. ]] SLAMing on 1.245898227 meters Centerline goodness : 0.319665 Centerline is valid? [False, False] Translation: X:0.55, Y:0.02, Z:-0.08 [[ 0.9990804 0.02201698 -0.0367915 0.54732411] [-0.02168354 0.99972034 0.00943757 0.02285784] [ 0.03698899 -0.00863112 0.9992784 -0.08203081] [ 0. 0. 0. 1. ]] SLAMing on 1.275898227 meters Centerline goodness : 0.313939 Centerline is valid? [False, False] Translation: X:0.58, Y:0.02, Z:-0.09 [[ 0.99938143 0.01819833 -0.03009277 0.58311118] [-0.01782982 0.99976328 0.0124691 0.02274905] [ 0.03031257 -0.01192484 0.99946933 -0.08844182] [ 0. 0. 0. 1. ]] SLAMing on 1.3058982270000001 meters Centerline goodness : 0.299836 Centerline is valid? [False, False] Translation: X:0.59, Y:0.03, Z:-0.09 [[ 0.99941719 0.01478214 -0.03076956 0.58973252] [-0.01452655 0.99985824 0.00851364 0.02614906] [ 0.03089104 -0.0080617 0.99949025 -0.09053121] [ 0. 0. 0. 1. ]] SLAMing on 1.335898227 meters Centerline goodness : 0.312089 Centerline is valid? [False, False] Translation: X:0.61, Y:0.02, Z:-0.11 [[ 0.99961238 0.01626271 -0.0225969 0.60548778] [-0.01610127 0.99984366 0.00730797 0.02485147] [ 0.02271222 -0.0069413 0.99971795 -0.11132102] [ 0. 0. 0. 1. ]] SLAMing on 1.365898227 meters Centerline goodness : 0.303474 Centerline is valid? [False, False] Translation: X:0.63, Y:0.03, Z:-0.12 [[ 0.99972921 0.00736427 -0.0220744 0.62969453] [-0.00708918 0.99989656 0.01251473 0.02896345] [ 0.02216428 -0.01235485 0.999678 -0.11585648] [ 0. 0. 0. 1. ]] SLAMing on 1.395898227 meters Centerline goodness : 0.302930 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.12 [[ 0.99972835 0.00397807 -0.02296543 0.63742896] [-0.00377938 0.99995511 0.0086886 0.032628 ] [ 0.02299897 -0.00859945 0.9996985 -0.11829641] [ 0. 0. 0. 1. ]] SLAMing on 1.425898227 meters Centerline goodness : 0.309579 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.12 [[ 9.99719053e-01 2.75079568e-04 -2.37010346e-02 6.43959911e-01] [-1.65464074e-04 9.99989283e-01 4.62676139e-03 3.57571930e-02] [ 2.37020534e-02 -4.62153985e-03 9.99708384e-01 -1.20246914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.455898227 meters Centerline goodness : 0.302279 Centerline is valid? [False, False] Translation: X:0.66, Y:0.03, Z:-0.14 [[ 9.99863802e-01 1.00167351e-03 -1.64734184e-02 6.60994568e-01] [-9.49831375e-04 9.99994573e-01 3.15454047e-03 3.38740558e-02] [ 1.64764888e-02 -3.13846385e-03 9.99859328e-01 -1.41764989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.485898227 meters Centerline goodness : 0.300200 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:-0.15 [[ 9.99837611e-01 -2.74293530e-03 -1.78108961e-02 6.73999719e-01] [ 2.72869951e-03 9.99995938e-01 -8.23527115e-04 3.56926348e-02] [ 1.78130826e-02 7.74792800e-04 9.99841034e-01 -1.46583789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.515898227 meters Centerline goodness : 0.298696 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.15 [[ 0.99981604 -0.0034574 -0.01886595 0.68553776] [ 0.00343316 0.99999324 -0.00131732 0.03720398] [ 0.01887037 0.00125231 0.99982115 -0.15330674] [ 0. 0. 0. 1. ]] SLAMing on 1.5458982270000001 meters Centerline goodness : 0.289865 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:-0.16 [[ 0.99979129 -0.00430834 -0.01997034 0.69716492] [ 0.00427095 0.99998905 -0.00191444 0.03892868] [ 0.01997837 0.00182875 0.99979874 -0.15989338] [ 0. 0. 0. 1. ]] SLAMing on 1.5758982270000002 meters Centerline goodness : 0.291110 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:-0.16 [[ 0.99977956 -0.00422874 -0.02056572 0.7034369 ] [ 0.0041938 0.99998969 -0.001742 0.03781243] [ 0.02057287 0.00165537 0.99978699 -0.16308167] [ 0. 0. 0. 1. ]] SLAMing on 1.605898227 meters Centerline goodness : 0.342564 Centerline is valid? [False, False] Translation: X:0.72, Y:0.04, Z:-0.18 [[ 0.9999124 -0.00419488 -0.0125538 0.72466569] [ 0.00414256 0.99998264 -0.00419072 0.03832515] [ 0.01257116 0.00413835 0.99991242 -0.183336 ] [ 0. 0. 0. 1. ]] SLAMing on 1.635898227 meters Centerline goodness : 0.345525 Centerline is valid? [False, False] Translation: X:0.73, Y:0.04, Z:-0.18 [[ 0.99990615 -0.00429115 -0.01301043 0.7282079 ] [ 0.00423681 0.9999822 -0.00420121 0.03797979] [ 0.01302823 0.00414569 0.99990653 -0.18408187] [ 0. 0. 0. 1. ]] SLAMing on 1.665898227 meters Centerline goodness : 0.273259 Centerline is valid? [False, False] Translation: X:0.73, Y:0.04, Z:-0.18 [[ 0.99990061 -0.00442951 -0.0133847 0.73117479] [ 0.00437308 0.99998144 -0.00424223 0.03768073] [ 0.01340325 0.00418328 0.99990142 -0.18467587] [ 0. 0. 0. 1. ]] SLAMing on 1.695898227 meters Centerline goodness : 0.264392 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.19 [[ 0.99992082 -0.01048859 -0.00695278 0.7681843 ] [ 0.01046921 0.99994123 -0.00281713 0.03820322] [ 0.00698192 0.00274412 0.99997186 -0.19277047] [ 0. 0. 0. 1. ]] SLAMing on 1.725898227 meters Centerline goodness : 0.258311 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.19 [[ 0.99991682 -0.01060987 -0.00733313 0.77156446] [ 0.01059011 0.9999402 -0.00272852 0.03647393] [ 0.00736164 0.00265064 0.99996939 -0.19398363] [ 0. 0. 0. 1. ]] SLAMing on 1.755898227 meters Centerline goodness : 0.251178 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.20 [[ 0.99991415 -0.0105326 -0.00779434 0.77575954] [ 0.0105128 0.99994142 -0.00257786 0.03529329] [ 0.00782104 0.00249569 0.9999663 -0.19538591] [ 0. 0. 0. 1. ]] SLAMing on 1.7858982270000001 meters Centerline goodness : 0.254161 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.20 [[ 0.99991056 -0.01056401 -0.00820178 0.77881967] [ 0.01054256 0.9999409 -0.00265453 0.03559906] [ 0.00822933 0.00256783 0.99996284 -0.19576035] [ 0. 0. 0. 1. ]] SLAMing on 1.815898227 meters Centerline goodness : 0.249151 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.20 [[ 0.99990865 -0.01035529 -0.00868643 0.7832822 ] [ 0.01033412 0.99994353 -0.00247848 0.03503982] [ 0.0087116 0.00238849 0.9999592 -0.19737422] [ 0. 0. 0. 1. ]] SLAMing on 1.845898227 meters Centerline goodness : 0.248165 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.20 [[ 0.99990761 -0.01013174 -0.00906177 0.78752927] [ 0.01011199 0.9999464 -0.00222278 0.03359072] [ 0.00908381 0.00213095 0.99995647 -0.19948626] [ 0. 0. 0. 1. ]] SLAMing on 1.875898227 meters Centerline goodness : 0.240004 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.20 [[ 0.99989327 -0.01131547 -0.00924186 0.79138479] [ 0.01129301 0.99993316 -0.00247909 0.03118634] [ 0.0092693 0.00237446 0.99995422 -0.1998256 ] [ 0. 0. 0. 1. ]] SLAMing on 1.905898227 meters Centerline goodness : 0.233265 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.20 [[ 0.99988901 -0.01127357 -0.00973993 0.79630069] [ 0.01125339 0.99993442 -0.00212388 0.02861439] [ 0.00976324 0.00201403 0.99995031 -0.20225946] [ 0. 0. 0. 1. ]] SLAMing on 1.935898227 meters Centerline goodness : 0.236588 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.20 [[ 0.99988459 -0.01119832 -0.0102668 0.80083026] [ 0.01117949 0.99993572 -0.00189032 0.02693921] [ 0.01028731 0.00177532 0.99994551 -0.20409954] [ 0. 0. 0. 1. ]] SLAMing on 1.965898227 meters Centerline goodness : 0.228717 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.21 [[ 0.99985272 -0.01235132 -0.01191586 0.81682694] [ 0.01232296 0.99992107 -0.00245008 0.02819824] [ 0.01194518 0.00230288 0.999926 -0.2125983 ] [ 0. 0. 0. 1. ]] SLAMing on 1.995898227 meters Centerline goodness : 0.223279 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.21 [[ 0.99984962 -0.01213474 -0.01238877 0.82138544] [ 0.01210703 0.99992404 -0.00230948 0.02798057] [ 0.01241585 0.00215914 0.99992059 -0.21470938] [ 0. 0. 0. 1. ]] SLAMing on 2.025898227 meters Centerline goodness : 0.220372 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.22 [[ 0.99984814 -0.01179811 -0.0128255 0.82615162] [ 0.01177153 0.99992841 -0.00214577 0.02858485] [ 0.0128499 0.00199447 0.99991545 -0.21713732] [ 0. 0. 0. 1. ]] SLAMing on 2.055898227 meters Centerline goodness : 0.219265 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.22 [[ 0.99984557 -0.01134657 -0.01341994 0.83173479] [ 0.01132116 0.99993398 -0.00196837 0.02992999] [ 0.01344138 0.00181614 0.99990801 -0.21947328] [ 0. 0. 0. 1. ]] SLAMing on 2.085898227 meters Centerline goodness : 0.216925 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.22 [[ 0.9998401 -0.01130598 -0.01385428 0.83477161] [ 0.01127591 0.9999339 -0.00224685 0.03250289] [ 0.01387877 0.00209027 0.9999015 -0.21979728] [ 0. 0. 0. 1. ]] SLAMing on 2.115898227 meters Centerline goodness : 0.210734 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.23 [[ 0.99992664 -0.00991437 -0.00695854 0.86052585] [ 0.00987162 0.99993235 -0.00615118 0.03424327] [ 0.00701906 0.00608204 0.99995687 -0.23233658] [ 0. 0. 0. 1. ]] SLAMing on 2.145898227 meters Centerline goodness : 0.210487 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.24 [[ 0.99992257 -0.00995955 -0.00746013 0.86539316] [ 0.00991723 0.99993464 -0.00568913 0.03086626] [ 0.00751631 0.0056147 0.99995599 -0.23546281] [ 0. 0. 0. 1. ]] SLAMing on 2.1758982270000002 meters Centerline goodness : 0.211060 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.24 [[ 0.99991936 -0.00992009 -0.00792856 0.87018731] [ 0.00987865 0.99993743 -0.00524923 0.02818118] [ 0.00798014 0.00517049 0.99995479 -0.2386131 ] [ 0. 0. 0. 1. ]] SLAMing on 2.205898227 meters Centerline goodness : 0.210388 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.24 [[ 0.9999166 -0.00983336 -0.00837279 0.8741583 ] [ 0.00979299 0.99994029 -0.00484873 0.02599024] [ 0.00841997 0.00476633 0.99995319 -0.24087196] [ 0. 0. 0. 1. ]] SLAMing on 2.235898227 meters Centerline goodness : 0.206952 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.99990351 -0.0107239 -0.00883001 0.87607815] [ 0.01068156 0.9999313 -0.00482762 0.02292571] [ 0.00888118 0.00473283 0.99994936 -0.24122315] [ 0. 0. 0. 1. ]] SLAMing on 2.265898227 meters Centerline goodness : 0.206970 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.99983904 -0.01508312 -0.00971558 0.88087166] [ 0.01499886 0.99984977 -0.00868769 0.02129325] [ 0.00984516 0.00854057 0.99991506 -0.24012463] [ 0. 0. 0. 1. ]] SLAMing on 2.295898227 meters Centerline goodness : 0.200228 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.99983595 -0.01498139 -0.01017945 0.88468969] [ 0.01489926 0.99985622 -0.0080963 0.01770953] [ 0.01029928 0.0079433 0.99991541 -0.24214473] [ 0. 0. 0. 1. ]] SLAMing on 2.325898227 meters Centerline goodness : 0.197151 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.24 [[ 0.99983444 -0.01476991 -0.01062697 0.88868071] [ 0.01469063 0.99986396 -0.00750034 0.01437233] [ 0.0107363 0.00734298 0.9999154 -0.2443899 ] [ 0. 0. 0. 1. ]] SLAMing on 2.355898227 meters Centerline goodness : 0.194316 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.25 [[ 0.99983177 -0.01440686 -0.01135227 0.89527999] [ 0.01433089 0.99987456 -0.00674494 0.01146834] [ 0.01144802 0.00658112 0.99991281 -0.24762203] [ 0. 0. 0. 1. ]] SLAMing on 2.385898227 meters Centerline goodness : 0.194446 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.25 [[ 0.99982929 -0.01426913 -0.01173776 0.89781441] [ 0.0141909 0.99987672 -0.00672102 0.01181474] [ 0.01183222 0.00655331 0.99990852 -0.24805874] [ 0. 0. 0. 1. ]] SLAMing on 2.415898227 meters Centerline goodness : 0.192983 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.25 [[ 0.99983005 -0.01381795 -0.01220359 0.90181575] [ 0.01374102 0.99988532 -0.00636584 0.01149402] [ 0.01229016 0.00619707 0.99990527 -0.24989741] [ 0. 0. 0. 1. ]] SLAMing on 2.445898227 meters Centerline goodness : 0.193970 Centerline is valid? [False, False] Translation: X:0.92, Y:0.01, Z:-0.25 [[ 0.99983428 -0.01125116 -0.01431152 0.9173518 ] [ 0.01115195 0.99991336 -0.006993 0.00938753] [ 0.01438896 0.00683224 0.99987313 -0.24689777] [ 0. 0. 0. 1. ]] SLAMing on 2.475898227 meters Centerline goodness : 0.191034 Centerline is valid? [False, False] Translation: X:0.92, Y:0.01, Z:-0.25 [[ 0.9998318 -0.01096844 -0.0146989 0.92005658] [ 0.01086652 0.99991649 -0.00699554 0.01020663] [ 0.0147744 0.00683464 0.99986749 -0.24765947] [ 0. 0. 0. 1. ]] SLAMing on 2.505898227 meters Centerline goodness : 0.191568 Centerline is valid? [False, False] Translation: X:0.93, Y:0.01, Z:-0.25 [[ 0.99986501 -0.00618829 -0.01522068 0.92589011] [ 0.0061562 0.99997873 -0.00215447 0.00838637] [ 0.01523369 0.00206047 0.99988184 -0.25199917] [ 0. 0. 0. 1. ]] SLAMing on 2.535898227 meters Centerline goodness : 0.191157 Centerline is valid? [False, False] Translation: X:0.93, Y:0.01, Z:-0.25 [[ 0.99986033 -0.00551433 -0.01577727 0.93034944] [ 0.0054843 0.99998307 -0.00194605 0.01040184] [ 0.01578773 0.00185926 0.99987364 -0.25393337] [ 0. 0. 0. 1. ]] SLAMing on 2.565898227 meters Centerline goodness : 0.186443 Centerline is valid? [False, False] Translation: X:0.95, Y:0.01, Z:-0.25 [[ 0.99983856 -0.00142498 -0.01791149 0.94934658] [ 0.00138303 0.99999627 -0.00235411 0.01015815] [ 0.01791478 0.00232896 0.99983681 -0.2522049 ] [ 0. 0. 0. 1. ]] SLAMing on 2.595898227 meters Centerline goodness : 0.184799 Centerline is valid? [False, False] Translation: X:0.95, Y:0.01, Z:-0.26 [[ 9.99829550e-01 -5.60877540e-04 -1.84541452e-02 9.54630825e-01] [ 5.26239677e-04 9.99998091e-01 -1.88177182e-03 1.18692244e-02] [ 1.84551654e-02 1.87173977e-03 9.99827937e-01 -2.55164822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.625898227 meters Centerline goodness : 0.183465 Centerline is valid? [False, False] Translation: X:0.96, Y:0.01, Z:-0.26 [[ 9.99820827e-01 -2.40049169e-05 -1.89291554e-02 9.58229669e-01] [-9.22082940e-06 9.99998460e-01 -1.75517906e-03 1.35304362e-02] [ 1.89291684e-02 1.75503912e-03 9.99819287e-01 -2.56545470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.655898227 meters Centerline goodness : 0.182321 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:-0.26 [[ 0.99980598 0.00115741 -0.01966381 0.96464666] [-0.0011832 0.99999846 -0.00129963 0.01627229] [ 0.01966228 0.00132264 0.9998058 -0.25905058] [ 0. 0. 0. 1. ]] SLAMing on 2.685898227 meters Centerline goodness : 0.186568 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.26 [[ 0.9997974 0.00139288 -0.02008037 0.96701209] [-0.00142174 0.99999798 -0.00142334 0.01827854] [ 0.02007834 0.0014516 0.99979736 -0.2594152 ] [ 0. 0. 0. 1. ]] SLAMing on 2.715898227 meters Centerline goodness : 0.176553 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.26 [[ 0.99974019 0.00506418 -0.02222416 0.98507997] [-0.00511343 0.99998459 -0.00215951 0.01794238] [ 0.02221288 0.00227259 0.99975068 -0.25675737] [ 0. 0. 0. 1. ]] SLAMing on 2.745898227 meters Centerline goodness : 0.175267 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.26 [[ 0.99969895 0.00964869 -0.02255926 0.98943994] [-0.00959754 0.99995112 0.00237472 0.01805282] [ 0.02258107 -0.0021575 0.99974269 -0.26022482] [ 0. 0. 0. 1. ]] SLAMing on 2.775898227 meters Centerline goodness : 0.172360 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.26 [[ 0.99960377 0.01368016 -0.02459974 1.00825377] [-0.013644 0.99990558 0.00163722 0.01849899] [ 0.02461981 -0.00130093 0.99969604 -0.25804895] [ 0. 0. 0. 1. ]] SLAMing on 2.805898227 meters Centerline goodness : 0.171441 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.26 [[ 0.9995896 0.01391987 -0.02503737 1.01053453] [-0.01388898 0.99990255 0.00140718 0.02144335] [ 0.02505451 -0.00105886 0.99968553 -0.25814091] [ 0. 0. 0. 1. ]] SLAMing on 2.835898227 meters Centerline goodness : 0.167330 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.26 [[ 9.99579347e-01 1.40019450e-02 -2.53983328e-02 1.01218060e+00] [-1.39771527e-02 9.99901650e-01 1.15340951e-03 2.37350416e-02] [ 2.54119848e-02 -7.97927953e-04 9.99676745e-01 -2.57873846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.865898227 meters Centerline goodness : 0.167779 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:-0.27 [[ 0.99977459 0.00912519 -0.01917017 1.03113593] [-0.00896904 0.99992603 0.00821585 0.0210241 ] [ 0.01924373 -0.00804206 0.99978248 -0.2658525 ] [ 0. 0. 0. 1. ]] SLAMing on 2.895898227 meters Centerline goodness : 0.165073 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:-0.26 [[ 0.99979581 0.00470411 -0.01965201 1.03209448] [-0.00462661 0.99998135 0.00398679 0.02029085] [ 0.01967039 -0.00389506 0.99979893 -0.26427193] [ 0. 0. 0. 1. ]] SLAMing on 2.925898227 meters Centerline goodness : 0.160702 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 9.99793401e-01 4.97935228e-04 -2.03201018e-02 1.03537153e+00] [-5.01664262e-04 9.99999858e-01 -1.78417472e-04 2.06809311e-02] [ 2.03200100e-02 1.88574480e-04 9.99793509e-01 -2.64798272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.955898227 meters Centerline goodness : 0.160702 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 9.99793401e-01 4.97935228e-04 -2.03201018e-02 1.03537153e+00] [-5.01664262e-04 9.99999858e-01 -1.78417472e-04 2.06809311e-02] [ 2.03200100e-02 1.88574480e-04 9.99793509e-01 -2.64798272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.985898227 meters Centerline goodness : 0.158954 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 9.99787725e-01 6.03882170e-04 -2.05946822e-02 1.03703348e+00] [-6.06714653e-04 9.99999807e-01 -1.31286743e-04 2.10641970e-02] [ 2.05945990e-02 1.43753970e-04 9.99787898e-01 -2.65597139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.015898227 meters Centerline goodness : 0.160255 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 9.99781040e-01 8.11814419e-04 -2.09096256e-02 1.03855194e+00] [-8.14296516e-04 9.99999662e-01 -1.10191980e-04 2.18278765e-02] [ 2.09095291e-02 1.27194488e-04 9.99781364e-01 -2.65867660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.045898227 meters Centerline goodness : 0.152030 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 9.99774798e-01 1.18162384e-03 -2.11886123e-02 1.03966919e+00] [-1.18395486e-03 9.99999294e-01 -9.74683240e-05 2.27995067e-02] [ 2.11884822e-02 1.22532734e-04 9.99775491e-01 -2.64466862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.075898227 meters Centerline goodness : 0.150250 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 9.99971121e-01 1.35406637e-03 -7.47816141e-03 1.04254388e+00] [-1.34726290e-03 9.99998674e-01 9.14740376e-04 2.01708873e-02] [ 7.47939011e-03 -9.04638910e-04 9.99971620e-01 -2.69409356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.105898227 meters Centerline goodness : 0.146294 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 0.99996991 0.00148691 -0.0076133 1.0434137 ] [-0.00147803 0.99999822 0.00117222 0.01864703] [ 0.00761503 -0.00116093 0.99997033 -0.26984811] [ 0. 0. 0. 1. ]] SLAMing on 3.135898227 meters Centerline goodness : 0.143794 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.27 [[ 0.9999683 0.00170731 -0.00777776 1.04483491] [-0.00169532 0.99999737 0.00154777 0.01693331] [ 0.00778038 -0.00153454 0.99996855 -0.27115615] [ 0. 0. 0. 1. ]] SLAMing on 3.165898227 meters Centerline goodness : 0.124342 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:-0.27 [[ 0.99995908 0.00280944 -0.00859945 1.04993555] [-0.00278771 0.99999289 0.00253796 0.01594932] [ 0.00860652 -0.00251388 0.9999598 -0.27402459] [ 0. 0. 0. 1. ]] SLAMing on 3.195898227 meters Centerline goodness : 0.121395 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:-0.27 [[ 0.99995392 0.00312543 -0.0090771 1.05149144] [-0.0031028 0.99999205 0.00250576 0.01741965] [ 0.00908486 -0.00247748 0.99995566 -0.27349043] [ 0. 0. 0. 1. ]] SLAMing on 3.225898227 meters Centerline goodness : 0.119708 Centerline is valid? [False, False] Translation: X:1.05, Y:0.01, Z:-0.27 [[ 0.99993208 0.00735084 -0.00904383 1.05198866] [-0.00728675 0.99994825 0.00709965 0.01473798] [ 0.00909555 -0.00703327 0.9999339 -0.27460182] [ 0. 0. 0. 1. ]] SLAMing on 3.255898227 meters Centerline goodness : 0.118514 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:-0.27 [[ 0.9999025 0.01023261 -0.00950192 1.07105807] [-0.01020021 0.99994202 0.00345255 0.01547432] [ 0.0095367 -0.00335529 0.9999489 -0.27159827] [ 0. 0. 0. 1. ]] SLAMing on 3.285898227 meters Centerline goodness : 0.118175 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:-0.27 [[ 0.99989449 0.01076103 -0.00975799 1.07288204] [-0.01072555 0.9999357 0.00368177 0.01589519] [ 0.00979698 -0.00357672 0.99994561 -0.27280787] [ 0. 0. 0. 1. ]] SLAMing on 3.315898227 meters Centerline goodness : 0.116950 Centerline is valid? [False, False] Translation: X:1.08, Y:0.02, Z:-0.28 [[ 0.99987823 0.01176094 -0.01025709 1.07668906] [-0.01171618 0.99992163 0.00441303 0.01600986] [ 0.01030819 -0.00429232 0.99993766 -0.27562631] [ 0. 0. 0. 1. ]] SLAMing on 3.345898227 meters Centerline goodness : 0.107410 Centerline is valid? [False, False] Translation: X:1.08, Y:0.01, Z:-0.28 [[ 0.99979765 0.01709207 -0.01060793 1.08066745] [-0.0169885 0.99980787 0.00977783 0.01364484] [ 0.01077302 -0.00959564 0.99989593 -0.27968925] [ 0. 0. 0. 1. ]] SLAMing on 3.375898227 meters Centerline goodness : 0.112880 Centerline is valid? [False, False] Translation: X:1.10, Y:0.02, Z:-0.27 [[ 0.99976007 0.01883921 -0.01117569 1.09728877] [-0.01878844 0.99981276 0.00463087 0.01543238] [ 0.01126084 -0.00441978 0.99992683 -0.27405193] [ 0. 0. 0. 1. ]] SLAMing on 3.405898227 meters Centerline goodness : 0.105132 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99983521 0.01659086 -0.00736843 1.11801576] [-0.01647825 0.99975035 0.01509017 0.01141715] [ 0.00761695 -0.01496626 0.99985899 -0.28228789] [ 0. 0. 0. 1. ]] SLAMing on 3.435898227 meters Centerline goodness : 0.227005 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99988273 0.01349413 -0.00724116 1.11805935] [-0.01341016 0.99984369 0.01152217 0.01122032] [ 0.00739551 -0.01142372 0.9999074 -0.28116235] [ 0. 0. 0. 1. ]] SLAMing on 3.465898227 meters Centerline goodness : 0.234617 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99988406 0.01329696 -0.00741964 1.11898118] [-0.01320382 0.99983514 0.01246398 0.00874872] [ 0.00758415 -0.01236456 0.99989479 -0.28081167] [ 0. 0. 0. 1. ]] SLAMing on 3.495898227 meters Centerline goodness : 0.230555 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.9998871 0.01285982 -0.00777212 1.12096656] [-0.01275236 0.99982453 0.01372158 0.0057955 ] [ 0.00794722 -0.01362092 0.99987565 -0.28074116] [ 0. 0. 0. 1. ]] SLAMing on 3.525898227 meters Centerline goodness : 0.328074 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99992734 0.0089941 -0.00802682 1.12104506] [-0.00891719 0.99991448 0.00956652 0.00622301] [ 0.00811218 -0.00949425 0.99992202 -0.27916256] [ 0. 0. 0. 1. ]] SLAMing on 3.555898227 meters Centerline goodness : 0.232475 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.28 [[ 0.99995223 0.00511042 -0.0083325 1.12152208] [-0.00506487 0.99997217 0.00547867 0.00624547] [ 0.00836027 -0.0054362 0.99995028 -0.27796322] [ 0. 0. 0. 1. ]] SLAMing on 3.585898227 meters Centerline goodness : 0.681637 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.00, Z:-0.28 [[ 0.99995682 0.00374903 -0.00850276 1.12475051] [-0.00368418 0.99996411 0.00762926 -0.00137409] [ 0.00853106 -0.0075976 0.99993475 -0.27881641] [ 0. 0. 0. 1. ]] SLAMing on 3.6158982269999997 meters Centerline goodness : 0.690806 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.00, Z:-0.28 [[ 0.99995597 0.00354159 -0.00869045 1.12606066] [-0.00346697 0.99995713 0.0085861 -0.0045383 ] [ 0.00872049 -0.00855559 0.99992537 -0.27901708] [ 0. 0. 0. 1. ]] SLAMing on 3.645898227 meters Centerline goodness : 0.707658 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.01, Z:-0.28 [[ 0.99995501 0.00344409 -0.00883822 1.12701637] [-0.00336025 0.99994938 0.00948442 -0.00724204] [ 0.00887044 -0.00945429 0.99991596 -0.2790238 ] [ 0. 0. 0. 1. ]] SLAMing on 3.675898227 meters Centerline goodness : 0.720343 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.01, Z:-0.28 [[ 0.99995417 0.00399405 -0.0087014 1.12688333] [-0.00390801 0.99994353 0.00988292 -0.0092654 ] [ 0.00874038 -0.00984847 0.9999133 -0.27969958] [ 0. 0. 0. 1. ]] SLAMing on 3.705898227 meters Centerline goodness : 0.377628 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.99995416 0.00523661 -0.00801648 1.14121033] [-0.0052045 0.99997838 0.00402023 -0.00842118] [ 0.00803736 -0.00397833 0.99995979 -0.27360467] [ 0. 0. 0. 1. ]] SLAMing on 3.735898227 meters Centerline goodness : 0.741549 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.99993717 0.00908274 -0.00656979 1.1356002 ] [-0.00904859 0.99994549 0.00520909 -0.011079 ] [ 0.00661674 -0.00514932 0.99996485 -0.27354 ] [ 0. 0. 0. 1. ]] SLAMing on 3.765898227 meters Centerline goodness : 0.738633 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.9999595 0.00619533 -0.00652787 1.13573121] [-0.00618594 0.99997981 0.00145676 -0.00764271] [ 0.00653676 -0.00141632 0.99997763 -0.27260388] [ 0. 0. 0. 1. ]] SLAMing on 3.795898227 meters Centerline goodness : 0.106114 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.99995839 0.00632714 -0.00657163 1.13610309] [-0.00631682 0.99997878 0.0015898 -0.00806579] [ 0.00658155 -0.00154822 0.99997714 -0.27305515] [ 0. 0. 0. 1. ]] SLAMing on 3.825898227 meters Centerline goodness : 0.764594 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.28 [[ 0.99996792 0.00377151 -0.00706687 1.13949846] [-0.00378083 0.999992 -0.00130498 -0.00701564] [ 0.00706189 0.00133166 0.99997418 -0.2750571 ] [ 0. 0. 0. 1. ]] SLAMing on 3.855898227 meters Centerline goodness : 0.760087 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.99996773 0.00368449 -0.00713909 1.13927434] [-0.00369371 0.99999236 -0.00127848 -0.0075816 ] [ 0.00713432 0.00130481 0.9999737 -0.27433607] [ 0. 0. 0. 1. ]] SLAMing on 3.8858982269999998 meters Centerline goodness : 0.109562 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 0.9999686 0.00350402 -0.00710837 1.13859697] [-0.00351295 0.99999305 -0.00124481 -0.00867775] [ 0.00710396 0.00126974 0.99997396 -0.27336099] [ 0. 0. 0. 1. ]] SLAMing on 3.915898227 meters Centerline goodness : 0.111101 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 9.99968904e-01 3.43472880e-03 -7.09881498e-03 1.13861552e+00] [-3.44141685e-03 9.99993646e-01 -9.30134778e-04 -1.09577670e-02] [ 7.09557511e-03 9.54535836e-04 9.99974371e-01 -2.73480691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.945898227 meters Centerline goodness : 0.108648 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.27 [[ 9.99969673e-01 3.40764856e-03 -7.00294474e-03 1.13901961e+00] [-3.41039839e-03 9.99994112e-01 -3.80764057e-04 -1.44942859e-02] [ 7.00160599e-03 4.04635341e-04 9.99975407e-01 -2.74783495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.975898227 meters Centerline goodness : 0.111088 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.02, Z:-0.28 [[ 9.99969957e-01 3.35614108e-03 -6.98726370e-03 1.13985689e+00] [-3.35469938e-03 9.99994349e-01 2.18043538e-04 -1.84719436e-02] [ 6.98795600e-03 -1.94596818e-04 9.99975565e-01 -2.76631703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.005898226999999 meters Centerline goodness : 0.104414 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.02, Z:-0.28 [[ 9.99971983e-01 -7.72798070e-04 -7.44554931e-03 1.14097035e+00] [ 7.46581436e-04 9.99993515e-01 -3.52325104e-03 -2.09927076e-02] [ 7.44822379e-03 3.51759362e-03 9.99966075e-01 -2.76325309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.035898227 meters Centerline goodness : 0.108305 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.02, Z:-0.28 [[ 9.99970137e-01 -6.72591087e-04 -7.69885926e-03 1.14201419e+00] [ 6.49248576e-04 9.99995187e-01 -3.03404194e-03 -2.32739523e-02] [ 7.70086287e-03 3.02895286e-03 9.99965760e-01 -2.76809368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.065898227 meters Centerline goodness : 0.105911 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.03, Z:-0.28 [[ 9.99969366e-01 -5.22148921e-04 -7.80989877e-03 1.14263651e+00] [ 5.02915935e-04 9.99996837e-01 -2.46440330e-03 -2.60449554e-02] [ 7.81116085e-03 2.46040008e-03 9.99966466e-01 -2.77278841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.095898227 meters Centerline goodness : 0.990614 Centerline is valid? [False, True] Translation: X:1.14, Y:-0.03, Z:-0.28 [[ 9.99970809e-01 -4.11966823e-05 -7.64067595e-03 1.14329370e+00] [ 3.26649912e-05 9.99999376e-01 -1.11673614e-03 -3.26321903e-02] [ 7.64071719e-03 1.11645396e-03 9.99970186e-01 -2.79049705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1258982269999995 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.04, Z:-0.28 [[ 9.99970053e-01 3.83733703e-03 -6.72072941e-03 1.17217095e+00] [-3.84153096e-03 9.99992434e-01 -6.11230724e-04 -3.64608460e-02] [ 6.71833307e-03 6.37030309e-04 9.99977229e-01 -2.79079190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.155898227 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.03, Z:-0.28 [[ 9.99977138e-01 1.74737310e-03 -6.53229612e-03 1.19936843e+00] [-1.75500786e-03 9.99997783e-01 -1.16322221e-03 -3.46488194e-02] [ 6.53024906e-03 1.17465985e-03 9.99977988e-01 -2.77405223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.185898227 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.04, Z:-0.28 [[ 9.99972592e-01 5.61171880e-03 -4.82940012e-03 1.22867745e+00] [-5.60876452e-03 9.99984075e-01 6.25054286e-04 -3.75324948e-02] [ 4.83283084e-03 -5.97950186e-04 9.99988143e-01 -2.77887465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.215898227 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.04, Z:-0.28 [[ 9.99948763e-01 9.54953242e-03 -3.35825253e-03 1.25668284e+00] [-9.55009961e-03 9.99954385e-01 -1.52896240e-04 -3.92391282e-02] [ 3.35663925e-03 1.84960052e-04 9.99994349e-01 -2.77817072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.245898227 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.04, Z:-0.28 [[ 9.99925275e-01 1.19913700e-02 -2.37742008e-03 1.28468425e+00] [-1.19916620e-02 9.99928092e-01 -1.08622618e-04 -3.92236029e-02] [ 2.37594659e-03 1.37123719e-04 9.99997168e-01 -2.78194869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.275898227 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.04, Z:-0.28 [[ 9.99895055e-01 1.44239281e-02 -1.35248503e-03 1.31256538e+00] [-1.44240248e-02 9.99895966e-01 -6.17707823e-05 -3.83387021e-02] [ 1.35145335e-03 8.12725773e-05 9.99999083e-01 -2.77839842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.305898227 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.04, Z:-0.28 [[ 9.99847832e-01 1.73488804e-02 -1.82483626e-03 1.33977042e+00] [-1.73490616e-02 9.99849490e-01 -8.35471386e-05 -3.73140003e-02] [ 1.82311215e-03 1.15193622e-04 9.99998331e-01 -2.75855480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.335898227 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.04, Z:-0.28 [[ 9.99806339e-01 1.96074787e-02 -1.68238768e-03 1.36661843e+00] [-1.96076359e-02 9.99807749e-01 -7.69999702e-05 -3.66151029e-02] [ 1.68055446e-03 1.09972703e-04 9.99998582e-01 -2.76050218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.365898227 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.04, Z:-0.28 [[ 9.99720463e-01 2.36366649e-02 -5.50678316e-04 1.39496325e+00] [-2.36366821e-02 9.99720614e-01 -2.47312504e-05 -3.69930295e-02] [ 5.49939900e-04 3.77405454e-05 9.99999848e-01 -2.77333802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.395898227 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.04, Z:-0.28 [[ 9.99683539e-01 2.51342639e-02 1.04460747e-03 1.42311031e+00] [-2.51343291e-02 9.99684082e-01 4.92633410e-05 -3.54936142e-02] [-1.04303927e-03 -7.55032591e-05 9.99999453e-01 -2.76182901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.425898227 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.03, Z:-0.28 [[ 9.99666128e-01 2.56921083e-02 2.74747813e-03 1.45032427e+00] [-2.56925571e-02 9.99669884e-01 1.28158807e-04 -3.32287242e-02] [-2.74327847e-03 -1.98705757e-04 9.99996217e-01 -2.75790974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.455898227 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.03, Z:-0.28 [[ 9.99647197e-01 2.63111829e-02 3.63352751e-03 1.47759359e+00] [-2.63119724e-02 9.99653766e-01 1.69660972e-04 -3.15279393e-02] [-3.62780548e-03 -2.65206390e-04 9.99993384e-01 -2.75415284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.485898227 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.03, Z:-0.28 [[ 9.99647289e-01 2.63123495e-02 3.59980668e-03 1.50573497e+00] [-2.63131286e-02 9.99653735e-01 1.69217489e-04 -3.05421083e-02] [-3.59410769e-03 -2.63879981e-04 9.99993506e-01 -2.76632821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.515898227 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.03, Z:-0.28 [[ 9.99690369e-01 2.48659850e-02 9.21447115e-04 1.53333739e+00] [-2.48660361e-02 9.99690791e-01 4.40689704e-05 -3.13911427e-02] [-9.20066377e-04 -6.69680625e-05 9.99999574e-01 -2.78026346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.545898227 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.03, Z:-0.28 [[ 9.99721801e-01 2.35859256e-02 1.58547706e-04 1.55982945e+00] [-2.35859271e-02 9.99721813e-01 7.79622737e-06 -3.12360507e-02] [-1.58319719e-04 -1.15335531e-05 9.99999987e-01 -2.78858304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.575898227 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.03, Z:-0.28 [[ 9.99754683e-01 2.21474427e-02 -2.53827103e-04 1.58798020e+00] [-2.21474463e-02 9.99754715e-01 -1.12431577e-05 -3.11776039e-02] [ 2.53515836e-04 1.68620217e-05 9.99999968e-01 -2.79038561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.605898227 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.03, Z:-0.28 [[ 9.99825274e-01 1.86895531e-02 3.50167148e-04 1.61598540e+00] [-1.86895604e-02 9.99825335e-01 1.74263025e-05 -3.37964666e-02] [-3.49780296e-04 -2.39677278e-05 9.99999939e-01 -2.80711631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.635898227 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.03, Z:-0.28 [[ 9.99854117e-01 1.70771299e-02 3.40012404e-04 1.64319845e+00] [-1.70771365e-02 9.99854175e-01 1.65250075e-05 -3.43599138e-02] [-3.39680622e-04 -2.23290351e-05 9.99999942e-01 -2.80312445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.665898227 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.03, Z:-0.28 [[ 9.99871683e-01 1.60170088e-02 2.71430275e-04 1.67045246e+00] [-1.60170130e-02 9.99871719e-01 1.32817893e-05 -3.48345796e-02] [-2.71182721e-04 -1.76275873e-05 9.99999963e-01 -2.79206589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.695898227 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.04, Z:-0.28 [[ 9.99879150e-01 1.55460871e-02 6.44365539e-05 1.69818425e+00] [-1.55460874e-02 9.99879152e-01 3.37554571e-06 -3.60957991e-02] [-6.43762904e-05 -4.37687407e-06 9.99999998e-01 -2.76544188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.725898227 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.04, Z:-0.28 [[ 9.99894887e-01 1.44947133e-02 3.42792555e-04 1.72549645e+00] [-1.44947199e-02 9.99894946e-01 1.69527821e-05 -3.77744279e-02] [-3.42510818e-04 -2.19196822e-05 9.99999941e-01 -2.76030560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.755898227 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.04, Z:-0.28 [[ 9.99921521e-01 1.25135919e-02 6.00994780e-04 1.75397189e+00] [-1.25136116e-02 9.99921701e-01 2.91056168e-05 -4.36843722e-02] [-6.00583507e-04 -3.66239479e-05 9.99999819e-01 -2.75867232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.785898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.05, Z:-0.27 [[ 9.99934411e-01 1.14523998e-02 1.27716033e-04 1.78238142e+00] [-1.14524007e-02 9.99934419e-01 6.43232638e-06 -4.52898373e-02] [-1.27633992e-04 -7.89455967e-06 9.99999992e-01 -2.74108428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.815898227 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.05, Z:-0.27 [[ 9.99948622e-01 1.01366606e-02 -2.69885064e-05 1.80986525e+00] [-1.01366607e-02 9.99948623e-01 -9.54134322e-07 -4.65802703e-02] [ 2.69774481e-05 1.22765863e-06 1.00000000e+00 -2.72748429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.845898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.05, Z:-0.27 [[ 9.99956361e-01 9.33933491e-03 2.31015537e-04 1.83807562e+00] [-9.33933780e-03 9.99956387e-01 1.14274568e-05 -4.87342021e-02] [-2.30898737e-04 -1.35844902e-05 9.99999973e-01 -2.70915674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8758982269999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.05, Z:-0.27 [[ 9.99956948e-01 9.27625177e-03 2.31017164e-04 1.86647317e+00] [-9.27625465e-03 9.99956975e-01 1.13935185e-05 -4.72535584e-02] [-2.30901536e-04 -1.35360021e-05 9.99999973e-01 -2.70805302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.05, Z:-0.27 [[ 9.99968061e-01 7.96546553e-03 6.53805550e-04 1.89478155e+00] [-7.96548808e-03 9.99968274e-01 3.18962063e-05 -5.05150316e-02] [-6.53530740e-04 -3.71030679e-05 9.99999786e-01 -2.69690816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.935898227 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.06, Z:-0.27 [[ 9.99983823e-01 5.40982553e-03 1.75741910e-03 1.92178605e+00] [-5.40998418e-03 9.99985362e-01 8.55325088e-05 -6.04127078e-02] [-1.75693066e-03 -9.50387347e-05 9.99998452e-01 -2.71106002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.965898227 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.06, Z:-0.27 [[ 9.99988874e-01 4.39590495e-03 1.71103175e-03 1.94968367e+00] [-4.39605377e-03 9.99990334e-01 8.32280514e-05 -6.40484704e-02] [-1.71064934e-03 -9.07489130e-05 9.99998533e-01 -2.71813752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.995898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.07, Z:-0.27 [[ 9.99993445e-01 3.48720560e-03 9.74488670e-04 1.97871484e+00] [-3.48725354e-03 9.99993918e-01 4.75056494e-05 -6.70136636e-02] [-9.74317082e-04 -5.09036271e-05 9.99999524e-01 -2.70745320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.025898227 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.08, Z:-0.27 [[ 9.99999465e-01 1.03441436e-03 -2.55665051e-05 2.00646029e+00] [-1.03441439e-03 9.99999465e-01 -1.00409076e-06 -7.52602811e-02] [ 2.55654528e-05 1.03053658e-06 1.00000000e+00 -2.72041332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.055898227 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.08, Z:-0.27 [[ 9.99999688e-01 -2.40601015e-04 -7.52371290e-04 2.03609067e+00] [ 2.40573622e-04 9.99999970e-01 -3.64990001e-05 -7.94369369e-02] [ 7.52380050e-04 3.63179880e-05 9.99999716e-01 -2.73063141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0858982269999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.08, Z:-0.27 [[ 9.99998423e-01 -1.34741715e-03 -1.15678888e-03 2.06580379e+00] [ 1.34735293e-03 9.99999091e-01 -5.62946258e-05 -8.36188890e-02] [ 1.15686368e-03 5.47359341e-05 9.99999329e-01 -2.74111384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.115898227 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.09, Z:-0.28 [[ 9.99996925e-01 -2.26679369e-03 -1.00557599e-03 2.09771070e+00] [ 2.26674559e-03 9.99997430e-01 -4.89676784e-05 -9.18004341e-02] [ 1.00568440e-03 4.66881429e-05 9.99999493e-01 -2.75133226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.145898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.09, Z:-0.27 [[ 9.99994383e-01 -2.88961688e-03 -1.69805280e-03 2.13011629e+00] [ 2.88948072e-03 9.99995822e-01 -8.26353214e-05 -9.43455379e-02] [ 1.69828449e-03 7.77283665e-05 9.99998555e-01 -2.74133415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.175898227 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.10, Z:-0.28 [[ 9.99989609e-01 -3.94950710e-03 -2.27650651e-03 2.16282444e+00] [ 3.94926550e-03 9.99992196e-01 -1.10611053e-04 -9.75491016e-02] [ 2.27692560e-03 1.01619376e-04 9.99997403e-01 -2.75132708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.205898227 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.10, Z:-0.27 [[ 9.99981200e-01 -5.48589352e-03 -2.73940353e-03 2.19564840e+00] [ 5.48554990e-03 9.99984945e-01 -1.32931976e-04 -1.00466905e-01] [ 2.74009154e-03 1.17902342e-04 9.99996239e-01 -2.74674676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.235898227 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.10, Z:-0.27 [[ 9.99973787e-01 -6.91484779e-03 -2.14710512e-03 2.22726267e+00] [ 6.91464017e-03 9.99976088e-01 -1.04106131e-04 -1.03343196e-01] [ 2.14777366e-03 8.92569429e-05 9.99997690e-01 -2.74650687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.265898227 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.10, Z:-0.27 [[ 9.99970520e-01 -7.49565954e-03 -1.66544126e-03 2.25969181e+00] [ 7.49553544e-03 9.99971905e-01 -8.07488931e-05 -1.04925268e-01] [ 1.66599974e-03 6.82631386e-05 9.99998610e-01 -2.73112662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2958982269999995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.11, Z:-0.27 [[ 9.99971542e-01 -7.41194563e-03 -1.40624259e-03 2.29278269e+00] [ 7.41185704e-03 9.99972529e-01 -6.82015765e-05 -1.07168222e-01] [ 1.40670947e-03 5.77767666e-05 9.99999009e-01 -2.70242998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.325898227 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.11, Z:-0.27 [[ 9.99972732e-01 -7.15545477e-03 -1.82616039e-03 2.32512669e+00] [ 7.15530537e-03 9.99974397e-01 -8.83305453e-05 -1.07269925e-01] [ 1.82674568e-03 7.52614015e-05 9.99998329e-01 -2.70418680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.355898227 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.11, Z:-0.27 [[ 9.99971479e-01 -7.20485762e-03 -2.26527943e-03 2.35756208e+00] [ 7.20462833e-03 9.99974040e-01 -1.09362936e-04 -1.07762285e-01] [ 2.26600857e-03 9.30393203e-05 9.99997428e-01 -2.71856570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.385898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.11, Z:-0.27 [[ 9.99966820e-01 -7.80944555e-03 -2.31757264e-03 2.39026729e+00] [ 7.80920743e-03 9.99969501e-01 -1.11774347e-04 -1.07931995e-01] [ 2.31837486e-03 9.36722330e-05 9.99997308e-01 -2.72303878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415898227 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.11, Z:-0.27 [[ 9.99954030e-01 -9.26427959e-03 -2.47190373e-03 2.42309108e+00] [ 9.26401338e-03 9.99957081e-01 -1.19122006e-04 -1.08049161e-01] [ 2.47290122e-03 9.62167808e-05 9.99996938e-01 -2.72495500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.445898227 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.11, Z:-0.27 [[ 9.99889495e-01 -1.43014235e-02 -4.05794214e-03 2.45503324e+00] [ 1.43007495e-02 9.99897720e-01 -1.95072821e-04 -1.10959019e-01] [ 4.06031691e-03 1.37019651e-04 9.99991747e-01 -2.71968804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.475898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.11, Z:-0.27 [[ 9.99812096e-01 -1.85116000e-02 -5.75271312e-03 2.48803677e+00] [ 1.85103212e-02 9.99828631e-01 -2.75452672e-04 -1.11536605e-01] [ 5.75682636e-03 1.68916345e-04 9.99983415e-01 -2.71317546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.505898227 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.12, Z:-0.27 [[ 9.99615249e-01 -2.68900241e-02 -6.80296113e-03 2.52037141e+00] [ 2.68884353e-02 9.99638388e-01 -3.24916986e-04 -1.16369518e-01] [ 6.80923812e-03 1.41870994e-04 9.99976807e-01 -2.73719600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.12, Z:-0.27 [[ 9.99543037e-01 -2.95767488e-02 -6.23959331e-03 2.55384994e+00] [ 2.95754714e-02 9.99562506e-01 -2.96921684e-04 -1.17401469e-01] [ 6.24564550e-03 1.12247088e-04 9.99980489e-01 -2.71601029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.565898227 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.12, Z:-0.27 [[ 9.99488786e-01 -3.16392859e-02 -4.59585701e-03 2.58730500e+00] [ 3.16386180e-02 9.99499350e-01 -2.17981104e-04 -1.18457342e-01] [ 4.60045286e-03 7.24631054e-05 9.99989415e-01 -2.70100253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.595898227 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.12, Z:-0.27 [[ 9.99454570e-01 -3.29102323e-02 -2.73481484e-03 2.61942819e+00] [ 3.29100012e-02 9.99458311e-01 -1.29459929e-04 -1.19998496e-01] [ 2.73759398e-03 3.93865581e-05 9.99996252e-01 -2.69626454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6258982269999995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.12, Z:-0.27 [[ 9.99406053e-01 -3.42527519e-02 -3.78018178e-03 2.65326403e+00] [ 3.42523238e-02 9.99413201e-01 -1.77953565e-04 -1.23273850e-01] [ 3.78405897e-03 4.83678598e-05 9.99992839e-01 -2.68195173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.655898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.12, Z:-0.27 [[ 9.99389670e-01 -3.46587865e-02 -4.36521373e-03 2.68702846e+00] [ 3.46582238e-02 9.99399202e-01 -2.04506231e-04 -1.24513713e-01] [ 4.36967906e-03 5.30908608e-05 9.99990451e-01 -2.69378424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.685898227 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.13, Z:-0.27 [[ 9.99360964e-01 -3.54661159e-02 -4.45174488e-03 2.71969992e+00] [ 3.54655427e-02 9.99370878e-01 -2.07657981e-04 -1.25471651e-01] [ 4.45630901e-03 4.96417317e-05 9.99990069e-01 -2.71143167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.715898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.13, Z:-0.27 [[ 9.99333501e-01 -3.63223515e-02 -3.63882594e-03 2.75260502e+00] [ 3.63219763e-02 9.99340125e-01 -1.69163496e-04 -1.25402484e-01] [ 3.64256919e-03 3.68813986e-05 9.99993365e-01 -2.70902169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.12, Z:-0.27 [[ 9.99314184e-01 -3.69444889e-02 -2.50315147e-03 2.78625302e+00] [ 3.69443132e-02 9.99317319e-01 -1.16417482e-04 -1.24458463e-01] [ 2.50574360e-03 2.38604290e-05 9.99996860e-01 -2.70108207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.775898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.12, Z:-0.27 [[ 9.99275360e-01 -3.80438277e-02 -1.19270431e-03 2.81799787e+00] [ 3.80437887e-02 9.99276072e-01 -5.54314174e-05 -1.24187387e-01] [ 1.19394970e-03 1.00162590e-05 9.99999287e-01 -2.70226630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.805898227 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.12, Z:-0.27 [[ 9.99263894e-01 -3.83018218e-02 -2.15414104e-03 2.85163091e+00] [ 3.83016961e-02 9.99266216e-01 -9.95750110e-05 -1.23572916e-01] [ 2.15637427e-03 1.69944579e-05 9.99997675e-01 -2.71417947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8358982269999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.12, Z:-0.27 [[ 9.99246714e-01 -3.86459301e-02 -3.53499023e-03 2.88389560e+00] [ 3.86455981e-02 9.99252967e-01 -1.62206683e-04 -1.23132236e-01] [ 3.53861810e-03 2.54726831e-05 9.99993739e-01 -2.73397737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.865898227 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.12, Z:-0.27 [[ 9.99200258e-01 -3.97280223e-02 -4.53095877e-03 2.91752010e+00] [ 3.97274927e-02 9.99210530e-01 -2.06864332e-04 -1.21833126e-01] [ 4.53560003e-03 2.66952624e-05 9.99989714e-01 -2.73296352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.895898227 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.12, Z:-0.28 [[ 9.99132205e-01 -4.14412453e-02 -4.17862583e-03 2.95059120e+00] [ 4.14408130e-02 9.99140942e-01 -1.90030802e-04 -1.21301002e-01] [ 4.18291126e-03 1.67002426e-05 9.99991251e-01 -2.75245918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.925898227 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.12, Z:-0.27 [[ 9.98922292e-01 -4.63600356e-02 -2.23649566e-03 2.98279089e+00] [ 4.63599243e-02 9.98924796e-01 -1.01602037e-04 -1.21088092e-01] [ 2.23880124e-03 -2.19122952e-06 9.99997494e-01 -2.74233377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.955898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.12, Z:-0.27 [[ 9.98832611e-01 -4.82890188e-02 -1.25933791e-03 3.01476152e+00] [ 4.82889850e-02 9.98833405e-01 -5.72786049e-05 -1.20290047e-01] [ 1.26063470e-03 -3.60041113e-06 9.99999205e-01 -2.71907736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.985898227 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.12, Z:-0.27 [[ 9.98729755e-01 -5.03719600e-02 -1.24149478e-03 3.04766627e+00] [ 5.03719290e-02 9.98730527e-01 -5.62283769e-05 -1.19297062e-01] [ 1.24275107e-03 -6.37953394e-06 9.99999228e-01 -2.70648822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.015898227 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.12, Z:-0.27 [[ 9.98557448e-01 -5.35438084e-02 -4.01032494e-03 3.07990084e+00] [ 5.35435192e-02 9.98565501e-01 -1.79514683e-04 -1.19046919e-01] [ 4.01418403e-03 -3.54711868e-05 9.99991943e-01 -2.70549520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0458982269999995 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.12, Z:-0.27 [[ 9.98504291e-01 -5.44049692e-02 -5.41120724e-03 3.11308757e+00] [ 5.44044600e-02 9.98518951e-01 -2.41370301e-04 -1.17827501e-01] [ 5.41632472e-03 -5.33845267e-05 9.99985330e-01 -2.71661532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.075898227 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.12, Z:-0.27 [[ 9.98504047e-01 -5.43229957e-02 -6.21937327e-03 3.14537600e+00] [ 5.43223295e-02 9.98523414e-01 -2.76110388e-04 -1.16288403e-01] [ 6.22518898e-03 -6.21535048e-05 9.99980621e-01 -2.70979719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.105898227 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.11, Z:-0.27 [[ 9.98533505e-01 -5.38369863e-02 -5.69376347e-03 3.17749465e+00] [ 5.38364254e-02 9.98549736e-01 -2.51845311e-04 -1.14548672e-01] [ 5.69906460e-03 -5.50558908e-05 9.99983759e-01 -2.70607544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.11, Z:-0.27 [[ 9.98586008e-01 -5.28975494e-02 -5.27578051e-03 3.21026806e+00] [ 5.28970588e-02 9.98599943e-01 -2.32575212e-04 -1.12482079e-01] [ 5.28069678e-03 -4.68269190e-05 9.99986056e-01 -2.69955353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.165898227 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.11, Z:-0.27 [[ 9.98625047e-01 -5.21298201e-02 -5.52247605e-03 3.24345618e+00] [ 5.21292763e-02 9.98640316e-01 -2.42455583e-04 -1.10607217e-01] [ 5.52760639e-03 -4.57604628e-05 9.99984722e-01 -2.70833898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.195898227 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.11, Z:-0.27 [[ 9.98566882e-01 -5.29147826e-02 -8.01300089e-03 3.27657005e+00] [ 5.29136788e-02 9.98599029e-01 -3.49847741e-04 -1.08670810e-01] [ 8.02028703e-03 -7.46509873e-05 9.99967834e-01 -2.72292012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.225898227 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.11, Z:-0.27 [[ 9.98471570e-01 -5.45861032e-02 -8.65344740e-03 3.30844681e+00] [ 5.45848935e-02 9.98509063e-01 -3.76085762e-04 -1.07490535e-01] [ 8.66107471e-03 -9.68365631e-05 9.99962488e-01 -2.74495108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.255898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.11, Z:-0.27 [[ 9.98373527e-01 -5.64751382e-02 -7.80124388e-03 3.34165534e+00] [ 5.64742238e-02 9.98404000e-01 -3.37625272e-04 -1.05033687e-01] [ 7.80786053e-03 -1.03493059e-04 9.99969513e-01 -2.73735657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.285898227 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.10, Z:-0.27 [[ 9.98161901e-01 -6.05012364e-02 -3.52419077e-03 3.37442922e+00] [ 6.05010758e-02 9.98168120e-01 -1.52245337e-04 -1.00978357e-01] [ 3.52694590e-03 -6.12518374e-05 9.99993778e-01 -2.73114885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.10, Z:-0.27 [[ 9.98074261e-01 -6.20055548e-02 -1.75504499e-03 3.40755989e+00] [ 6.20055172e-02 9.98075804e-01 -7.58524343e-05 -9.96041195e-02] [ 1.75637122e-03 -3.31161104e-05 9.99998457e-01 -2.73276553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.345898227 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.10, Z:-0.27 [[ 9.97987145e-01 -6.34073391e-02 -1.08073921e-03 3.43991456e+00] [ 6.34073257e-02 9.97987730e-01 -4.67503013e-05 -9.92399427e-02] [ 1.08152878e-03 -2.18705832e-05 9.99999415e-01 -2.74627741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3758982269999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.10, Z:-0.27 [[ 9.97919301e-01 -6.44600935e-02 -1.40164745e-03 3.47309569e+00] [ 6.44600728e-02 9.97920285e-01 -5.99238656e-05 -9.76753679e-02] [ 1.40259512e-03 -3.05511146e-05 9.99999016e-01 -2.74009863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.405898227 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.10, Z:-0.27 [[ 9.97872536e-01 -6.51198801e-02 -3.13096000e-03 3.50550448e+00] [ 6.51197824e-02 9.97877445e-01 -1.33259205e-04 -9.52179130e-02] [ 3.13299219e-03 -7.09117328e-05 9.99995090e-01 -2.73352065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.435898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.09, Z:-0.27 [[ 9.97911185e-01 -6.44963324e-02 -3.67298961e-03 3.53847246e+00] [ 6.44961965e-02 9.97917941e-01 -1.55545577e-04 -9.27604537e-02] [ 3.67537435e-03 -8.16731888e-05 9.99993242e-01 -2.71931752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.09, Z:-0.27 [[ 9.97969133e-01 -6.36239799e-02 -3.09809377e-03 3.57118925e+00] [ 6.36238806e-02 9.97973940e-01 -1.30728591e-04 -9.15436447e-02] [ 3.10013432e-03 -6.66496489e-05 9.99995192e-01 -2.72394479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.495898227 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.09, Z:-0.27 [[ 9.98003641e-01 -6.30837643e-02 -3.02830820e-03 3.60433551e+00] [ 6.30836685e-02 9.98008234e-01 -1.27228666e-04 -8.98748868e-02] [ 3.03030258e-03 -6.40621185e-05 9.99995407e-01 -2.71910738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.525898227 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.09, Z:-0.27 [[ 9.98022765e-01 -6.28024094e-02 -2.53355549e-03 3.63682520e+00] [ 6.28023426e-02 9.98025979e-01 -1.05989506e-04 -8.75483224e-02] [ 2.53521059e-03 -5.33332802e-05 9.99996785e-01 -2.71368053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.555898227 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.09, Z:-0.27 [[ 9.98005917e-01 -6.30231074e-02 -3.50399992e-03 3.66951404e+00] [ 6.30229830e-02 9.98012065e-01 -1.46027063e-04 -8.59170162e-02] [ 3.50623727e-03 -7.50966543e-05 9.99993850e-01 -2.70578457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5858982269999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.08, Z:-0.27 [[ 9.97938215e-01 -6.40059239e-02 -4.74973930e-03 3.70258037e+00] [ 6.40057119e-02 9.97949513e-01 -1.96801802e-04 -8.39294958e-02] [ 4.75259651e-03 -1.07614406e-04 9.99988701e-01 -2.70632514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.08, Z:-0.27 [[ 9.97872335e-01 -6.49569982e-02 -5.60281625e-03 3.73557525e+00] [ 6.49567246e-02 9.97888055e-01 -2.30979548e-04 -8.27396287e-02] [ 5.60598715e-03 -1.33452492e-04 9.99984277e-01 -2.72077536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.645898227 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.08, Z:-0.27 [[ 9.97712100e-01 -6.73052255e-02 -6.36963013e-03 3.76796773e+00] [ 6.73049277e-02 9.97732418e-01 -2.61345814e-04 -7.91232396e-02] [ 6.37277641e-03 -1.67959615e-04 9.99979680e-01 -2.72286198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.675898227 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.08, Z:-0.27 [[ 9.97680311e-01 -6.77924091e-02 -6.17955182e-03 3.80130560e+00] [ 6.77921447e-02 9.97699434e-01 -2.52473191e-04 -7.65419086e-02] [ 6.18245113e-03 -1.67037540e-04 9.99980875e-01 -2.73446448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.705898227 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.07, Z:-0.27 [[ 9.97678135e-01 -6.78193356e-02 -6.23515103e-03 3.83477652e+00] [ 6.78190742e-02 9.97697604e-01 -2.53591400e-04 -7.40771615e-02] [ 6.23799365e-03 -1.69859576e-04 9.99980529e-01 -2.73767406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.735898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.07, Z:-0.27 [[ 9.97698923e-01 -6.75038475e-02 -6.33168176e-03 3.86805634e+00] [ 6.75035790e-02 9.97718999e-01 -2.56345859e-04 -7.16735659e-02] [ 6.33454352e-03 -1.71655192e-04 9.99979922e-01 -2.72883775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.765898227 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.07, Z:-0.27 [[ 9.97718559e-01 -6.73162272e-02 -5.11892320e-03 3.90114177e+00] [ 6.73160534e-02 9.97731681e-01 -2.06434805e-04 -6.99171385e-02] [ 5.12120826e-03 -1.38621872e-04 9.99986877e-01 -2.72730569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7958982269999995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.07, Z:-0.27 [[ 9.97724181e-01 -6.72328446e-02 -5.11895703e-03 3.93469488e+00] [ 6.72326740e-02 9.97737303e-01 -2.05592980e-04 -6.86692062e-02] [ 5.12119698e-03 -1.39036082e-04 9.99986877e-01 -2.72601179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.825898227 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.07, Z:-0.27 [[ 9.97765371e-01 -6.66711401e-02 -4.38444249e-03 3.96668217e+00] [ 6.66710112e-02 9.97774997e-01 -1.75723422e-04 -6.75763818e-02] [ 4.38640278e-03 -1.16984470e-04 9.99990373e-01 -2.71870224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.07, Z:-0.27 [[ 9.97803268e-01 -6.60955535e-02 -4.47398950e-03 3.99919299e+00] [ 6.60954169e-02 9.97813291e-01 -1.78540959e-04 -6.64999296e-02] [ 4.47600695e-03 -1.17561449e-04 9.99989976e-01 -2.71258239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.885898227 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.07, Z:-0.27 [[ 9.97834390e-01 -6.56635208e-02 -3.85117509e-03 4.03149418e+00] [ 6.56634178e-02 9.97841817e-01 -1.53313148e-04 -6.65039309e-02] [ 3.85293064e-03 -9.99001883e-05 9.99992572e-01 -2.73090823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.07, Z:-0.27 [[ 9.97841385e-01 -6.55449141e-02 -4.05386848e-03 4.06436301e+00] [ 6.55448019e-02 9.97849614e-01 -1.60664062e-04 -6.54793094e-02] [ 4.05568181e-03 -1.05392756e-04 9.99991770e-01 -2.70659360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.945898227 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.07, Z:-0.27 [[ 9.97771342e-01 -6.66031664e-02 -4.04556794e-03 4.09639602e+00] [ 6.66030663e-02 9.97779538e-01 -1.59614376e-04 -6.58908184e-02] [ 4.04721573e-03 -1.10188580e-04 9.99991804e-01 -2.69348714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.975898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.07, Z:-0.27 [[ 9.97753736e-01 -6.68877623e-02 -3.67558396e-03 4.12986521e+00] [ 6.68876836e-02 9.97760501e-01 -1.44466045e-04 -6.64119412e-02] [ 3.67701550e-03 -1.01709761e-04 9.99993235e-01 -2.68432999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.005898226999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.07, Z:-0.27 [[ 9.97754944e-01 -6.68935337e-02 -3.21353284e-03 4.16160928e+00] [ 6.68934752e-02 9.97760115e-01 -1.25788190e-04 -6.75636889e-02] [ 3.21474932e-03 -8.94585908e-05 9.99994829e-01 -2.68443378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.035898227 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.07, Z:-0.27 [[ 9.97831631e-01 -6.57749094e-02 -2.38704480e-03 4.19468711e+00] [ 6.57748745e-02 9.97834484e-01 -9.32094449e-05 -7.01009354e-02] [ 2.38800646e-03 -6.40002399e-05 9.99997147e-01 -2.68074374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.065898227 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.07, Z:-0.27 [[ 9.97898494e-01 -6.47662094e-02 -1.98313662e-03 4.22645446e+00] [ 6.47661838e-02 9.97900464e-01 -7.71697580e-05 -7.02304744e-02] [ 1.98397095e-03 -5.14326058e-05 9.99998031e-01 -2.67336430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.095898227 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.07, Z:-0.27 [[ 9.97984888e-01 -6.34256941e-02 -1.82859461e-03 4.25969310e+00] [ 6.34256706e-02 9.97986563e-01 -7.08948107e-05 -7.04309034e-02] [ 1.82940941e-03 -4.52278901e-05 9.99998326e-01 -2.67040264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1258982269999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.07, Z:-0.27 [[ 9.98101362e-01 -6.15652815e-02 -1.84031756e-03 4.29290529e+00] [ 6.15652553e-02 9.98103058e-01 -7.09211524e-05 -7.06976243e-02] [ 1.84119286e-03 -4.25131216e-05 9.99998304e-01 -2.66697370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.155898227 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.07, Z:-0.27 [[ 9.98257580e-01 -5.89887932e-02 -1.45795733e-03 4.32532128e+00] [ 5.89887742e-02 9.98258645e-01 -5.60817543e-05 -7.17497500e-02] [ 1.45872670e-03 -3.00190793e-05 9.99998936e-01 -2.68410285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.185898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.07, Z:-0.27 [[ 9.98661878e-01 -5.17111235e-02 -6.42397516e-04 4.35899082e+00] [ 5.17111181e-02 9.98662085e-01 -2.51072699e-05 -7.22537124e-02] [ 6.42836368e-04 -8.14542048e-06 9.99999793e-01 -2.68142609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215898226999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.07, Z:-0.27 [[ 9.98887014e-01 -4.71576520e-02 -9.42752041e-04 4.39211239e+00] [ 4.71576387e-02 9.98887459e-01 -3.63490860e-05 -7.02586369e-02] [ 9.43417328e-04 -8.14933011e-06 9.99999555e-01 -2.67384050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.07, Z:-0.27 [[ 9.99119969e-01 -4.19272283e-02 -1.18138371e-03 4.42548810e+00] [ 4.19272042e-02 9.99120667e-01 -4.51641384e-05 -6.82307757e-02] [ 1.18223849e-03 -4.40772347e-06 9.99999301e-01 -2.67137766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.275898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.07, Z:-0.27 [[ 9.99312230e-01 -3.70561402e-02 -1.38209354e-03 4.45865308e+00] [ 3.70561030e-02 9.99313185e-01 -5.24674357e-05 -6.61419775e-02] [ 1.38308854e-03 1.21634938e-06 9.99999044e-01 -2.68865637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.305898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.06, Z:-0.27 [[ 9.99603978e-01 -2.79940187e-02 -2.86750485e-03 4.49135400e+00] [ 2.79938254e-02 9.99608090e-01 -1.07534275e-04 -6.25514172e-02] [ 2.86939136e-03 2.72192588e-05 9.99995883e-01 -2.69252220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3358982269999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.06, Z:-0.27 [[ 9.99713529e-01 -2.35808724e-02 -4.09897698e-03 4.52480856e+00] [ 2.35804433e-02 9.99721931e-01 -1.52974217e-04 -5.99405671e-02] [ 4.10144445e-03 5.62747002e-05 9.99991587e-01 -2.68868297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.365898227 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.06, Z:-0.27 [[ 9.99795954e-01 -1.97173931e-02 -4.39036328e-03 4.55771666e+00] [ 1.97168673e-02 9.99805590e-01 -1.63010773e-04 -5.67431119e-02] [ 4.39272390e-03 7.64133012e-05 9.99990349e-01 -2.69131980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.395898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.05, Z:-0.27 [[ 9.99862256e-01 -1.61051096e-02 -4.01179537e-03 4.58952871e+00] [ 1.61046427e-02 9.99870301e-01 -1.48667714e-04 -5.30514826e-02] [ 4.01366935e-03 8.40387048e-05 9.99991942e-01 -2.68922865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.425898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.04, Z:-0.27 [[ 9.99922102e-01 -1.18569164e-02 -3.89904860e-03 4.62253655e+00] [ 1.18564457e-02 9.99929700e-01 -1.43798041e-04 -4.43853270e-02] [ 3.90047950e-03 9.75579812e-05 9.99992388e-01 -2.67553525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.455898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.04, Z:-0.27 [[ 9.99940858e-01 -1.00347945e-02 -4.19322544e-03 4.65424725e+00] [ 1.00378314e-02 9.99949372e-01 7.03814200e-04 -4.03814738e-02] [ 4.18595052e-03 -7.45863465e-04 9.99990961e-01 -2.68950439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.485898227 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.04, Z:-0.27 [[ 9.99943382e-01 -9.63876037e-03 -4.50855566e-03 4.68680020e+00] [ 9.63419451e-03 9.99953056e-01 -1.03333599e-03 -3.50399993e-02] [ 4.51830409e-03 9.89841185e-04 9.99989303e-01 -2.68843495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.03, Z:-0.27 [[ 9.99955321e-01 -8.67764523e-03 -3.74886041e-03 4.71835514e+00] [ 8.67719049e-03 9.99962343e-01 -1.37547376e-04 -3.00449458e-02] [ 3.74991283e-03 1.05011654e-04 9.99992964e-01 -2.68067919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5458982269999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.03, Z:-0.27 [[ 9.99965695e-01 -7.94004236e-03 -2.35889126e-03 4.75064320e+00] [ 7.93986033e-03 9.99968475e-01 -8.65216314e-05 -2.53826659e-02] [ 2.35950388e-03 6.77893961e-05 9.99997214e-01 -2.67985813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.575898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.02, Z:-0.27 [[ 9.99973178e-01 -7.17241841e-03 -1.48317766e-03 4.78244273e+00] [ 7.17234566e-03 9.99974277e-01 -5.43646901e-05 -2.06750686e-02] [ 1.48352944e-03 4.37253691e-05 9.99998899e-01 -2.68117301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.605898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.01, Z:-0.27 [[ 9.99982040e-01 -5.79342173e-03 -1.53469217e-03 4.81411935e+00] [ 5.79334234e-03 9.99983217e-01 -5.61736590e-05 -1.12192775e-02] [ 1.53499186e-03 4.72816529e-05 9.99998821e-01 -2.68572101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.635898227 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.01, Z:-0.27 [[ 9.99984092e-01 -5.47068610e-03 -1.37394966e-03 4.84567358e+00] [ 5.47062222e-03 9.99985035e-01 -5.02455276e-05 -5.67259815e-03] [ 1.37420398e-03 4.27283687e-05 9.99999055e-01 -2.68832753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:0.00, Z:-0.27 [[ 9.99985090e-01 -5.29096989e-03 -1.35091444e-03 4.87739663e+00] [ 5.29090806e-03 9.99986002e-01 -4.93392199e-05 1.91896683e-04] [ 1.35115658e-03 4.21909202e-05 9.99999086e-01 -2.66594380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.695898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.91, Y:0.01, Z:-0.27 [[ 9.99982707e-01 -5.85472377e-03 -5.55121221e-04 4.90869312e+00] [ 5.85471339e-03 9.99982861e-01 -2.03178406e-05 8.30325037e-03] [ 5.55230662e-04 1.70674136e-05 9.99999846e-01 -2.67251167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.725898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.94, Y:0.01, Z:-0.27 [[ 9.99982481e-01 -5.81832045e-03 -1.08843635e-03 4.94022333e+00] [ 5.81828072e-03 9.99983073e-01 -3.96584280e-05 1.26042733e-02] [ 1.08864867e-03 3.33249050e-05 9.99999407e-01 -2.66335160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755898226999999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:4.97, Y:0.02, Z:-0.27 [[ 9.99983565e-01 -5.49652080e-03 -1.63016029e-03 4.97264723e+00] [ 5.49643143e-03 9.99984893e-01 -5.92975943e-05 1.61569936e-02] [ 1.63046159e-03 5.03365555e-05 9.99998670e-01 -2.67713122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.785898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:5.01, Y:0.02, Z:-0.27 [[ 9.99988533e-01 -4.18403426e-03 -2.32968857e-03 5.00501308e+00] [ 4.18384861e-03 9.99991244e-01 -8.45568772e-05 2.02246379e-02] [ 2.33002196e-03 7.48088433e-05 9.99997283e-01 -2.69744511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.815898227 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:5.04, Y:0.02, Z:-0.27 [[ 9.99988593e-01 -3.93390128e-03 -2.70883420e-03 5.03666787e+00] [ 3.93364978e-03 9.99992258e-01 -9.81632315e-05 2.24343605e-02] [ 2.70919940e-03 8.75065068e-05 9.99996326e-01 -2.69309097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.845898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:5.07, Y:0.02, Z:-0.27 [[ 9.99990753e-01 -3.32685832e-03 -2.72499979e-03 5.06813302e+00] [ 3.32660184e-03 9.99994462e-01 -9.86495084e-05 2.44700766e-02] [ 2.72531289e-03 8.95836069e-05 9.99996282e-01 -2.69134946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8758982269999995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:5.10, Y:0.03, Z:-0.27 [[ 9.99994808e-01 -2.55291769e-03 -1.96615349e-03 5.09962320e+00] [ 2.55278295e-03 9.99996739e-01 -7.10365066e-05 2.64643536e-02] [ 1.96632843e-03 6.60169747e-05 9.99998065e-01 -2.69259740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.905898227 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:5.13, Y:0.03, Z:-0.27 [[ 9.99998197e-01 8.73731801e-04 -1.68618673e-03 5.13067209e+00] [-8.73835659e-04 9.99999616e-01 -6.08576674e-05 3.03884621e-02] [ 1.68613291e-03 6.23310077e-05 9.99998577e-01 -2.67733047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.935898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:5.16, Y:0.03, Z:-0.27 [[ 9.99993785e-01 3.35574258e-03 -1.08089808e-03 5.15946678e+00] [-3.35578653e-03 9.99994369e-01 -3.88496184e-05 3.34233473e-02] [ 1.08076162e-03 4.24766402e-05 9.99999415e-01 -2.66632808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.965898226999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:5.19, Y:0.04, Z:-0.27 [[ 9.99985515e-01 5.38063636e-03 -1.36279664e-04 5.18583901e+00] [-5.38063704e-03 9.99985524e-01 -4.60293876e-06 3.62545671e-02] [ 1.36252924e-04 5.33614350e-06 9.99999991e-01 -2.66447243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.995898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.21, Y:0.04, Z:-0.27 [[ 9.99972879e-01 7.26614784e-03 1.20214865e-03 5.21343631e+00] [-7.26620578e-03 9.99973600e-01 4.38384618e-05 3.87616961e-02] [-1.20179838e-03 -5.25723323e-05 9.99999276e-01 -2.66218782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.025898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.24, Y:0.04, Z:-0.27 [[ 9.99956545e-01 9.10229987e-03 2.01422364e-03 5.24015205e+00] [-9.10246657e-03 9.99958569e-01 7.36086272e-05 3.99042687e-02] [-2.01347018e-03 -9.19398318e-05 9.99997969e-01 -2.67465736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.055898226999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:5.27, Y:0.04, Z:-0.27 [[ 9.99969399e-01 7.74074054e-03 1.13200938e-03 5.26817334e+00] [-7.74079247e-03 9.99970039e-01 4.15034791e-05 4.06803827e-02] [-1.13165419e-03 -5.02648587e-05 9.99999358e-01 -2.69079798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.085898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.30, Y:0.04, Z:-0.27 [[ 9.99987070e-01 5.04202141e-03 -6.61010245e-04 5.29635983e+00] [-5.04203828e-03 9.99987289e-01 -2.38495213e-05 4.17203941e-02] [ 6.60881593e-04 2.71820519e-05 9.99999781e-01 -2.68633035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.115898226999999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:5.32, Y:0.04, Z:-0.27 [[ 9.99996934e-01 1.28153753e-03 -2.11911319e-03 5.32436978e+00] [-1.28170398e-03 9.99999176e-01 -7.71915195e-05 4.20321324e-02] [ 2.11901252e-03 7.99073586e-05 9.99997752e-01 -2.69414163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.145898226999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:5.35, Y:0.04, Z:-0.27 [[ 9.99983593e-01 -5.14238610e-03 -2.52387616e-03 5.35386937e+00] [ 5.14216975e-03 9.99986775e-01 -9.22006876e-05 4.19339986e-02] [ 2.52431692e-03 7.92209752e-05 9.99996811e-01 -2.67187208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.175898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:5.39, Y:0.04, Z:-0.27 [[ 9.99974024e-01 -6.86291396e-03 -2.20288984e-03 5.38563700e+00] [ 6.86275296e-03 9.99976448e-01 -8.06350453e-05 4.18107164e-02] [ 2.20339135e-03 6.55150619e-05 9.99997570e-01 -2.68172722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.205898226999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:5.42, Y:0.04, Z:-0.27 [[ 9.99971580e-01 -7.30919708e-03 -1.84777741e-03 5.41759151e+00] [ 7.30908463e-03 9.99973286e-01 -6.76020201e-05 4.33675967e-02] [ 1.84822216e-03 5.40945375e-05 9.99998291e-01 -2.65825153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.235898226999998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:5.45, Y:0.05, Z:-0.26 [[ 9.99976037e-01 -6.74055746e-03 -1.57817625e-03 5.45084515e+00] [ 6.74047477e-03 9.99977281e-01 -5.77078542e-05 4.50301358e-02] [ 1.57852938e-03 4.70688141e-05 9.99998753e-01 -2.64646242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.265898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:5.48, Y:0.05, Z:-0.26 [[ 9.99981375e-01 -5.98482954e-03 -1.19679337e-03 5.48275911e+00] [ 5.98478151e-03 9.99982090e-01 -4.37091887e-05 4.61169334e-02] [ 1.19703353e-03 3.65458278e-05 9.99999283e-01 -2.64959508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.295898226999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:5.52, Y:0.05, Z:-0.27 [[ 9.99980655e-01 -6.09844740e-03 -1.22415763e-03 5.51512342e+00] [ 6.09839737e-03 9.99981404e-01 -4.45951417e-05 4.55371833e-02] [ 1.22440683e-03 3.71288794e-05 9.99999250e-01 -2.66580900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.325898227 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:5.55, Y:0.05, Z:-0.27 [[ 9.99973395e-01 -7.25721981e-03 -7.35894236e-04 5.54852830e+00] [ 7.25720196e-03 9.99973666e-01 -2.69231623e-05 4.59329337e-02] [ 7.36070244e-04 2.15819129e-05 9.99999729e-01 -2.68213797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.355898226999999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:5.58, Y:0.05, Z:-0.27 [[ 9.99965137e-01 -8.34118451e-03 -3.85701908e-04 5.58031595e+00] [ 8.34117967e-03 9.99965212e-01 -1.41718477e-05 4.70730847e-02] [ 3.85806700e-04 1.09541447e-05 9.99999926e-01 -2.67298799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.385898226999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.61, Y:0.05, Z:-0.26 [[ 9.99955641e-01 -9.39351617e-03 -6.91742046e-04 5.61214541e+00] [ 9.39350098e-03 9.99955880e-01 -2.51920870e-05 4.89200949e-02] [ 6.91948169e-04 1.86930899e-05 9.99999760e-01 -2.64406670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:5.65, Y:0.05, Z:-0.27 [[ 9.99945667e-01 -1.03071850e-02 -1.55746676e-03 5.64516053e+00] [ 1.03071097e-02 9.99946879e-01 -5.63697208e-05 4.97629707e-02] [ 1.55796504e-03 4.03136773e-05 9.99998786e-01 -2.65145594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.445898226999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.68, Y:0.05, Z:-0.26 [[ 9.99952138e-01 -9.69117848e-03 -1.34269868e-03 5.67793937e+00] [ 9.69112203e-03 9.99953039e-01 -4.85384115e-05 5.05098680e-02] [ 1.34310602e-03 3.55238316e-05 9.99999097e-01 -2.63362935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.475898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.71, Y:0.05, Z:-0.26 [[ 9.99959402e-01 -9.01063841e-03 -5.23440211e-05 5.71091797e+00] [ 9.01063830e-03 9.99959403e-01 -2.14928969e-06 5.14470998e-02] [ 5.23612626e-05 1.67754939e-06 9.99999999e-01 -2.63157092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.505898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:5.74, Y:0.05, Z:-0.26 [[ 9.99968169e-01 -7.95686714e-03 5.90370460e-04 5.74429238e+00] [ 7.95685621e-03 9.99968344e-01 2.08694722e-05 5.21409697e-02] [-5.90517826e-04 -1.61713151e-05 9.99999826e-01 -2.62867142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.535898226999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.78, Y:0.05, Z:-0.26 [[ 9.99975408e-01 -6.96289419e-03 8.37227068e-04 5.77699106e+00] [ 6.96287181e-03 9.99975758e-01 2.96386888e-05 5.27899866e-02] [-8.37413144e-04 -2.38084552e-05 9.99999649e-01 -2.63260221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.565898226999998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:5.81, Y:0.05, Z:-0.26 [[ 9.99990811e-01 -4.28677530e-03 3.53474020e-05 5.80916740e+00] [ 4.28677527e-03 9.99990812e-01 9.82639066e-07 5.25427354e-02] [-3.53512895e-05 -8.31103667e-07 9.99999999e-01 -2.63537216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.595898227 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:5.84, Y:0.05, Z:-0.26 [[ 9.99993948e-01 -3.47855361e-03 -5.37491177e-05 5.84020362e+00] [ 3.47855351e-03 9.99993950e-01 -2.05164279e-06 5.33068605e-02] [ 5.37559292e-05 1.86466120e-06 9.99999999e-01 -2.62906012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.625898226999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.87, Y:0.05, Z:-0.26 [[ 9.99995988e-01 -2.67951694e-03 9.19035081e-04 5.87246388e+00] [ 2.67948818e-03 9.99996410e-01 3.25187832e-05 5.32459486e-02] [-9.19118916e-04 -3.00561091e-05 9.99999577e-01 -2.63203189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.91, Y:0.05, Z:-0.26 [[ 9.99996143e-01 -2.62113098e-03 9.19038576e-04 5.90516906e+00] [ 2.62110229e-03 9.99996564e-01 3.24203254e-05 5.43283711e-02] [-9.19120396e-04 -3.00113062e-05 9.99999577e-01 -2.63076673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.685898227 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:5.94, Y:0.05, Z:-0.26 [[ 9.99996264e-01 -2.06863224e-03 1.78701834e-03 5.93740881e+00] [ 2.06852260e-03 9.99997859e-01 6.32018631e-05 5.41074110e-02] [-1.78714525e-03 -5.95051391e-05 9.99998401e-01 -2.63873009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.715898226999998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:5.97, Y:0.05, Z:-0.27 [[ 9.99997775e-01 -1.81488676e-03 1.07515070e-03 5.96859277e+00] [ 1.81484706e-03 9.99998352e-01 3.78986629e-05 5.38064705e-02] [-1.07521771e-03 -3.59473445e-05 9.99999421e-01 -2.65183029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.745898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.00, Y:0.06, Z:-0.26 [[ 9.99996670e-01 -2.47055849e-03 -7.45913354e-04 6.00101859e+00] [ 2.47053933e-03 9.99996948e-01 -2.66114705e-05 5.55417970e-02] [ 7.45976823e-04 2.47685736e-05 9.99999721e-01 -2.64194775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.775898226999999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:6.03, Y:0.06, Z:-0.27 [[ 9.99989392e-01 -3.62099235e-03 -2.84667946e-03 6.03277329e+00] [ 3.62072028e-03 9.99993440e-01 -1.00721061e-04 5.69667558e-02] [ 2.84702550e-03 9.04129628e-05 9.99995943e-01 -2.66073868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.805898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:6.06, Y:0.06, Z:-0.26 [[ 9.99978661e-01 -5.01275418e-03 -4.18914290e-03 6.06427410e+00] [ 5.01217840e-03 9.99987428e-01 -1.47933680e-04 5.88861457e-02] [ 4.18983179e-03 1.26933791e-04 9.99991215e-01 -2.64848395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:0.06, Z:-0.26 [[ 9.99946789e-01 -9.82600919e-03 -3.14154031e-03 6.09689326e+00] [ 9.82570907e-03 9.99951720e-01 -1.10954835e-04 5.98846792e-02] [ 3.14247888e-03 8.00810695e-05 9.99995059e-01 -2.63265900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.865898226999999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:6.13, Y:0.06, Z:-0.26 [[ 9.99913621e-01 -1.30392717e-02 -1.65140416e-03 6.13043108e+00] [ 1.30391935e-02 9.99914984e-01 -5.81451618e-05 6.08058959e-02] [ 1.65202193e-03 3.66071610e-05 9.99998635e-01 -2.63333726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.895898226999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.16, Y:0.06, Z:-0.26 [[ 9.99871938e-01 -1.59746930e-02 -9.57727589e-04 6.16339621e+00] [ 1.59746680e-02 9.99872396e-01 -3.37679849e-05 6.25926671e-02] [ 9.58144813e-04 1.84642803e-05 9.99999541e-01 -2.61757134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.925898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:6.20, Y:0.06, Z:-0.26 [[ 9.99819829e-01 -1.89536701e-02 -1.03368470e-03 6.19609751e+00] [ 1.89536426e-02 9.99820363e-01 -3.63553437e-05 6.38901261e-02] [ 1.03418808e-03 1.67567031e-05 9.99999465e-01 -2.63259540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.955898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.23, Y:0.07, Z:-0.26 [[ 9.99776551e-01 -2.10642816e-02 -1.77294883e-03 6.22822277e+00] [ 2.10642043e-02 9.99778123e-01 -6.22515623e-05 6.58412475e-02] [ 1.77386674e-03 2.48918958e-05 9.99998426e-01 -2.62198727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.985898226999998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:6.26, Y:0.07, Z:-0.26 [[ 9.99736109e-01 -2.28242942e-02 -2.60083502e-03 6.26127694e+00] [ 2.28241359e-02 9.99739491e-01 -9.05408526e-05 6.80540487e-02] [ 2.60222401e-03 3.11551479e-05 9.99996614e-01 -2.62196803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.015898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:6.29, Y:0.07, Z:-0.26 [[ 9.99696951e-01 -2.44016785e-02 -3.25040486e-03 6.29367468e+00] [ 2.44014422e-02 9.99702234e-01 -1.12341524e-04 7.27573513e-02] [ 3.25217832e-03 3.29929124e-05 9.99994711e-01 -2.61635250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.045898226999999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:6.33, Y:0.08, Z:-0.26 [[ 9.99674488e-01 -2.52531913e-02 -3.63241531e-03 6.32581238e+00] [ 2.52529045e-02 9.99681087e-01 -1.24803878e-04 7.61007169e-02] [ 3.63440858e-03 3.30342164e-05 9.99993395e-01 -2.62125946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.36, Y:0.08, Z:-0.26 [[ 9.99633963e-01 -2.66432261e-02 -4.69883327e-03 6.35910794e+00] [ 2.66427650e-02 9.99645006e-01 -1.60723592e-04 7.87840080e-02] [ 4.70144741e-03 3.54748505e-05 9.99988948e-01 -2.62440738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.105898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:0.08, Z:-0.26 [[ 9.99566491e-01 -2.90729960e-02 -4.64668540e-03 6.39166186e+00] [ 2.90725752e-02 9.99577291e-01 -1.58099555e-04 8.14425865e-02] [ 4.64931763e-03 2.29399068e-05 9.99989192e-01 -2.62407169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.135898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:6.42, Y:0.09, Z:-0.26 [[ 9.99343731e-01 -3.61792442e-02 -1.78033303e-03 6.42455992e+00] [ 3.61791935e-02 9.99345317e-01 -6.06988119e-05 8.67943748e-02] [ 1.78136351e-03 -3.75203602e-06 9.99998413e-01 -2.60288232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.165898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:6.46, Y:0.09, Z:-0.26 [[ 9.99225623e-01 -3.93424648e-02 -5.69359452e-04 6.45663035e+00] [ 3.93424600e-02 9.99225786e-01 -1.95613301e-05 9.01491793e-02] [ 5.69688237e-04 -2.85381924e-06 9.99999838e-01 -2.59420188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.195898226999999 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:6.49, Y:0.09, Z:-0.26 [[ 9.99121038e-01 -4.19164144e-02 -4.07613530e-04 6.49007186e+00] [ 4.19164121e-02 9.99121121e-01 -1.43383005e-05 9.31454998e-02] [ 4.07856297e-04 -2.75999902e-06 9.99999917e-01 -2.60168105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.225898226999998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:6.52, Y:0.10, Z:-0.26 [[ 9.99042054e-01 -4.37368130e-02 -1.43697004e-03 6.52230937e+00] [ 4.37367886e-02 9.99043088e-01 -4.84161546e-05 9.65346565e-02] [ 1.43771256e-03 -1.44786805e-05 9.99998966e-01 -2.59768998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.56, Y:0.10, Z:-0.26 [[ 9.98970715e-01 -4.52658526e-02 -2.91787937e-03 6.55552071e+00] [ 4.52657621e-02 9.98974975e-01 -9.71123604e-05 1.00813114e-01] [ 2.91928434e-03 -3.50676290e-05 9.99995738e-01 -2.59129754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.285898226999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.59, Y:0.10, Z:-0.26 [[ 9.98999376e-01 -4.46310163e-02 -2.88423508e-03 6.58844576e+00] [ 4.46309267e-02 9.99003539e-01 -9.54850594e-05 1.02996726e-01] [ 2.88562264e-03 -3.33365693e-05 9.99995836e-01 -2.57818939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.315898226999998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:6.62, Y:0.11, Z:-0.26 [[ 9.99060710e-01 -4.32689474e-02 -2.34434335e-03 6.62094260e+00] [ 4.32688852e-02 9.99063460e-01 -7.72876136e-05 1.05476169e-01] [ 2.34549193e-03 -2.42221049e-05 9.99997249e-01 -2.56857064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.345898227 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:6.65, Y:0.11, Z:-0.26 [[ 9.99179345e-01 -4.04829628e-02 -1.32931316e-03 6.65328888e+00] [ 4.04829403e-02 9.99180229e-01 -4.38740398e-05 1.07356958e-01] [ 1.32999958e-03 -9.97647095e-06 9.99999116e-01 -2.56895698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.375898226999999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:6.69, Y:0.11, Z:-0.26 [[ 9.99300099e-01 -3.74019629e-02 -6.36123630e-04 6.68670052e+00] [ 3.74019569e-02 9.99300302e-01 -2.12972126e-05 1.09878372e-01] [ 6.36475093e-04 -2.50996195e-06 9.99999797e-01 -2.57342186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.405898226999998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:6.72, Y:0.11, Z:-0.26 [[ 9.99498633e-01 -3.16606719e-02 -2.90392345e-04 6.71859295e+00] [ 3.16606703e-02 9.99498675e-01 -1.00220285e-05 1.13789295e-01] [ 2.90564069e-04 8.22987492e-07 9.99999958e-01 -2.55377595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.435898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:6.75, Y:0.12, Z:-0.25 [[ 9.99572637e-01 -2.92307643e-02 -3.25616598e-04 6.75161676e+00] [ 2.92307623e-02 9.99572690e-01 -1.11218108e-05 1.15674309e-01] [ 3.25802558e-04 1.59903637e-06 9.99999947e-01 -2.54439984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.465898226999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:6.78, Y:0.12, Z:-0.25 [[ 9.99628126e-01 -2.72690917e-02 8.25101319e-05 6.78458720e+00] [ 2.72690917e-02 9.99628129e-01 1.88710787e-06 1.17107926e-01] [-8.25309085e-05 3.63570251e-07 9.99999997e-01 -2.54465340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:6.82, Y:0.12, Z:-0.25 [[ 9.99678649e-01 -2.53305973e-02 9.79898785e-04 6.81717078e+00] [ 2.53305798e-02 9.99679129e-01 3.02692476e-05 1.18113724e-01] [-9.80351102e-04 -5.43811614e-06 9.99999519e-01 -2.53634081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.525898226999999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:6.85, Y:0.12, Z:-0.25 [[ 9.99716061e-01 -2.37390932e-02 2.06227772e-03 6.85081390e+00] [ 2.37390116e-02 9.99718188e-01 6.40340713e-05 1.18777123e-01] [-2.06321665e-03 -1.50594550e-05 9.99997871e-01 -2.53603402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.555898226999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:6.88, Y:0.12, Z:-0.25 [[ 9.99782580e-01 -2.06466156e-02 2.91718116e-03 6.88415223e+00] [ 2.06464399e-02 9.99786835e-01 9.03091855e-05 1.18478720e-01] [-2.91842390e-03 -3.00601448e-05 9.99995741e-01 -2.53801980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:0.12, Z:-0.25 [[ 9.99809327e-01 -1.92405268e-02 3.33336336e-03 6.91676890e+00] [ 1.92402911e-02 9.99814883e-01 1.02757669e-04 1.18876342e-01] [-3.33472341e-03 -3.86031944e-05 9.99994439e-01 -2.54326444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.615898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:0.12, Z:-0.25 [[ 9.99829106e-01 -1.81467660e-02 3.52909957e-03 6.94997148e+00] [ 1.81464972e-02 9.99835333e-01 1.08177254e-04 1.19557626e-01] [-3.53048151e-03 -4.41179711e-05 9.99993767e-01 -2.53308850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.645898226999998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:6.98, Y:0.12, Z:-0.25 [[ 9.99842122e-01 -1.72002339e-02 4.45909994e-03 6.98349075e+00] [ 1.71997984e-02 9.99852063e-01 1.36011261e-04 1.19243333e-01] [-4.46077970e-03 -5.92941681e-05 9.99990049e-01 -2.53997715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.675898227 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:7.02, Y:0.12, Z:-0.25 [[ 9.99845632e-01 -1.70897020e-02 4.08088828e-03 7.01665335e+00] [ 1.70893396e-02 9.99853959e-01 1.23647411e-04 1.19192355e-01] [-4.08240540e-03 -5.38886378e-05 9.99991665e-01 -2.54537960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.705898226999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.05, Y:0.12, Z:-0.25 [[ 9.99855859e-01 -1.66983397e-02 3.07033763e-03 7.04861238e+00] [ 1.66981335e-02 9.99860572e-01 9.27638780e-05 1.18547828e-01] [-3.07145854e-03 -4.14815993e-05 9.99995282e-01 -2.54611244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.735898226999998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:7.08, Y:0.12, Z:-0.25 [[ 9.99857730e-01 -1.67639347e-02 1.86820795e-03 7.08217465e+00] [ 1.67638600e-02 9.99859475e-01 5.56619967e-05 1.18748307e-01] [-1.86887853e-03 -2.43357012e-05 9.99998253e-01 -2.54844933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.765898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.11, Y:0.12, Z:-0.25 [[ 9.99855288e-01 -1.69918565e-02 -8.24859896e-04 7.11425685e+00] [ 1.69918413e-02 9.99855628e-01 -2.54142415e-05 1.18766706e-01] [ 8.25172644e-04 1.13946753e-05 9.99999659e-01 -2.54515776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.795898226999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:7.15, Y:0.12, Z:-0.26 [[ 9.99854244e-01 -1.70160153e-02 -1.39483994e-03 7.14660151e+00] [ 1.70159729e-02 9.99855217e-01 -4.22726775e-05 1.18922696e-01] [ 1.39535730e-03 1.85319573e-05 9.99999026e-01 -2.55202138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.825898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.18, Y:0.12, Z:-0.26 [[ 9.99852726e-01 -1.70842501e-02 -1.62945159e-03 7.17947887e+00] [ 1.70841933e-02 9.99854053e-01 -4.87648798e-05 1.18849434e-01] [ 1.63004689e-03 2.09198322e-05 9.99998671e-01 -2.55480284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.855898226999999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:7.21, Y:0.12, Z:-0.26 [[ 9.99850821e-01 -1.72281827e-02 -1.23509877e-03 7.21217203e+00] [ 1.72281502e-02 9.99851584e-01 -3.69491740e-05 1.18864372e-01] [ 1.23555203e-03 1.56651949e-05 9.99999237e-01 -2.56163853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.885898226999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.24, Y:0.12, Z:-0.25 [[ 9.99867669e-01 -1.62458234e-02 -8.46694644e-04 7.24453943e+00] [ 1.62458075e-02 9.99868028e-01 -2.56720303e-05 1.19583414e-01] [ 8.46999967e-04 1.19133949e-05 9.99999641e-01 -2.54934186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915898227 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:7.28, Y:0.12, Z:-0.26 [[ 9.99896880e-01 -1.42634267e-02 -1.66838028e-03 7.27771389e+00] [ 1.42633641e-02 9.99898272e-01 -4.94066297e-05 1.20954174e-01] [ 1.66891527e-03 2.56048194e-05 9.99998607e-01 -2.55272770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.945898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.31, Y:0.12, Z:-0.26 [[ 9.99913130e-01 -1.29088859e-02 -2.66335141e-03 7.31032089e+00] [ 1.29087222e-02 9.99916676e-01 -7.86435197e-05 1.21548617e-01] [ 2.66414469e-03 4.42562245e-05 9.99996450e-01 -2.55458425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.975898226999998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:7.34, Y:0.12, Z:-0.26 [[ 9.99921689e-01 -1.21342461e-02 -3.06204077e-03 7.34385084e+00] [ 1.21340283e-02 9.99926376e-01 -8.96874027e-05 1.21856135e-01] [ 3.06290362e-03 5.25254898e-05 9.99995308e-01 -2.55707783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.005898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:7.38, Y:0.12, Z:-0.25 [[ 9.99936678e-01 -1.08854561e-02 -2.85421048e-03 7.37687518e+00] [ 1.08852623e-02 9.99940750e-01 -8.34176431e-05 1.21855552e-01] [ 2.85494940e-03 5.23435314e-05 9.99995923e-01 -2.53994321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.035898226999999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:7.41, Y:0.12, Z:-0.25 [[ 9.99948590e-01 -9.98483941e-03 -1.76642349e-03 7.40954046e+00] [ 9.98476382e-03 9.99950150e-01 -5.16054483e-05 1.22129076e-01] [ 1.76685071e-03 3.39654738e-05 9.99998439e-01 -2.54107921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.065898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:0.12, Z:-0.25 [[ 9.99975124e-01 -6.93399100e-03 -1.29274269e-03 7.44294463e+00] [ 6.93394794e-03 9.99975959e-01 -3.77872684e-05 1.22414828e-01] [ 1.29297363e-03 2.88225179e-05 9.99999164e-01 -2.50789946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.095898227 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:7.48, Y:0.12, Z:-0.25 [[ 9.99978656e-01 -6.38912089e-03 -1.36648267e-03 7.47509922e+00] [ 6.38907254e-03 9.99979589e-01 -3.97466744e-05 1.23004716e-01] [ 1.36670873e-03 3.10152691e-05 9.99999066e-01 -2.51236192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.125898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:0.12, Z:-0.25 [[ 9.99986652e-01 -5.04532942e-03 -1.11411006e-03 7.50741674e+00] [ 5.04529651e-03 9.99987272e-01 -3.23495982e-05 1.23033762e-01] [ 1.11425910e-03 2.67281508e-05 9.99999379e-01 -2.51246259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.155898226999998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:7.54, Y:0.12, Z:-0.25 [[ 9.99991966e-01 -3.99944984e-03 -2.69643118e-04 7.53891139e+00] [ 3.99944781e-03 9.99992002e-01 -8.06125923e-06 1.23274023e-01] [ 2.69673202e-04 6.98277089e-06 9.99999964e-01 -2.53019394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.185898227 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:7.57, Y:0.12, Z:-0.25 [[ 9.99996936e-01 -2.41317207e-03 5.52024665e-04 7.57112850e+00] [ 2.41316378e-03 9.99997088e-01 1.56794964e-05 1.24164314e-01] [-5.52060895e-04 -1.43473225e-05 9.99999848e-01 -2.52690302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.215898226999998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:7.60, Y:0.13, Z:-0.25 [[ 9.99999415e-01 8.33803747e-04 6.88348783e-04 7.60222953e+00] [-8.33817449e-04 9.99999652e-01 1.96193069e-05 1.25837485e-01] [-6.88332185e-04 -2.01932527e-05 9.99999763e-01 -2.51349921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.245898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:7.63, Y:0.13, Z:-0.25 [[ 9.99996813e-01 2.41528361e-03 7.35788394e-04 7.63166142e+00] [-2.41529984e-03 9.99997083e-01 2.11736799e-05 1.26746477e-01] [-7.35735107e-04 -2.29507620e-05 9.99999729e-01 -2.50511135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.275898226999999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:7.66, Y:0.13, Z:-0.25 [[ 9.99994630e-01 3.18734059e-03 7.61813006e-04 7.66050172e+00] [-3.18735835e-03 9.99994920e-01 2.20989094e-05 1.27683487e-01] [-7.61738699e-04 -2.45269618e-05 9.99999710e-01 -2.49795778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.305898226999998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:7.69, Y:0.13, Z:-0.25 [[ 9.99995283e-01 2.93118713e-03 9.17607368e-04 7.68977772e+00] [-2.93121279e-03 9.99995704e-01 2.66279981e-05 1.28232687e-01] [-9.17525374e-04 -2.93175750e-05 9.99999579e-01 -2.49459120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:7.72, Y:0.13, Z:-0.25 [[ 9.99999405e-01 9.62589167e-04 5.13738418e-04 7.71778965e+00] [-9.62597035e-04 9.99999537e-01 1.50686810e-05 1.27177501e-01] [-5.13723675e-04 -1.55631951e-05 9.99999868e-01 -2.50416941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.365898226999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:7.75, Y:0.13, Z:-0.25 [[ 9.99999108e-01 7.12461651e-04 1.12999605e-03 7.74763375e+00] [-7.12499105e-04 9.99999746e-01 3.27435286e-05 1.26949013e-01] [-1.12997243e-03 -3.35486206e-05 9.99999361e-01 -2.50305052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.395898226999998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:7.78, Y:0.13, Z:-0.25 [[ 9.99997150e-01 8.96544634e-04 2.21266671e-03 7.77854006e+00] [-8.96688302e-04 9.99999596e-01 6.39385541e-05 1.26167309e-01] [-2.21260849e-03 -6.59224442e-05 9.99997550e-01 -2.50724879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.425898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:7.81, Y:0.12, Z:-0.25 [[ 9.99990011e-01 4.18245568e-03 1.57662923e-03 7.80898619e+00] [-4.18253270e-03 9.99991252e-01 4.55592308e-05 1.24210626e-01] [-1.57642489e-03 -5.21530790e-05 9.99998756e-01 -2.47146754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.455898226999999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:7.84, Y:0.12, Z:-0.25 [[ 9.99976954e-01 6.77545749e-03 -4.29653965e-04 7.83559994e+00] [-6.77546333e-03 9.99977046e-01 -1.21305086e-05 1.23965739e-01] [ 4.29561913e-04 1.50413337e-05 9.99999908e-01 -2.47200097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.485898226999998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:7.86, Y:0.12, Z:-0.25 [[ 9.99945585e-01 1.01120668e-02 -2.56365543e-03 7.86367286e+00] [-1.01122898e-02 9.99948867e-01 -7.40553713e-05 1.23708683e-01] [ 2.56277549e-03 9.99757684e-05 9.99996711e-01 -2.47923031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.515898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.89, Y:0.12, Z:-0.25 [[ 9.99898285e-01 1.38844557e-02 -3.26203611e-03 7.89146073e+00] [-1.38848396e-02 9.99903596e-01 -9.50822202e-05 1.24194604e-01] [ 3.26040148e-03 1.40365397e-04 9.99994675e-01 -2.47806407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.545898226999999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.92, Y:0.12, Z:-0.25 [[ 9.99848745e-01 1.72349411e-02 -2.33337226e-03 7.91881692e+00] [-1.72351464e-02 9.99851462e-01 -6.79098714e-05 1.24825707e-01] [ 2.33185525e-03 1.08115612e-04 9.99997275e-01 -2.49141374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.575898226999998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:7.95, Y:0.13, Z:-0.25 [[ 9.99851952e-01 1.70478640e-02 -2.33335810e-03 7.94711765e+00] [-1.70480699e-02 9.99854669e-01 -6.83919486e-05 1.25792344e-01] [ 2.33185305e-03 1.08161075e-04 9.99997275e-01 -2.49031068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.605898226999999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:7.97, Y:0.13, Z:-0.25 [[ 9.99724842e-01 2.34412420e-02 -8.65253187e-04 7.97364216e+00] [-2.34412727e-02 9.99725215e-01 -2.53690058e-05 1.27333742e-01] [ 8.64420747e-04 4.56446612e-05 9.99999625e-01 -2.48385024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.635898226999998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:8.00, Y:0.13, Z:-0.25 [[ 9.99679999e-01 2.52426498e-02 -1.64550005e-03 8.00108224e+00] [-2.52427636e-02 9.99681350e-01 -4.84515775e-05 1.28647003e-01] [ 1.64375266e-03 8.99730417e-05 9.99998645e-01 -2.48089106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.665898227 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:8.03, Y:0.13, Z:-0.25 [[ 9.99650654e-01 2.63429783e-02 -2.14875592e-03 8.02808446e+00] [-2.63431768e-02 9.99652956e-01 -6.41067902e-05 1.29038819e-01] [ 2.14632144e-03 1.20689452e-04 9.99997689e-01 -2.49284429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.695898226999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:8.06, Y:0.13, Z:-0.25 [[ 9.99639346e-01 2.67784920e-02 -2.02223509e-03 8.05539849e+00] [-2.67786686e-02 9.99641385e-01 -6.02838650e-05 1.29581504e-01] [ 2.01989558e-03 1.14414887e-04 9.99997953e-01 -2.49165021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.725898226999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:8.08, Y:0.13, Z:-0.25 [[ 9.99642453e-01 2.67033659e-02 -1.37684838e-03 8.08207879e+00] [-2.67034481e-02 9.99643398e-01 -4.13443784e-05 1.29869122e-01] [ 1.37525336e-03 7.80961951e-05 9.99999051e-01 -2.49379351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755898227 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:8.11, Y:0.13, Z:-0.25 [[ 9.99684314e-01 2.51157654e-02 6.85847786e-04 8.10976813e+00] [-2.51157862e-02 9.99684549e-01 2.16318385e-05 1.28557244e-01] [-6.85088134e-04 -3.88506160e-05 9.99999765e-01 -2.50176750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.785898226999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.14, Y:0.13, Z:-0.25 [[ 9.99707273e-01 2.41605676e-02 1.27885775e-03 8.13754161e+00] [-2.41606385e-02 9.99708088e-01 3.99836751e-05 1.27581091e-01] [-1.27751841e-03 -7.08699906e-05 9.99999181e-01 -2.49405542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.815898226999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.16, Y:0.13, Z:-0.25 [[ 9.99729317e-01 2.32398560e-02 1.09613191e-03 8.16412059e+00] [-2.32399073e-02 9.99729916e-01 3.40392709e-05 1.26203330e-01] [-1.09504479e-03 -5.95040610e-05 9.99999399e-01 -2.49231691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.845898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:8.19, Y:0.12, Z:-0.25 [[ 9.99751230e-01 2.23041538e-02 -5.35586339e-05 8.19245014e+00] [-2.23041539e-02 9.99751231e-01 -1.35938536e-06 1.24200376e-01] [ 5.35149902e-05 2.55362720e-06 9.99999999e-01 -2.49792956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.875898226999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.22, Y:0.12, Z:-0.25 [[ 9.99787224e-01 2.05772397e-02 -1.44363503e-03 8.22029330e+00] [-2.05773251e-02 9.99788263e-01 -4.43117266e-05 1.18417131e-01] [ 1.44241755e-03 7.40084456e-05 9.99998957e-01 -2.51071378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.905898226999998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:8.25, Y:0.12, Z:-0.25 [[ 9.99810841e-01 1.94150172e-02 -1.15709449e-03 8.24779978e+00] [-1.94150713e-02 9.99811509e-01 -3.55141750e-05 1.15879824e-01] [ 1.15618688e-03 5.79725293e-05 9.99999330e-01 -2.51366083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.935898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.28, Y:0.11, Z:-0.25 [[ 9.99823774e-01 1.87715951e-02 -2.19340872e-04 8.27619412e+00] [-1.87715969e-02 9.99823798e-01 -6.53157424e-06 1.14121922e-01] [ 2.19179616e-04 1.06478016e-05 9.99999976e-01 -2.50477981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.965898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:8.30, Y:0.11, Z:-0.25 [[ 9.99832567e-01 1.82979101e-02 -1.54840638e-04 8.30412406e+00] [-1.82979110e-02 9.99832579e-01 -4.53964676e-06 1.13280224e-01] [ 1.54731648e-04 7.37214689e-06 9.99999988e-01 -2.49064818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:8.33, Y:0.11, Z:-0.25 [[ 9.99825053e-01 1.87035453e-02 -2.00078689e-04 8.33247847e+00] [-1.87035468e-02 9.99825073e-01 -5.95913629e-06 1.12230499e-01] [ 1.99932233e-04 9.70027489e-06 9.99999980e-01 -2.48328928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.025898226999999 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:8.36, Y:0.11, Z:-0.25 [[ 9.99799638e-01 1.99597211e-02 -1.51429424e-03 8.36062667e+00] [-1.99598152e-02 9.99800782e-01 -4.70717716e-05 1.07143504e-01] [ 1.51305302e-03 7.72873734e-05 9.99998852e-01 -2.49512258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.055898226999998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:8.39, Y:0.10, Z:-0.25 [[ 9.99789489e-01 2.04486774e-02 -1.68180149e-03 8.38714970e+00] [-2.04487944e-02 9.99790900e-01 -5.24093645e-05 1.04445022e-01] [ 1.68037813e-03 8.67891447e-05 9.99998584e-01 -2.50008081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.085898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:8.42, Y:0.10, Z:-0.25 [[ 9.99780520e-01 2.08752925e-02 -1.77037874e-03 8.41531080e+00] [-2.08754231e-02 9.99782083e-01 -5.53625393e-05 1.02469322e-01] [ 1.76883724e-03 9.23077937e-05 9.99998431e-01 -2.49734546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.115898226999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.44, Y:0.10, Z:-0.25 [[ 9.99773360e-01 2.12331764e-02 -1.54295115e-03 8.44267272e+00] [-2.12332760e-02 9.99774547e-01 -4.81856108e-05 9.88992394e-02] [ 1.54158015e-03 8.09365977e-05 9.99998808e-01 -2.48280104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.145898226999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:8.47, Y:0.10, Z:-0.25 [[ 9.99780708e-01 2.09225589e-02 -8.84929418e-04 8.46913031e+00] [-2.09225915e-02 9.99781098e-01 -2.75474576e-05 9.73953395e-02] [ 8.84159342e-04 4.60564333e-05 9.99999608e-01 -2.49213709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.175898227 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:8.50, Y:0.10, Z:-0.25 [[ 9.99787402e-01 2.06170954e-02 -2.94623644e-04 8.49708675e+00] [-2.06170990e-02 9.99787445e-01 -9.08288912e-06 9.51228033e-02] [ 2.94373758e-04 1.51552430e-05 9.99999957e-01 -2.50180418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.205898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.52, Y:0.09, Z:-0.25 [[ 9.99792442e-01 2.03724095e-02 1.96169995e-04 8.52493884e+00] [-2.03724112e-02 9.99792461e-01 6.53038626e-06 9.32014578e-02] [-1.95996242e-04 -1.05254866e-05 9.99999981e-01 -2.49109850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.235898226999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.55, Y:0.09, Z:-0.25 [[ 9.99798378e-01 2.00797318e-02 9.23763057e-05 8.55339190e+00] [-2.00797322e-02 9.99798382e-01 3.23200742e-06 9.14679811e-02] [-9.22927831e-05 -5.08624725e-06 9.99999996e-01 -2.48170759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.265898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:8.58, Y:0.09, Z:-0.25 [[ 9.99793452e-01 2.03146631e-02 -6.05972313e-04 8.58155052e+00] [-2.03146784e-02 9.99793635e-01 -1.91064175e-05 8.63127201e-02] [ 6.05459122e-04 3.14126038e-05 9.99999816e-01 -2.48544031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.295898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:0.08, Z:-0.25 [[ 9.99789315e-01 2.05239135e-02 -3.06026782e-04 8.60825813e+00] [-2.05239173e-02 9.99789362e-01 -9.48848897e-06 8.37340253e-02] [ 3.05767580e-04 1.57673583e-05 9.99999953e-01 -2.48901215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.325898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.64, Y:0.08, Z:-0.25 [[ 9.99787815e-01 2.05943714e-02 4.42870406e-04 8.63629815e+00] [-2.05943799e-02 9.99787913e-01 1.45269832e-05 8.17308281e-02] [-4.42477305e-04 -2.36445422e-05 9.99999902e-01 -2.48623306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.355898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:0.08, Z:-0.25 [[ 9.99793009e-01 2.02924329e-02 1.46852434e-03 8.66475446e+00] [-2.02925246e-02 9.99794084e-01 4.76203058e-05 8.06689334e-02] [-1.46725562e-03 -7.74105152e-05 9.99998921e-01 -2.47910326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.385898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:0.08, Z:-0.25 [[ 9.99791078e-01 2.03303845e-02 2.11550326e-03 8.69145688e+00] [-2.03305753e-02 9.99793310e-01 6.87017037e-05 8.00012328e-02] [-2.11366928e-03 -1.11696749e-04 9.99997760e-01 -2.46852018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.72, Y:0.08, Z:-0.25 [[ 9.99784933e-01 2.06317984e-02 2.10169504e-03 8.71831999e+00] [-2.06319877e-02 9.99787136e-01 6.84277423e-05 7.93234501e-02] [-2.09983588e-03 -1.11775172e-04 9.99997789e-01 -2.45896856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.445898226999999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:8.75, Y:0.08, Z:-0.25 [[ 9.99756203e-01 2.20317767e-02 1.46107679e-03 8.74652080e+00] [-2.20318699e-02 9.99757268e-01 4.77272908e-05 7.76517656e-02] [-1.45967063e-03 -7.99059089e-05 9.99998931e-01 -2.46693276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.475898226999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.77, Y:0.08, Z:-0.25 [[ 9.99744546e-01 2.25955998e-02 5.31234380e-04 8.77312865e+00] [-2.25956123e-02 9.99744686e-01 1.76204191e-05 7.72714314e-02] [-5.30700605e-04 -2.96194840e-05 9.99999859e-01 -2.47179219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.505898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:8.80, Y:0.08, Z:-0.25 [[ 9.99770970e-01 2.12670816e-02 -2.39129186e-03 8.80047636e+00] [-2.12673282e-02 9.99773822e-01 -7.77345790e-05 7.60797446e-02] [ 2.38909782e-03 1.28573164e-04 9.99997138e-01 -2.49235528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.535898226999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:8.83, Y:0.08, Z:-0.25 [[ 9.99794303e-01 1.99818894e-02 -3.47501886e-03 8.82781173e+00] [-1.99824039e-02 9.99800325e-01 -1.13399179e-04 7.71937078e-02] [ 3.47205906e-03 1.82815083e-04 9.99993956e-01 -2.48582528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.565898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:0.08, Z:-0.25 [[ 9.99822126e-01 1.84189307e-02 -4.05702350e-03 8.85590877e+00] [-1.84196207e-02 9.99830336e-01 -1.32777273e-04 7.88647878e-02] [ 4.05388955e-03 2.07482489e-04 9.99991761e-01 -2.46447082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.595898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:8.88, Y:0.08, Z:-0.25 [[ 9.99865951e-01 1.60127199e-02 -3.41667433e-03 8.88322291e+00] [-1.60131960e-02 9.99871774e-01 -1.12019332e-04 8.01412686e-02] [ 3.41444249e-03 1.66716192e-04 9.99994157e-01 -2.46244942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.625898226999999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:8.91, Y:0.08, Z:-0.25 [[ 9.99909882e-01 1.32648265e-02 -2.06692339e-03 8.91097412e+00] [-1.32649950e-02 9.99912014e-01 -6.78363654e-05 8.05815630e-02] [ 2.06584169e-03 9.52479806e-05 9.99997862e-01 -2.46433019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.655898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:0.08, Z:-0.25 [[ 9.99953885e-01 9.59364422e-03 -4.36301862e-04 8.93899360e+00] [-9.59365129e-03 9.99953980e-01 -1.41215955e-05 8.05174343e-02] [ 4.36146306e-04 1.83066722e-05 9.99999905e-01 -2.47031840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.685898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.97, Y:0.08, Z:-0.25 [[ 9.99997428e-01 8.47288844e-04 2.10376479e-03 8.96629225e+00] [-8.47437656e-04 9.99999638e-01 6.98454815e-05 8.15796584e-02] [-2.10370485e-03 -7.16281114e-05 9.99997785e-01 -2.45346811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.715898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:0.08, Z:-0.24 [[ 9.99993051e-01 -2.97602168e-03 2.24527869e-03 8.99718278e+00] [ 2.97586237e-03 9.99995569e-01 7.42914133e-05 8.29369919e-02] [-2.24548984e-03 -6.76092567e-05 9.99997477e-01 -2.43861087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.745898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:9.03, Y:0.08, Z:-0.24 [[ 9.99978495e-01 -6.42166121e-03 1.33083720e-03 9.02951936e+00] [ 6.42160954e-03 9.99979380e-01 4.30968678e-05 8.37916580e-02] [-1.33108651e-03 -3.45498242e-05 9.99999114e-01 -2.43973637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.775898226999999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.06, Y:0.08, Z:-0.24 [[ 9.99959591e-01 -8.98973152e-03 3.00892825e-05 9.06302139e+00] [ 8.98973150e-03 9.99959592e-01 7.08029078e-07 8.37658312e-02] [-3.00944317e-05 -4.37505896e-07 1.00000000e+00 -2.44542771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.805898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:0.09, Z:-0.24 [[ 9.99908108e-01 -1.35142220e-02 -1.06799111e-03 9.09596899e+00] [ 1.35141917e-02 9.99908679e-01 -3.56069847e-05 8.58451981e-02] [ 1.06837478e-03 2.11706762e-05 9.99999429e-01 -2.44522850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:9.13, Y:0.09, Z:-0.24 [[ 9.99880799e-01 -1.53889145e-02 -1.25254514e-03 9.12912990e+00] [ 1.53888751e-02 9.99881583e-01 -4.10751347e-05 8.90187603e-02] [ 1.25302892e-03 2.17949777e-05 9.99999215e-01 -2.43489718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.865898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:0.09, Z:-0.24 [[ 9.99859943e-01 -1.67221108e-02 -6.82430931e-04 9.16092223e+00] [ 1.67220992e-02 9.99860176e-01 -2.27968901e-05 9.10775823e-02] [ 6.82716723e-04 1.13820195e-05 9.99999767e-01 -2.43632994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.895898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.19, Y:0.09, Z:-0.24 [[ 9.99826151e-01 -1.86453966e-02 -1.28243257e-04 9.19405708e+00] [ 1.86453962e-02 9.99826159e-01 -4.42437616e-06 9.31071966e-02] [ 1.28303458e-04 2.03246065e-06 9.99999992e-01 -2.44338226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.925898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.23, Y:0.10, Z:-0.25 [[ 9.99738498e-01 -2.28468605e-02 9.78335665e-04 9.22705156e+00] [ 2.28468409e-02 9.99738976e-01 3.12642902e-05 9.52189899e-02] [-9.78794587e-04 -8.90423526e-06 9.99999521e-01 -2.45392703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.955898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.26, Y:0.10, Z:-0.24 [[ 9.99684910e-01 -2.50939058e-02 6.12920913e-04 9.25936715e+00] [ 2.50938989e-02 9.99685098e-01 1.89565500e-05 9.77008787e-02] [-6.13203597e-04 -3.57000163e-06 9.99999812e-01 -2.44518287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.985898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.29, Y:0.10, Z:-0.24 [[ 9.99637481e-01 -2.69238434e-02 1.11422936e-04 9.29283116e+00] [ 2.69238432e-02 9.99637488e-01 2.80704382e-06 9.99621947e-02] [-1.11458121e-04 1.93907454e-07 9.99999994e-01 -2.43703772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.015898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.33, Y:0.10, Z:-0.24 [[ 9.99579902e-01 -2.89713630e-02 -8.24371234e-04 9.32634833e+00] [ 2.89713507e-02 9.99580242e-01 -2.68567966e-05 1.02348384e-01] [ 8.24803275e-04 2.96236594e-06 9.99999660e-01 -2.43712215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.045898226999999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:9.36, Y:0.10, Z:-0.25 [[ 9.99431421e-01 -3.36590316e-02 -1.97579390e-03 9.35984915e+00] [ 3.36589730e-02 9.99433374e-01 -6.29565006e-05 1.04206181e-01] [ 1.97679341e-03 -3.58248836e-06 9.99998046e-01 -2.45665824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.075898226999998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:9.39, Y:0.11, Z:-0.25 [[ 9.99349112e-01 -3.60005384e-02 -2.30521295e-03 9.39214922e+00] [ 3.60004660e-02 9.99351770e-01 -7.28748059e-05 1.06011393e-01] [ 2.30634217e-03 -1.01613678e-05 9.99997340e-01 -2.45317154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.105898226999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:9.43, Y:0.11, Z:-0.24 [[ 9.99304197e-01 -3.72041012e-02 -2.64128078e-03 9.42539012e+00] [ 3.72040119e-02 9.99307688e-01 -8.29516799e-05 1.08082930e-01] [ 2.64253833e-03 -1.53722798e-05 9.99996508e-01 -2.44723480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.135898226999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:9.46, Y:0.11, Z:-0.24 [[ 9.99268641e-01 -3.81445156e-02 -2.67919604e-03 9.45740265e+00] [ 3.81444287e-02 9.99272233e-01 -8.35357577e-05 1.10453475e-01] [ 2.68043264e-03 -1.87217392e-05 9.99996407e-01 -2.44875733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.165898227 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:9.49, Y:0.11, Z:-0.24 [[ 9.99249386e-01 -3.86605158e-02 -2.45523882e-03 9.49091260e+00] [ 3.86604447e-02 9.99252403e-01 -7.63983418e-05 1.12565063e-01] [ 2.45635689e-03 -1.85796285e-05 9.99996983e-01 -2.44945888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.195898226999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:9.52, Y:0.11, Z:-0.24 [[ 9.99146619e-01 -4.12997048e-02 -6.07231064e-04 9.52391996e+00] [ 4.12997007e-02 9.99146803e-01 -1.93294962e-05 1.14604948e-01] [ 6.07511279e-04 -5.76546040e-06 9.99999815e-01 -2.42761005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.225898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:0.12, Z:-0.24 [[ 9.99058710e-01 -4.33782450e-02 -1.45502284e-04 9.55642860e+00] [ 4.33782447e-02 9.99058721e-01 -5.10896060e-06 1.15506547e-01] [ 1.45586943e-04 -1.20748208e-06 9.99999989e-01 -2.40958274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255898227 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:9.59, Y:0.12, Z:-0.24 [[ 9.98922670e-01 -4.64007411e-02 -6.85538877e-04 9.58845181e+00] [ 4.64007373e-02 9.98922905e-01 -2.14242186e-05 1.16047747e-01] [ 6.85794587e-04 -1.04083717e-05 9.99999765e-01 -2.40642936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.285898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.62, Y:0.11, Z:-0.24 [[ 9.98587930e-01 -5.31093529e-02 -1.24233883e-03 9.62130106e+00] [ 5.31093465e-02 9.98588702e-01 -3.81220039e-05 1.12281667e-01] [ 1.24261016e-03 -2.79116305e-05 9.99999228e-01 -2.42215347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.315898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.65, Y:0.11, Z:-0.24 [[ 9.98389570e-01 -5.67103463e-02 -1.48453292e-03 9.65316154e+00] [ 5.67103421e-02 9.98390673e-01 -4.49562413e-05 1.10280956e-01] [ 1.48469330e-03 -3.93045271e-05 9.99998897e-01 -2.43143583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.345898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:9.69, Y:0.11, Z:-0.24 [[ 9.98199025e-01 -5.99666955e-02 -1.64364733e-03 9.68513124e+00] [ 5.99666950e-02 9.98200377e-01 -4.96448628e-05 1.08913324e-01] [ 1.64366642e-03 -4.90086442e-05 9.99998648e-01 -2.43752419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.375898226999999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:9.72, Y:0.11, Z:-0.24 [[ 9.98060487e-01 -6.22333496e-02 -1.50794984e-03 9.71886148e+00] [ 6.22333520e-02 9.98061625e-01 -4.53748806e-05 1.07131848e-01] [ 1.50785070e-03 -4.85578979e-05 9.99998862e-01 -2.43375563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.405898226999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.75, Y:0.10, Z:-0.24 [[ 9.97913783e-01 -6.45321945e-02 -1.91750762e-03 9.75087185e+00] [ 6.45322037e-02 9.97915623e-01 -5.71405948e-05 1.01988400e-01] [ 1.91719822e-03 -6.67196051e-05 9.99998160e-01 -2.42931129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.435898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.78, Y:0.10, Z:-0.24 [[ 9.97955839e-01 -6.38740036e-02 -2.06275723e-03 9.78403537e+00] [ 6.38740136e-02 9.97957968e-01 -6.11040448e-05 9.99736469e-02] [ 2.06244797e-03 -7.07774449e-05 9.99997871e-01 -2.42506710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.465898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:9.82, Y:0.10, Z:-0.24 [[ 9.97961024e-01 -6.37929452e-02 -2.06277391e-03 9.81759668e+00] [ 6.37929562e-02 9.97963153e-01 -6.05342836e-05 1.00850944e-01] [ 2.06243402e-03 -7.11795903e-05 9.99997871e-01 -2.42377325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:0.10, Z:-0.24 [[ 9.98064903e-01 -6.21579529e-02 -1.68480006e-03 9.84936230e+00] [ 6.21579577e-02 9.98066323e-01 -4.95889666e-05 9.93047114e-02] [ 1.68462455e-03 -5.52307240e-05 9.99998579e-01 -2.41888622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.525898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:0.10, Z:-0.24 [[ 9.98186593e-01 -6.01853306e-02 -1.11901608e-03 9.88234666e+00] [ 6.01853314e-02 9.98187219e-01 -3.29724001e-05 9.84636350e-02] [ 1.11897200e-03 -3.44357458e-05 9.99999373e-01 -2.40612112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.555898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:0.10, Z:-0.24 [[ 9.98310445e-01 -5.81052647e-02 -1.84063858e-04 9.91523485e+00] [ 5.81052646e-02 9.98310462e-01 -5.99446529e-06 9.80337504e-02] [ 1.84101185e-04 -4.71074188e-06 9.99999983e-01 -2.39778220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.585898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:9.95, Y:0.10, Z:-0.24 [[ 9.98417434e-01 -5.62372159e-02 5.25357937e-05 9.94718057e+00] [ 5.62372160e-02 9.98417436e-01 8.19680826e-07 9.73046365e-02] [-5.24987490e-05 2.13608315e-06 9.99999999e-01 -2.40225907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.615898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.98, Y:0.10, Z:-0.24 [[ 9.98552379e-01 -5.37821887e-02 -7.89390698e-04 9.98060887e+00] [ 5.37821873e-02 9.98552691e-01 -2.30453106e-05 9.58570785e-02] [ 7.89487632e-04 -1.94432087e-05 9.99999688e-01 -2.41214483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.645898226999998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:10.01, Y:0.10, Z:-0.24 [[ 9.98588275e-01 -5.31075142e-02 -1.02388193e-03 1.00127215e+01] [ 5.31075119e-02 9.98588800e-01 -2.94450768e-05 9.73829427e-02] [ 1.02400078e-03 -2.49723132e-05 9.99999475e-01 -2.40934230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.675898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.05, Y:0.10, Z:-0.24 [[ 9.98630515e-01 -5.23065806e-02 -1.05649285e-03 1.00451477e+01] [ 5.23065779e-02 9.98631074e-01 -3.01643544e-05 9.98001223e-02] [ 1.05662438e-03 -2.51384807e-05 9.99999441e-01 -2.39795217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.705898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:0.10, Z:-0.24 [[ 9.98653093e-01 -5.18622551e-02 -1.51880647e-03 1.00781530e+01] [ 5.18622499e-02 9.98654247e-01 -4.28426431e-05 1.02763507e-01] [ 1.51898445e-03 -3.59837826e-05 9.99998846e-01 -2.38573135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.735898226999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.11, Y:0.11, Z:-0.24 [[ 9.98639304e-01 -5.20772467e-02 -2.73872958e-03 1.01111359e+01] [ 5.20772334e-02 9.98643057e-01 -7.62032727e-05 1.06873763e-01] [ 2.73898173e-03 -6.65258763e-05 9.99996247e-01 -2.39537838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.14, Y:0.11, Z:-0.24 [[ 9.98581947e-01 -5.31557138e-02 -2.92674513e-03 1.01442932e+01] [ 5.31557050e-02 9.98586233e-01 -8.08575007e-05 1.08910180e-01] [ 2.92690544e-03 -7.48303604e-05 9.99995714e-01 -2.40349795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.795898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:10.18, Y:0.11, Z:-0.24 [[ 9.98245317e-01 -5.91335489e-02 -3.08387206e-03 1.01761525e+01] [ 5.91335695e-02 9.98250076e-01 -8.45913437e-05 1.12486050e-01] [ 3.08347771e-03 -9.79174502e-05 9.99995241e-01 -2.40940699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.825898226999998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:10.21, Y:0.11, Z:-0.24 [[ 9.98031514e-01 -6.26257289e-02 -3.33382032e-03 1.02089136e+01] [ 6.26257744e-02 9.98037076e-01 -9.08378708e-05 1.13757456e-01] [ 3.33296507e-03 -1.18124022e-04 9.99994439e-01 -2.41224099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.855898226999999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:10.24, Y:0.12, Z:-0.24 [[ 9.97795868e-01 -6.62607204e-02 -3.59484746e-03 1.02422025e+01] [ 6.62607994e-02 9.97802334e-01 -9.72433807e-05 1.15150992e-01] [ 3.59339060e-03 -1.41168423e-04 9.99993534e-01 -2.40911289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.885898226999998 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:10.28, Y:0.12, Z:-0.24 [[ 9.97583425e-01 -6.94033577e-02 -3.23793192e-03 1.02755446e+01] [ 6.94034401e-02 9.97588670e-01 -8.70722893e-05 1.16264548e-01] [ 3.23616731e-03 -1.37861742e-04 9.99994754e-01 -2.40881224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:10.31, Y:0.12, Z:-0.24 [[ 9.97423815e-01 -7.16820128e-02 -2.72433059e-03 1.03079461e+01] [ 7.16820806e-02 9.97427528e-01 -7.28663833e-05 1.17996742e-01] [ 2.72254553e-03 -1.22607019e-04 9.99996286e-01 -2.39928801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.945898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.34, Y:0.12, Z:-0.24 [[ 9.97332632e-01 -7.29581900e-02 -2.17346713e-03 1.03409679e+01] [ 7.29582367e-02 9.97334995e-01 -5.79240171e-05 1.19776981e-01] [ 2.17190086e-03 -1.00802817e-04 9.99997636e-01 -2.38792067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.975898226999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.37, Y:0.12, Z:-0.24 [[ 9.97194757e-01 -7.47763100e-02 -3.33455295e-03 1.03744336e+01] [ 7.47764332e-02 9.97200320e-01 -8.78749908e-05 1.22416261e-01] [ 3.33178823e-03 -1.61717496e-04 9.99994437e-01 -2.38108294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.005898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:10.41, Y:0.12, Z:-0.24 [[ 9.97132323e-01 -7.55507735e-02 -4.38302295e-03 1.04061372e+01] [ 7.55509983e-02 9.97141932e-01 -1.14477309e-04 1.23386806e-01] [ 4.37914483e-03 -2.16992734e-04 9.99990388e-01 -2.39328655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.035898226999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:10.44, Y:0.12, Z:-0.24 [[ 9.97061783e-01 -7.64377715e-02 -5.00669502e-03 1.04392269e+01] [ 7.64380810e-02 9.97074322e-01 -1.29798168e-04 1.23654301e-01] [ 5.00196853e-03 -2.53285367e-04 9.99987458e-01 -2.40823560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.065898226999998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:10.47, Y:0.12, Z:-0.24 [[ 9.97000213e-01 -7.72454228e-02 -4.87036354e-03 1.04709861e+01] [ 7.72457295e-02 9.97012077e-01 -1.25401224e-04 1.23859543e-01] [ 4.86549794e-03 -2.51189737e-04 9.99988132e-01 -2.41856325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095898227 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:10.50, Y:0.12, Z:-0.24 [[ 9.96836220e-01 -7.93936206e-02 -3.76864688e-03 1.05030534e+01] [ 7.93938214e-02 9.96843324e-01 -9.65323610e-05 1.24107054e-01] [ 3.76441454e-03 -2.02980324e-04 9.99992894e-01 -2.42195874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.125898226999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.54, Y:0.12, Z:-0.24 [[ 9.96782778e-01 -8.00337442e-02 -4.32359544e-03 1.05360936e+01] [ 8.00340169e-02 9.96792127e-01 -1.10170235e-04 1.24360362e-01] [ 4.31854323e-03 -2.36218918e-04 9.99990647e-01 -2.41153294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.155898226999998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:10.57, Y:0.12, Z:-0.24 [[ 9.96734819e-01 -8.05561542e-02 -5.51424167e-03 1.05685763e+01] [ 8.05566122e-02 9.96750025e-01 -1.39353711e-04 1.24392660e-01] [ 5.50754632e-03 -3.05309933e-04 9.99984787e-01 -2.40077417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.185898227 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:10.60, Y:0.12, Z:-0.24 [[ 9.96723865e-01 -8.06303071e-02 -6.34755128e-03 1.06016059e+01] [ 8.06309230e-02 9.96744014e-01 -1.59232670e-04 1.24544967e-01] [ 6.33972272e-03 -3.53097916e-04 9.99979841e-01 -2.39283996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.215898226999998 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:10.63, Y:0.12, Z:-0.24 [[ 9.96799082e-01 -7.96082433e-02 -7.35644229e-03 1.06347561e+01] [ 7.96090532e-02 9.96826146e-01 -1.83133730e-04 1.23128817e-01] [ 7.34767297e-03 -4.03091871e-04 9.99972924e-01 -2.39126389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.245898226999998 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:10.67, Y:0.12, Z:-0.24 [[ 9.96880727e-01 -7.86195536e-02 -6.91243158e-03 1.06683694e+01] [ 7.86202531e-02 9.96904623e-01 -1.70900014e-04 1.22650851e-01] [ 6.90447108e-03 -3.73090190e-04 9.99976094e-01 -2.39983825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.275898226999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:10.70, Y:0.12, Z:-0.24 [[ 9.97007404e-01 -7.70924533e-02 -5.74377463e-03 1.07012427e+01] [ 7.70929162e-02 9.97023903e-01 -1.41105722e-04 1.22301184e-01] [ 5.73755878e-03 -3.02120887e-04 9.99983494e-01 -2.39968325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.305898226999998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:10.73, Y:0.12, Z:-0.24 [[ 9.97135506e-01 -7.55036449e-02 -4.47010889e-03 1.07343652e+01] [ 7.55039119e-02 9.97145500e-01 -1.09236744e-04 1.22959087e-01] [ 4.46559673e-03 -2.28586871e-04 9.99990003e-01 -2.39115303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335898227 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:10.77, Y:0.13, Z:-0.24 [[ 9.97430923e-01 -7.15364580e-02 -3.75363800e-03 1.07678713e+01] [ 7.15366191e-02 9.97437970e-01 -9.14988739e-05 1.25163090e-01] [ 3.75056657e-03 -1.77258766e-04 9.99992951e-01 -2.36656021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.365898226999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:10.80, Y:0.13, Z:-0.24 [[ 9.97602692e-01 -6.90960565e-02 -3.82150480e-03 1.08004307e+01] [ 6.90962083e-02 9.97609997e-01 -9.24315524e-05 1.26840418e-01] [ 3.81875805e-03 -1.71841526e-04 9.99992694e-01 -2.37082982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.395898226999998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:10.83, Y:0.13, Z:-0.24 [[ 9.97703931e-01 -6.75832618e-02 -4.40103236e-03 1.08323593e+01] [ 6.75834522e-02 9.97713619e-01 -1.05622651e-04 1.28881170e-01] [ 4.39810825e-03 -1.92056826e-04 9.99990310e-01 -2.37912982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.425898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:10.87, Y:0.13, Z:-0.24 [[ 9.97729401e-01 -6.71955465e-02 -4.56075370e-03 1.08659198e+01] [ 6.71957495e-02 9.97739805e-01 -1.08881164e-04 1.30515022e-01] [ 4.55776184e-03 -1.97829325e-04 9.99989594e-01 -2.38800095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.455898226999999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:10.90, Y:0.13, Z:-0.24 [[ 9.97553553e-01 -6.98274241e-02 -3.32260127e-03 1.08980234e+01] [ 6.98275479e-02 9.97559075e-01 -7.88996263e-05 1.32893305e-01] [ 3.32000040e-03 -1.53302497e-04 9.99994477e-01 -2.38882697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.485898226999998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:10.93, Y:0.13, Z:-0.24 [[ 9.97443057e-01 -7.14456024e-02 -1.69519955e-03 1.09313462e+01] [ 7.14456369e-02 9.97444494e-01 -4.03111249e-05 1.34374213e-01] [ 1.69374751e-03 -8.09065600e-05 9.99998562e-01 -2.38156978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.515898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:10.96, Y:0.14, Z:-0.24 [[ 9.97320068e-01 -7.31608548e-02 -4.12776856e-04 1.09640356e+01] [ 7.31608568e-02 9.97320154e-01 -1.02822615e-05 1.36110433e-01] [ 4.12422937e-04 -1.99444027e-05 9.99999915e-01 -2.37412813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.545898226999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:11.00, Y:0.14, Z:-0.24 [[ 9.97242254e-01 -7.42150525e-02 -1.14081351e-04 1.09958781e+01] [ 7.42150526e-02 9.97242260e-01 -3.29181606e-06 1.37792519e-01] [ 1.14011047e-04 -5.18381541e-06 9.99999993e-01 -2.37383351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.575898226999998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:11.03, Y:0.14, Z:-0.24 [[ 9.97239525e-01 -7.42443430e-02 -1.05208639e-03 1.10284186e+01] [ 7.42443582e-02 9.97240079e-01 -2.46861035e-05 1.40156806e-01] [ 1.05101552e-03 -5.34935205e-05 9.99999446e-01 -2.37779985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.605898226999999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:11.06, Y:0.15, Z:-0.24 [[ 9.97335112e-01 -7.28972298e-02 -2.94410783e-03 1.10612504e+01] [ 7.28973476e-02 9.97339447e-01 -6.74062521e-05 1.46618954e-01] [ 2.94118861e-03 -1.47391030e-04 9.99995664e-01 -2.37488395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.635898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:11.09, Y:0.15, Z:-0.24 [[ 9.97398557e-01 -7.20333454e-02 -2.70485130e-03 1.10943149e+01] [ 7.20334428e-02 9.97402215e-01 -6.15070118e-05 1.50599260e-01] [ 2.70225523e-03 -1.33492746e-04 9.99996340e-01 -2.36751443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.665898227 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:11.13, Y:0.15, Z:-0.24 [[ 9.97396062e-01 -7.20731993e-02 -2.55925371e-03 1.11278109e+01] [ 7.20732878e-02 9.97399337e-01 -5.77790389e-05 1.54648327e-01] [ 2.55676228e-03 -1.26825243e-04 9.99996723e-01 -2.36213881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.695898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.16, Y:0.16, Z:-0.24 [[ 9.97265894e-01 -7.37963362e-02 -3.85184219e-03 1.11595866e+01] [ 7.37965535e-02 9.97273313e-01 -8.58895216e-05 1.60036235e-01] [ 3.84767775e-03 -1.98597987e-04 9.99992578e-01 -2.37471608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.725898226999998 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:11.19, Y:0.16, Z:-0.24 [[ 9.97166217e-01 -7.49800837e-02 -6.12564659e-03 1.11915248e+01] [ 7.49806622e-02 9.97184979e-01 -1.35477011e-04 1.63687604e-01] [ 6.11856084e-03 -3.24211939e-04 9.99981229e-01 -2.38777333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:11.22, Y:0.17, Z:-0.24 [[ 9.97064514e-01 -7.60994108e-02 -8.44007751e-03 1.12237524e+01] [ 7.61005615e-02 9.97100131e-01 -1.85201475e-04 1.66918358e-01] [ 8.42969611e-03 -4.57636818e-04 9.99964365e-01 -2.39250211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.785898226999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:11.26, Y:0.17, Z:-0.24 [[ 9.96914331e-01 -7.78802602e-02 -9.82252721e-03 1.12568907e+01] [ 7.78819205e-02 9.96962567e-01 -2.13947475e-04 1.70235704e-01] [ 9.80935423e-03 -5.51709980e-04 9.99951735e-01 -2.38382319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.815898226999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:11.29, Y:0.18, Z:-0.24 [[ 9.96525005e-01 -8.29066092e-02 -8.02553795e-03 1.12891696e+01] [ 8.29078903e-02 9.96557199e-01 -1.73506776e-04 1.75174274e-01] [ 8.01229248e-03 -4.92476579e-04 9.99967780e-01 -2.37529061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.845898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:11.32, Y:0.18, Z:-0.24 [[ 9.96322075e-01 -8.54241282e-02 -6.71120509e-03 1.13219712e+01] [ 8.54250881e-02 9.96344586e-01 -1.44020931e-04 1.76955539e-01] [ 6.69897572e-03 -4.29814053e-04 9.99977469e-01 -2.36888090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.875898226999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.35, Y:0.18, Z:-0.24 [[ 9.96152939e-01 -8.74345317e-02 -5.87586280e-03 1.13540173e+01] [ 8.74353079e-02 9.96170192e-01 -1.25145092e-04 1.77994745e-01] [ 5.86430138e-03 -3.89094222e-04 9.99982729e-01 -2.37963457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.905898226999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:11.39, Y:0.18, Z:-0.24 [[ 9.96043396e-01 -8.87056081e-02 -5.37284752e-03 1.13876352e+01] [ 8.87062801e-02 9.96057821e-01 -1.13559510e-04 1.79283879e-01] [ 5.36174016e-03 -3.63495117e-04 9.99985560e-01 -2.39399798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.935898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:11.42, Y:0.18, Z:-0.24 [[ 9.95817596e-01 -9.12627119e-02 -4.29333148e-03 1.14206517e+01] [ 9.12631674e-02 9.95826805e-01 -9.00970995e-05 1.82568930e-01] [ 4.28363708e-03 -3.02102753e-04 9.99990780e-01 -2.37768925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.965898226999998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:11.45, Y:0.18, Z:-0.24 [[ 9.95625909e-01 -9.33685864e-02 -3.36997124e-03 1.14530848e+01] [ 9.33688806e-02 9.95631582e-01 -7.02476419e-05 1.83836829e-01] [ 3.36180873e-03 -2.44710071e-04 9.99994319e-01 -2.37021666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.995898226999998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:11.49, Y:0.18, Z:-0.24 [[ 9.95426940e-01 -9.54813599e-02 -2.91836006e-03 1.14850665e+01] [ 9.54815908e-02 9.95431194e-01 -6.04185874e-05 1.84565461e-01] [ 2.91079549e-03 -2.18507372e-04 9.99995740e-01 -2.36023864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.025898226999999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:11.52, Y:0.18, Z:-0.24 [[ 9.95312235e-01 -9.66791631e-02 -2.58750506e-03 1.15180488e+01] [ 9.66793495e-02 9.95315578e-01 -5.32278938e-05 1.84636199e-01] [ 2.58053013e-03 -1.97179932e-04 9.99996651e-01 -2.35979990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.055898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:11.55, Y:0.18, Z:-0.24 [[ 9.95325771e-01 -9.65162613e-02 -3.34979130e-03 1.15500909e+01] [ 9.65165755e-02 9.95331375e-01 -6.81057692e-05 1.84611955e-01] [ 3.34072570e-03 -2.55522958e-04 9.99994387e-01 -2.35772368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.085898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:11.58, Y:0.19, Z:-0.24 [[ 9.95617714e-01 -9.33088007e-02 -6.23174640e-03 1.15830960e+01] [ 9.33098342e-02 9.95637112e-01 -1.25323065e-04 1.86190981e-01] [ 6.21625174e-03 -4.56709360e-04 9.99980575e-01 -2.35707341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.115898226999999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:11.62, Y:0.19, Z:-0.24 [[ 9.95819354e-01 -9.10578198e-02 -7.23099363e-03 1.16155939e+01] [ 9.10591591e-02 9.95845474e-01 -1.44479531e-04 1.87057318e-01] [ 7.21410828e-03 -5.14572687e-04 9.99973846e-01 -2.35890067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.145898226999998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:11.65, Y:0.19, Z:-0.24 [[ 9.96007476e-01 -8.90146240e-02 -6.74574446e-03 1.16479707e+01] [ 8.90157493e-02 9.96030210e-01 -1.33840429e-04 1.87718839e-01] [ 6.73087902e-03 -4.67171429e-04 9.99977238e-01 -2.35560371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:11.68, Y:0.19, Z:-0.23 [[ 9.96149753e-01 -8.74816224e-02 -5.71272744e-03 1.16797279e+01] [ 8.74824081e-02 9.96166058e-01 -1.12668878e-04 1.88242013e-01] [ 5.70068163e-03 -3.87528079e-04 9.99983676e-01 -2.34506801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.205898226999999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:11.71, Y:0.19, Z:-0.23 [[ 9.96343923e-01 -8.53335091e-02 -4.12050581e-03 1.17123734e+01] [ 8.53339017e-02 9.96352407e-01 -8.07552302e-05 1.90351203e-01] [ 4.11236701e-03 -2.71158855e-04 9.99991507e-01 -2.33639385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.235898226999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:11.74, Y:0.19, Z:-0.23 [[ 9.96430976e-01 -8.43111355e-02 -4.11623642e-03 1.17442864e+01] [ 8.43115216e-02 9.96439442e-01 -7.99542123e-05 1.91382370e-01] [ 4.10832136e-03 -2.67377302e-04 9.99991525e-01 -2.34657514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.265898227 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:11.78, Y:0.19, Z:-0.24 [[ 9.96481871e-01 -8.36848363e-02 -4.55301443e-03 1.17774985e+01] [ 8.36853048e-02 9.96492229e-01 -8.78424288e-05 1.92544452e-01] [ 4.54439457e-03 -2.93487012e-04 9.99989631e-01 -2.35397275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.295898226999999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:11.81, Y:0.19, Z:-0.23 [[ 9.96545877e-01 -8.29230898e-02 -4.48057633e-03 1.18111198e+01] [ 8.29235394e-02 9.96555909e-01 -8.56583818e-05 1.94416425e-01] [ 4.47224788e-03 -2.86182741e-04 9.99989958e-01 -2.33471593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.325898226999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:11.84, Y:0.20, Z:-0.23 [[ 9.96602673e-01 -8.22652515e-02 -3.94207429e-03 1.18429096e+01] [ 8.22655969e-02 9.96610438e-01 -7.47308720e-05 1.95963300e-01] [ 3.93486015e-03 -2.49820108e-04 9.99992227e-01 -2.31223117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.355898226999999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:11.88, Y:0.20, Z:-0.23 [[ 9.96649977e-01 -8.16868274e-02 -4.01062005e-03 1.18760129e+01] [ 8.16871830e-02 9.96658015e-01 -7.53379880e-05 1.97279404e-01] [ 4.00337074e-03 -2.52530650e-04 9.99991955e-01 -2.31349933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.385898226999998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:11.91, Y:0.20, Z:-0.23 [[ 9.96656570e-01 -8.16063520e-02 -4.01063351e-03 1.19095855e+01] [ 8.16067099e-02 9.96664607e-01 -7.46149003e-05 1.97804751e-01] [ 4.00334552e-03 -2.52929174e-04 9.99991955e-01 -2.31220568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.415898226999998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:11.94, Y:0.20, Z:-0.23 [[ 9.96728297e-01 -8.07090878e-02 -4.32951892e-03 1.19419165e+01] [ 8.07094982e-02 9.96737664e-01 -8.01311680e-05 1.97577239e-01] [ 4.32186189e-03 -2.69564297e-04 9.99990624e-01 -2.33048952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.445898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.98, Y:0.20, Z:-0.24 [[ 9.96828100e-01 -7.94512156e-02 -4.60912280e-03 1.19755012e+01] [ 7.94516712e-02 9.96838716e-01 -8.44683199e-05 1.97033153e-01] [ 4.60126316e-03 -2.82002114e-04 9.99989374e-01 -2.35146997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.475898226999998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:12.01, Y:0.20, Z:-0.23 [[ 9.97069566e-01 -7.63170817e-02 -5.28991250e-03 1.20086601e+01] [ 7.63176433e-02 9.97083551e-01 -9.59095840e-05 1.98048315e-01] [ 5.28180428e-03 -3.08085128e-04 9.99986004e-01 -2.34168914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.505898227 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:12.04, Y:0.20, Z:-0.23 [[ 9.97148931e-01 -7.52780259e-02 -5.21801064e-03 1.20420812e+01] [ 7.52785630e-02 9.97162539e-01 -9.36729583e-05 2.00338140e-01] [ 5.21025625e-03 -2.99398452e-04 9.99986382e-01 -2.31332865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.535898226999999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:12.07, Y:0.20, Z:-0.23 [[ 9.97265401e-01 -7.37530522e-02 -4.71253375e-03 1.20748752e+01] [ 7.37534770e-02 9.97276500e-01 -8.38021272e-05 2.01637867e-01] [ 4.70587983e-03 -2.63992788e-04 9.99988892e-01 -2.28365455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.565898226999998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:12.11, Y:0.20, Z:-0.23 [[ 9.97380338e-01 -7.22261998e-02 -3.97960284e-03 1.21070880e+01] [ 7.22264931e-02 9.97388254e-01 -7.01500305e-05 2.02732563e-01] [ 3.97427579e-03 -2.17466496e-04 9.99992079e-01 -2.28473607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:12.14, Y:0.20, Z:-0.23 [[ 9.97562966e-01 -6.96950471e-02 -3.27557641e-03 1.21402975e+01] [ 6.96952337e-02 9.97568329e-01 -5.72676120e-05 2.02583046e-01] [ 3.27160255e-03 -1.71164014e-04 9.99994634e-01 -2.29952351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.625898226999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:12.17, Y:0.20, Z:-0.23 [[ 9.97898833e-01 -6.47142846e-02 -3.15915356e-03 1.21733280e+01] [ 6.47144350e-02 9.97903822e-01 -5.46822784e-05 2.04838701e-01] [ 3.15607014e-03 -1.49875456e-04 9.99995008e-01 -2.31007081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.655898226999998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:12.20, Y:0.21, Z:-0.23 [[ 9.98068385e-01 -6.20048216e-02 -3.86012163e-03 1.22049884e+01] [ 6.20050294e-02 9.98075835e-01 -6.59531748e-05 2.07279389e-01] [ 3.85678353e-03 -1.73521176e-04 9.99992548e-01 -2.29980864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.685898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:12.24, Y:0.21, Z:-0.23 [[ 9.98258825e-01 -5.88443982e-02 -4.08115562e-03 1.22373756e+01] [ 5.88446070e-02 9.98267152e-01 -6.89967241e-05 2.09722299e-01] [ 4.07814367e-03 -1.71277410e-04 9.99991670e-01 -2.28362777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.715898226999998 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:12.27, Y:0.22, Z:-0.23 [[ 9.98580547e-01 -5.31994040e-02 -2.59107951e-03 1.22708192e+01] [ 5.31994697e-02 9.98583905e-01 -4.36230180e-05 2.16578735e-01] [ 2.58973102e-03 -9.42829590e-05 9.99996642e-01 -2.27237683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.745898226999998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:12.30, Y:0.22, Z:-0.23 [[ 9.98737125e-01 -5.02215891e-02 -1.39525459e-03 1.23035802e+01] [ 5.02216051e-02 9.98738099e-01 -2.35613133e-05 2.20385643e-01] [ 1.39467720e-03 -4.65403668e-05 9.99999026e-01 -2.26464777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.775898226999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.34, Y:0.22, Z:-0.23 [[ 9.98879675e-01 -4.73165157e-02 -7.35755489e-04 1.23365084e+01] [ 4.73165193e-02 9.98879946e-01 -1.26242841e-05 2.24774827e-01] [ 7.35528740e-04 -2.22032479e-05 9.99999729e-01 -2.25961724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.805898226999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:12.37, Y:0.23, Z:-0.23 [[ 9.98969316e-01 -4.53840055e-02 -7.73594166e-04 1.23684933e+01] [ 4.53840090e-02 9.98969615e-01 -1.30594076e-05 2.29451721e-01] [ 7.73389754e-04 -2.20628571e-05 9.99999701e-01 -2.26543839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:12.40, Y:0.24, Z:-0.23 [[ 9.99041669e-01 -4.36927779e-02 -2.58556357e-03 1.24019155e+01] [ 4.36928162e-02 9.99045012e-01 -4.16888567e-05 2.35584709e-01] [ 2.58491589e-03 -7.13216488e-05 9.99996657e-01 -2.28710075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.865898226999999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:12.43, Y:0.24, Z:-0.23 [[ 9.99032400e-01 -4.38349918e-02 -3.57167974e-03 1.24343541e+01] [ 4.38350691e-02 9.99038780e-01 -5.66729637e-05 2.39284955e-01] [ 3.57073083e-03 -9.99467015e-05 9.99993620e-01 -2.29261212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.895898226999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:12.47, Y:0.24, Z:-0.23 [[ 9.99022801e-01 -4.40332589e-02 -3.80998118e-03 1.24676228e+01] [ 4.40333509e-02 9.99030060e-01 -5.97704831e-05 2.41889171e-01] [ 3.80891762e-03 -1.08054163e-04 9.99992740e-01 -2.28874559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.925898227 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:12.50, Y:0.25, Z:-0.23 [[ 9.98989448e-01 -4.48048324e-02 -3.55108214e-03 1.25008099e+01] [ 4.48049193e-02 9.98995754e-01 -5.51226271e-05 2.45203333e-01] [ 3.54998574e-03 -1.04039026e-04 9.99993693e-01 -2.27600938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.955898226999999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:12.53, Y:0.25, Z:-0.23 [[ 9.98973826e-01 -4.51951009e-02 -2.94909459e-03 1.25333339e+01] [ 4.51951638e-02 9.98978175e-01 -4.53498013e-05 2.48005905e-01] [ 2.94813072e-03 -8.79815487e-05 9.99995650e-01 -2.26728513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.985898226999998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:12.57, Y:0.25, Z:-0.23 [[ 9.99003339e-01 -4.45424029e-02 -2.88139408e-03 1.25666868e+01] [ 4.45424615e-02 9.99007491e-01 -4.38481398e-05 2.53528196e-01] [ 2.88048737e-03 -8.45399465e-05 9.99995848e-01 -2.28138799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.015898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:12.60, Y:0.26, Z:-0.23 [[ 9.99050498e-01 -4.34837469e-02 -2.69552643e-03 1.25988403e+01] [ 4.34837957e-02 9.99054132e-01 -4.05514949e-05 2.56674909e-01] [ 2.69474014e-03 -7.66987292e-05 9.99996366e-01 -2.27842392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.045898226999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:12.63, Y:0.26, Z:-0.23 [[ 9.99108886e-01 -4.21432458e-02 -2.31964518e-03 1.26316134e+01] [ 4.21432790e-02 9.99111577e-01 -3.46072623e-05 2.59633438e-01] [ 2.31904281e-03 -6.31810305e-05 9.99997309e-01 -2.27412143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.075898226999998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:12.66, Y:0.26, Z:-0.23 [[ 9.99159340e-01 -4.09235951e-02 -2.42335448e-03 1.26648458e+01] [ 4.09236288e-02 9.99162277e-01 -3.56820531e-05 2.62033779e-01] [ 2.42278462e-03 -6.35204027e-05 9.99997063e-01 -2.28120757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.105898226999999 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:12.70, Y:0.26, Z:-0.23 [[ 9.99160831e-01 -4.07967343e-02 -3.64143425e-03 1.26969472e+01] [ 4.07968134e-02 9.99167462e-01 -5.25724062e-05 2.64010655e-01] [ 3.64054740e-03 -9.60306247e-05 9.99993369e-01 -2.29104236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.135898226999998 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:12.73, Y:0.27, Z:-0.23 [[ 9.99113907e-01 -4.18491012e-02 -4.47802597e-03 1.27294573e+01] [ 4.18492356e-02 9.99123935e-01 -6.37243621e-05 2.65354859e-01] [ 4.47676973e-03 -1.23734067e-04 9.99989972e-01 -2.28265490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.165898226999998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:12.76, Y:0.27, Z:-0.23 [[ 9.99088444e-01 -4.23806164e-02 -5.11514727e-03 1.27624240e+01] [ 4.23808037e-02 9.99101528e-01 -7.18214597e-05 2.65690347e-01] [ 5.11359529e-03 -1.45028062e-04 9.99986915e-01 -2.27495551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.195898226999999 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:12.80, Y:0.27, Z:-0.23 [[ 9.99084853e-01 -4.23616010e-02 -5.91195395e-03 1.27951126e+01] [ 4.23618579e-02 9.99102330e-01 -8.18236865e-05 2.66691140e-01] [ 5.91011315e-03 -1.68692547e-04 9.99982521e-01 -2.26764188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.225898226999998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:12.83, Y:0.27, Z:-0.23 [[ 9.99210733e-01 -3.94364820e-02 -4.76190712e-03 1.28275948e+01] [ 3.94366189e-02 9.99222072e-01 -6.51854743e-05 2.65869621e-01] [ 4.76077339e-03 -1.22659491e-04 9.99988660e-01 -2.28083735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255898227 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:12.86, Y:0.27, Z:-0.23 [[ 9.99328818e-01 -3.64420368e-02 -3.72706740e-03 1.28612658e+01] [ 3.64421017e-02 9.99335765e-01 -5.05302808e-05 2.65370648e-01] [ 3.72643318e-03 -8.53258034e-05 9.99993053e-01 -2.28843895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.285898226999999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:12.89, Y:0.27, Z:-0.23 [[ 9.99455649e-01 -3.28662276e-02 -2.86665556e-03 1.28944788e+01] [ 3.28662524e-02 9.99459758e-01 -3.84932624e-05 2.65388923e-01] [ 2.86637200e-03 -5.57439164e-05 9.99995890e-01 -2.28583799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.315898226999998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:12.93, Y:0.27, Z:-0.23 [[ 9.99566061e-01 -2.93678318e-02 -2.28481147e-03 1.29269222e+01] [ 2.93678391e-02 9.99568672e-01 -3.03792875e-05 2.65679270e-01] [ 2.28471814e-03 -3.67338708e-05 9.99997389e-01 -2.26767968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.345898227 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:12.96, Y:0.27, Z:-0.22 [[ 9.99656962e-01 -2.60759819e-02 -2.44995361e-03 1.29603651e+01] [ 2.60759814e-02 9.99659963e-01 -3.21159821e-05 2.66324767e-01] [ 2.44995799e-03 -3.17799797e-05 9.99996998e-01 -2.24925901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.375898226999999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:12.99, Y:0.27, Z:-0.22 [[ 9.99736655e-01 -2.27738408e-02 -2.82371899e-03 1.29924825e+01] [ 2.27738290e-02 9.99740642e-01 -3.63613663e-05 2.66260876e-01] [ 2.82381473e-03 -2.79551027e-05 9.99996013e-01 -2.23996959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.405898226999998 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:13.03, Y:0.26, Z:-0.23 [[ 9.99845229e-01 -1.74881204e-02 -1.91948613e-03 1.30258481e+01] [ 1.74881053e-02 9.99847071e-01 -2.46286183e-05 2.64238916e-01] [ 1.91962329e-03 -8.94336897e-06 9.99998157e-01 -2.25453412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.435898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.06, Y:0.26, Z:-0.23 [[ 9.99887279e-01 -1.49981478e-02 6.95662633e-04 1.30577011e+01] [ 1.49981458e-02 9.99887521e-01 8.11870301e-06 2.62458266e-01] [-6.95706152e-04 2.31586174e-06 9.99999758e-01 -2.25285861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.465898226999998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:13.09, Y:0.26, Z:-0.22 [[ 9.99898346e-01 -1.38252771e-02 3.48707976e-03 1.30902824e+01] [ 1.38252131e-02 9.99904426e-01 4.24727710e-05 2.61796063e-01] [-3.48733369e-03 5.74116732e-06 9.99993919e-01 -2.24316015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.495898226999998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:13.12, Y:0.26, Z:-0.22 [[ 9.99890400e-01 -1.38069401e-02 5.34386571e-03 1.31227453e+01] [ 1.38067929e-02 9.99904680e-01 6.44277123e-05 2.57710572e-01] [-5.34424588e-03 9.36099611e-06 9.99985719e-01 -2.22983288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.525898226999999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:13.16, Y:0.25, Z:-0.22 [[ 9.99887400e-01 -1.44827156e-02 3.92903328e-03 1.31555243e+01] [ 1.44826421e-02 9.99895120e-01 4.71690377e-05 2.54532527e-01] [-3.92930433e-03 9.73905611e-06 9.99992280e-01 -2.24380474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.555898226999998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:13.19, Y:0.25, Z:-0.23 [[ 9.99890143e-01 -1.46467795e-02 2.27454654e-03 1.31876501e+01] [ 1.46467573e-02 9.99892730e-01 2.64152666e-05 2.50247082e-01] [-2.27468945e-03 6.90236636e-06 9.99997413e-01 -2.25340265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.585898227 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:13.22, Y:0.25, Z:-0.23 [[ 9.99891176e-01 -1.47428658e-02 5.32227430e-04 1.32207770e+01] [ 1.47428647e-02 9.99891318e-01 6.03137092e-06 2.46860110e-01] [-5.32258506e-04 1.81584241e-06 9.99999858e-01 -2.25916832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.615898226999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:13.25, Y:0.24, Z:-0.23 [[ 9.99903891e-01 -1.38601136e-02 -3.26089800e-04 1.32530671e+01] [ 1.38601129e-02 9.99903944e-01 -4.46468677e-06 2.42851799e-01] [ 3.26120358e-04 -5.53837787e-08 9.99999947e-01 -2.25065310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.645898226999998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.29, Y:0.24, Z:-0.22 [[ 9.99930339e-01 -1.17789889e-02 -7.56888185e-04 1.32857597e+01] [ 1.17789854e-02 9.99930625e-01 -9.04253884e-06 2.38764218e-01] [ 7.56942188e-04 1.26534035e-07 9.99999714e-01 -2.24530628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:0.23, Z:-0.22 [[ 9.99982662e-01 -5.82049284e-03 -8.92753248e-04 1.33186281e+01] [ 5.82048574e-03 9.99983061e-01 -1.05549394e-05 2.31298115e-01] [ 8.92799560e-04 5.35849888e-06 9.99999601e-01 -2.23396782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.705898226999999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:13.35, Y:0.23, Z:-0.22 [[ 9.99997593e-01 -2.03450337e-03 -8.21623416e-04 1.33495443e+01] [ 2.03449616e-03 9.99997930e-01 -9.61154330e-06 2.28906817e-01] [ 8.21641271e-04 7.93993048e-06 9.99999662e-01 -2.22711822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.735898226999998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:13.38, Y:0.23, Z:-0.22 [[ 9.99996923e-01 2.34557558e-03 -8.07104075e-04 1.33803808e+01] [-2.34558385e-03 9.99997249e-01 -9.29977804e-06 2.27612180e-01] [ 8.07080042e-04 1.11928797e-05 9.99999674e-01 -2.21227708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.765898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:13.41, Y:0.23, Z:-0.22 [[ 9.99931514e-01 1.16995555e-02 2.96967617e-04 1.34084570e+01] [-1.16995572e-02 9.99931558e-01 4.14797561e-06 2.25529993e-01] [-2.96898763e-04 -7.62208116e-06 9.99999956e-01 -2.20103569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.795898226999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:13.44, Y:0.23, Z:-0.22 [[ 9.99878879e-01 1.55434655e-02 7.91984031e-04 1.34364784e+01] [-1.55434779e-02 9.99879193e-01 9.55582163e-06 2.25510089e-01] [-7.91739823e-04 -2.18648505e-05 9.99999686e-01 -2.20290318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.825898226999998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:13.46, Y:0.23, Z:-0.22 [[ 9.99827941e-01 1.85411289e-02 5.60991422e-04 1.34648350e+01] [-1.85411357e-02 9.99828098e-01 6.89068863e-06 2.25431443e-01] [-5.60767226e-04 -1.72909211e-05 9.99999843e-01 -2.21109346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.855898226999999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:13.49, Y:0.23, Z:-0.22 [[ 9.99784765e-01 2.07460573e-02 -1.56389709e-04 1.34931625e+01] [-2.07460578e-02 9.99784777e-01 -1.57681537e-06 2.25064009e-01] [ 1.56323337e-04 4.82094591e-06 9.99999988e-01 -2.22064826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.885898226999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:13.52, Y:0.22, Z:-0.22 [[ 9.99758999e-01 2.18925160e-02 -1.63119885e-03 1.35202556e+01] [-2.18925762e-02 9.99760329e-01 -1.90549799e-05 2.24727735e-01] [ 1.63039073e-03 5.47615328e-05 9.99998669e-01 -2.23022850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.915898226999998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:13.55, Y:0.23, Z:-0.22 [[ 9.99754227e-01 2.16940779e-02 -4.56641662e-03 1.35478906e+01] [-2.16945546e-02 9.99764644e-01 -5.48769550e-05 2.27168499e-01] [ 4.56415138e-03 1.53929842e-04 9.99989572e-01 -2.23305126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.945898226999999 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:13.58, Y:0.23, Z:-0.22 [[ 9.99773495e-01 2.08080669e-02 -4.47026284e-03 1.35760749e+01] [-2.08085185e-02 9.99783478e-01 -5.45182371e-05 2.29040776e-01] [ 4.46816051e-03 1.47525435e-04 9.99990007e-01 -2.22596348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.975898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:0.23, Z:-0.22 [[ 9.99786089e-01 2.04273118e-02 -3.24045267e-03 1.36029993e+01] [-2.04275486e-02 9.99791335e-01 -4.00103674e-05 2.30278302e-01] [ 3.23895920e-03 1.06196313e-04 9.99994749e-01 -2.21573046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.005898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:13.63, Y:0.23, Z:-0.22 [[ 9.99798780e-01 1.98952491e-02 -2.56481034e-03 1.36309956e+01] [-1.98953961e-02 9.99802067e-01 -3.18349004e-05 2.32912333e-01] [ 2.56366932e-03 8.28564123e-05 9.99996710e-01 -2.20916344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.035898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.66, Y:0.23, Z:-0.22 [[ 9.99805690e-01 1.96131592e-02 -1.97644268e-03 1.36588896e+01] [-1.96132461e-02 9.99807641e-01 -2.46039101e-05 2.34974322e-01] [ 1.97557993e-03 6.33635860e-05 9.99998047e-01 -2.21132537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:0.24, Z:-0.22 [[ 9.99802740e-01 1.96693773e-02 -2.75635569e-03 1.36860916e+01] [-1.96695474e-02 9.99806535e-01 -3.46070032e-05 2.39295512e-01] [ 2.75514173e-03 8.88164454e-05 9.99996201e-01 -2.21875256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095898227 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:13.71, Y:0.24, Z:-0.22 [[ 9.99804114e-01 1.95766446e-02 -2.91343363e-03 1.37125657e+01] [-1.95768349e-02 9.99808355e-01 -3.67957033e-05 2.42451667e-01] [ 2.91215495e-03 9.38243046e-05 9.99995755e-01 -2.22400035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.125898227 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:13.74, Y:0.25, Z:-0.22 [[ 9.99799525e-01 1.98310788e-02 -2.76370640e-03 1.37403278e+01] [-1.98312521e-02 9.99803341e-01 -3.53001065e-05 2.45249569e-01] [ 2.76246285e-03 9.01007880e-05 9.99996180e-01 -2.21988171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:0.25, Z:-0.22 [[ 9.99817996e-01 1.89826039e-02 -1.90690658e-03 1.37675905e+01] [-1.89826847e-02 9.99819812e-01 -2.42927234e-05 2.48419036e-01] [ 1.90610184e-03 6.04865085e-05 9.99998182e-01 -2.19859332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.185898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:13.80, Y:0.25, Z:-0.22 [[ 9.99853407e-01 1.70498223e-02 -1.57114511e-03 1.37954509e+01] [-1.70498752e-02 9.99854640e-01 -2.02626215e-05 2.49190888e-01] [ 1.57057126e-03 4.70474792e-05 9.99998766e-01 -2.19030863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.215898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:13.82, Y:0.25, Z:-0.22 [[ 9.99899959e-01 1.40427503e-02 -1.69513847e-03 1.38227584e+01] [-1.40428077e-02 9.99901395e-01 -2.19770282e-05 2.49031882e-01] [ 1.69466270e-03 4.57793332e-05 9.99998563e-01 -2.18941017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.245898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:13.85, Y:0.25, Z:-0.22 [[ 9.99933600e-01 1.13664001e-02 -1.89754624e-03 1.38512070e+01] [-1.13664676e-02 9.99935399e-01 -2.48132110e-05 2.46345798e-01] [ 1.89714163e-03 4.63799614e-05 9.99998199e-01 -2.19200022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:13.88, Y:0.25, Z:-0.22 [[ 9.99934246e-01 1.13094651e-02 -1.89754423e-03 1.38796474e+01] [-1.13095328e-02 9.99936045e-01 -2.49655643e-05 2.46836591e-01] [ 1.89714053e-03 4.64242615e-05 9.99998199e-01 -2.19089675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.305898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:13.91, Y:0.24, Z:-0.22 [[ 9.99957598e-01 8.94140891e-03 -2.20305351e-03 1.39080774e+01] [-8.94149475e-03 9.99960024e-01 -2.91177403e-05 2.43623669e-01] [ 2.20270509e-03 4.88150971e-05 9.99997573e-01 -2.20591188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.335898227 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:13.94, Y:0.24, Z:-0.22 [[ 9.99972160e-01 7.06163000e-03 -2.41094868e-03 1.39350691e+01] [-7.06172780e-03 9.99975065e-01 -3.20536841e-05 2.40976517e-01] [ 2.41066221e-03 4.90782551e-05 9.99997093e-01 -2.22240341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.365898227 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:13.96, Y:0.24, Z:-0.22 [[ 9.99960479e-01 8.70632737e-03 -1.79989088e-03 1.39627458e+01] [-8.70638473e-03 9.99962098e-01 -2.40376609e-05 2.38339307e-01] [ 1.79961338e-03 3.97072534e-05 9.99998380e-01 -2.19963307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:13.99, Y:0.24, Z:-0.22 [[ 9.99926883e-01 1.18958404e-02 -2.17203319e-03 1.39906478e+01] [-1.18959319e-02 9.99929240e-01 -2.92021364e-05 2.37620609e-01] [ 2.17153212e-03 5.50383602e-05 9.99997641e-01 -2.18235784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.425898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.02, Y:0.24, Z:-0.22 [[ 9.99870867e-01 1.58161907e-02 -2.84547269e-03 1.40189609e+01] [-1.58163644e-02 9.99874913e-01 -3.85385367e-05 2.35842816e-01] [ 2.84450722e-03 8.35385930e-05 9.99995951e-01 -2.17405020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:14.05, Y:0.23, Z:-0.22 [[ 9.99719580e-01 2.35095411e-02 -2.83943155e-03 1.40460582e+01] [-2.35097454e-02 9.99723607e-01 -3.86006462e-05 2.29045962e-01] [ 2.83773927e-03 1.05344135e-04 9.99995968e-01 -2.19840842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.485898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:14.07, Y:0.23, Z:-0.22 [[ 9.99640081e-01 2.68135757e-02 -8.61103787e-04 1.40739401e+01] [-2.68135954e-02 9.99640451e-01 -1.12844201e-05 2.25812025e-01] [ 8.60491602e-04 3.43696471e-05 9.99999629e-01 -2.20190674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.515898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:14.10, Y:0.22, Z:-0.22 [[ 9.99577210e-01 2.90685204e-02 6.49994621e-04 1.41012205e+01] [-2.90685327e-02 9.99577421e-01 9.45699159e-06 2.24450925e-01] [-6.49445046e-04 -2.83473831e-05 9.99999789e-01 -2.19468880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.545898227000002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:14.13, Y:0.22, Z:-0.22 [[ 9.99541262e-01 3.02368946e-02 1.73075499e-03 1.41288563e+01] [-3.02369838e-02 9.99542758e-01 2.53849812e-05 2.23293218e-01] [-1.72919605e-03 -7.77061466e-05 9.99998502e-01 -2.18763034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575898227 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:14.16, Y:0.22, Z:-0.22 [[ 9.99532197e-01 3.05247470e-02 1.90449081e-03 1.41554614e+01] [-3.05248554e-02 9.99534008e-01 2.78709967e-05 2.21391437e-01] [-1.90275257e-03 -8.59922650e-05 9.99998186e-01 -2.17825645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.605898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:14.18, Y:0.22, Z:-0.22 [[ 9.99560157e-01 2.96436988e-02 8.62456842e-04 1.41837683e+01] [-2.96437212e-02 9.99560528e-01 1.32939222e-05 2.20086413e-01] [-8.61683735e-04 -3.88545052e-05 9.99999628e-01 -2.18319843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.635898227000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.22, Z:-0.22 [[ 9.99654444e-01 2.62627437e-02 -1.12284541e-03 1.42105289e+01] [-2.62627784e-02 9.99655074e-01 -1.61223967e-05 2.15262524e-01] [ 1.12203469e-03 4.56058657e-05 9.99999369e-01 -2.19691543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.21, Z:-0.22 [[ 9.99720394e-01 2.35613511e-02 -1.99935609e-03 1.42385667e+01] [-2.35614560e-02 9.99722390e-01 -2.89179020e-05 2.13701373e-01] [ 1.99811970e-03 7.60175569e-05 9.99998001e-01 -2.18978437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.695898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:14.27, Y:0.21, Z:-0.22 [[ 9.99788888e-01 2.03639618e-02 -2.73664358e-03 1.42650603e+01] [-2.03641489e-02 9.99792628e-01 -4.05077366e-05 2.11842141e-01] [ 2.73525118e-03 9.62286023e-05 9.99996255e-01 -2.18383044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.725898227000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.29, Y:0.21, Z:-0.22 [[ 9.99854673e-01 1.68570880e-02 -2.54405765e-03 1.42933951e+01] [-1.68572389e-02 9.99857906e-01 -3.78655637e-05 2.08849994e-01] [ 2.54305786e-03 8.07458484e-05 9.99996763e-01 -2.18528342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:14.32, Y:0.20, Z:-0.22 [[ 9.99972945e-01 7.34403062e-03 -4.18528647e-04 1.43207081e+01] [-7.34403371e-03 9.99973032e-01 -5.84164230e-06 2.00180925e-01] [ 4.18474459e-04 8.91517275e-06 9.99999912e-01 -2.19842144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:0.20, Z:-0.22 [[ 9.99997651e-01 2.16588026e-03 8.18573912e-05 1.43494693e+01] [-2.16588038e-03 9.99997654e-01 1.40332623e-06 1.95843499e-01] [-8.18541598e-05 -1.58061625e-06 9.99999997e-01 -2.18930724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.815898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:14.38, Y:0.19, Z:-0.22 [[ 9.99995426e-01 -2.94635323e-03 -6.82930181e-04 1.43787715e+01] [ 2.94634689e-03 9.99995659e-01 -1.02852647e-05 1.92779363e-01] [ 6.82957521e-04 8.27306840e-06 9.99999767e-01 -2.17933463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.845898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:14.41, Y:0.19, Z:-0.22 [[ 9.99972997e-01 -7.17710548e-03 -1.57957970e-03 1.44113017e+01] [ 7.17707597e-03 9.99974244e-01 -2.43536762e-05 1.89114284e-01] [ 1.57971381e-03 1.30162550e-05 9.99998752e-01 -2.17349496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.875898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.44, Y:0.18, Z:-0.22 [[ 9.99947078e-01 -1.01180858e-02 -1.86171984e-03 1.44444284e+01] [ 1.01180510e-02 9.99948811e-01 -2.80954658e-05 1.84950349e-01] [ 1.86190881e-03 9.25700263e-06 9.99998267e-01 -2.17483516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.905898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:14.48, Y:0.18, Z:-0.22 [[ 9.99929248e-01 -1.17859572e-02 -1.60964095e-03 1.44766371e+01] [ 1.17859335e-02 9.99930543e-01 -2.41850725e-05 1.81985035e-01] [ 1.60981419e-03 5.21224015e-06 9.99998704e-01 -2.17253941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.51, Y:0.18, Z:-0.22 [[ 9.99939827e-01 -1.08528592e-02 -1.59923652e-03 1.45083474e+01] [ 1.08528348e-02 9.99941106e-01 -2.39325685e-05 1.76878554e-01] [ 1.59940207e-03 6.57487865e-06 9.99998721e-01 -2.15116489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.965898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:14.54, Y:0.18, Z:-0.21 [[ 9.99950462e-01 -9.69102843e-03 -2.27093365e-03 1.45416046e+01] [ 9.69097673e-03 9.99953041e-01 -3.37661797e-05 1.76360609e-01] [ 2.27115424e-03 1.17569418e-05 9.99997421e-01 -2.14815859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:0.17, Z:-0.21 [[ 9.99955641e-01 -9.17765977e-03 -2.11799534e-03 1.45746070e+01] [ 9.17761389e-03 9.99957884e-01 -3.13788156e-05 1.74867897e-01] [ 2.11819412e-03 1.19392802e-05 9.99997757e-01 -2.14833043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.025898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:14.61, Y:0.17, Z:-0.22 [[ 9.99950373e-01 -9.80302824e-03 -1.77553710e-03 1.46079715e+01] [ 9.80299707e-03 9.99951949e-01 -2.62559250e-05 1.73505416e-01] [ 1.77570918e-03 8.84903692e-06 9.99998423e-01 -2.15573152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:14.64, Y:0.17, Z:-0.22 [[ 9.99924180e-01 -1.22945546e-02 -6.90930199e-04 1.46396699e+01] [ 1.22945504e-02 9.99924419e-01 -1.02971387e-05 1.70039109e-01] [ 6.91004577e-04 1.80168188e-06 9.99999761e-01 -2.15490324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.67, Y:0.17, Z:-0.21 [[ 9.99900525e-01 -1.40985454e-02 -4.12812761e-04 1.46717936e+01] [ 1.40985440e-02 9.99900611e-01 -6.21438033e-06 1.68598572e-01] [ 4.12859345e-04 3.93703273e-07 9.99999915e-01 -2.14783449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:14.70, Y:0.17, Z:-0.21 [[ 9.99825226e-01 -1.85962728e-02 -1.92246175e-03 1.47047158e+01] [ 1.85962533e-02 9.99827074e-01 -2.80491952e-05 1.66480147e-01] [ 1.92265092e-03 -7.70629263e-06 9.99998152e-01 -2.14992870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:0.16, Z:-0.22 [[ 9.99789322e-01 -2.04492522e-02 -1.77194386e-03 1.47366171e+01] [ 2.04492385e-02 9.99790892e-01 -2.58443620e-05 1.64229285e-01] [ 1.77210184e-03 -1.03959856e-05 9.99998430e-01 -2.15353926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:0.16, Z:-0.21 [[ 9.99761549e-01 -2.18138805e-02 -1.00033004e-03 1.47689282e+01] [ 2.18138766e-02 9.99762049e-01 -1.48257496e-05 1.63075168e-01] [ 1.00041541e-03 -6.99886161e-06 9.99999500e-01 -2.14861999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.205898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.80, Y:0.16, Z:-0.21 [[ 9.99744006e-01 -2.26244801e-02 -2.33367289e-04 1.48018328e+01] [ 2.26244799e-02 9.99744034e-01 -3.56336402e-06 1.63105834e-01] [ 2.33388174e-04 -1.71736173e-06 9.99999973e-01 -2.14073928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:14.83, Y:0.16, Z:-0.21 [[ 9.99752197e-01 -2.22605961e-02 -9.95971347e-05 1.48337811e+01] [ 2.22605960e-02 9.99752202e-01 -2.07242931e-06 1.63220284e-01] [ 9.96185883e-05 -1.45175817e-07 9.99999995e-01 -2.13199461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.265898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:14.87, Y:0.16, Z:-0.22 [[ 9.99784849e-01 -2.06178854e-02 -2.27127635e-03 1.48666485e+01] [ 2.06178666e-02 9.99787429e-01 -3.16946247e-05 1.63024176e-01] [ 2.27144702e-03 -1.51410674e-05 9.99997420e-01 -2.16740973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.295898227000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:14.90, Y:0.16, Z:-0.22 [[ 9.99784083e-01 -2.04424485e-02 -3.72741075e-03 1.48996837e+01] [ 2.04423983e-02 9.99791031e-01 -5.15741914e-05 1.63556603e-01] [ 3.72768614e-03 -2.46341594e-05 9.99993052e-01 -2.18711332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.325898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:14.93, Y:0.17, Z:-0.22 [[ 9.99771666e-01 -2.07452912e-02 -5.12328227e-03 1.49319371e+01] [ 2.07452034e-02 9.99784793e-01 -7.02812414e-05 1.65642289e-01] [ 5.12363770e-03 -3.60183389e-05 9.99986873e-01 -2.17822480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:0.17, Z:-0.22 [[ 9.99755500e-01 -2.13697752e-02 -5.68091080e-03 1.49643071e+01] [ 2.13696829e-02 9.99771639e-01 -7.69529538e-05 1.69110297e-01] [ 5.68125797e-03 -4.44651235e-05 9.99983861e-01 -2.15438926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.385898227000002 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:15.00, Y:0.17, Z:-0.21 [[ 9.99740488e-01 -2.21296619e-02 -5.40693027e-03 1.49973285e+01] [ 2.21295923e-02 9.99755108e-01 -7.27074010e-05 1.72797307e-01] [ 5.40721514e-03 -4.69646300e-05 9.99985380e-01 -2.14142729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:15.03, Y:0.17, Z:-0.21 [[ 9.99704226e-01 -2.37302091e-02 -5.32325279e-03 1.50302091e+01] [ 2.37301662e-02 9.99718397e-01 -7.12146312e-05 1.74772759e-01] [ 5.32344369e-03 -5.51281059e-05 9.99985829e-01 -2.14412718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.445898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:15.06, Y:0.18, Z:-0.22 [[ 9.99550760e-01 -2.95256744e-02 -5.14903154e-03 1.50625760e+01] [ 2.95257134e-02 9.99564019e-01 -6.84636649e-05 1.76337271e-01] [ 5.14880810e-03 -8.35959213e-05 9.99986741e-01 -2.18174305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.475898227000002 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:15.09, Y:0.18, Z:-0.22 [[ 9.99454567e-01 -3.26593956e-02 -4.89201548e-03 1.50943954e+01] [ 3.26594713e-02 9.99466535e-01 -6.44350529e-05 1.79003186e-01] [ 4.89151017e-03 -9.53707312e-05 9.99988032e-01 -2.17569543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.505898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:15.13, Y:0.18, Z:-0.22 [[ 9.99380553e-01 -3.48606421e-02 -4.82137329e-03 1.51274829e+01] [ 3.48607452e-02 9.99392178e-01 -6.26769342e-05 1.83757668e-01] [ 4.82062771e-03 -1.05438557e-04 9.99988375e-01 -2.15306071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.16, Y:0.19, Z:-0.21 [[ 9.99271168e-01 -3.77617844e-02 -5.58390743e-03 1.51608129e+01] [ 3.77619744e-02 9.99286760e-01 -7.14466293e-05 1.92433110e-01] [ 5.58262272e-03 -1.39464813e-04 9.99984407e-01 -2.13368948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.19, Y:0.20, Z:-0.22 [[ 9.99236425e-01 -3.86039688e-02 -6.02503834e-03 1.51925049e+01] [ 3.86042122e-02 9.99254577e-01 -7.59504876e-05 1.95538575e-01] [ 6.02347913e-03 -1.56699365e-04 9.99981846e-01 -2.15209633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:15.23, Y:0.20, Z:-0.22 [[ 9.99205472e-01 -3.93462858e-02 -6.34772782e-03 1.52252708e+01] [ 3.93465781e-02 9.99225620e-01 -7.88712316e-05 1.98177408e-01] [ 6.34591556e-03 -1.70952802e-04 9.99979850e-01 -2.15986138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.625898227 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:15.26, Y:0.20, Z:-0.22 [[ 9.99162472e-01 -4.04395993e-02 -6.24441363e-03 1.52578882e+01] [ 4.04399105e-02 9.99181969e-01 -7.64733901e-05 2.00697333e-01] [ 6.24239806e-03 -1.76114187e-04 9.99980501e-01 -2.16278725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.655898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:15.29, Y:0.20, Z:-0.21 [[ 9.99096969e-01 -4.21093885e-02 -5.66098225e-03 1.52907992e+01] [ 4.21096764e-02 9.99112992e-01 -6.83706658e-05 2.02644991e-01] [ 5.65883996e-03 -1.70073206e-04 9.99983974e-01 -2.14142257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.685898227 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:15.32, Y:0.21, Z:-0.21 [[ 9.98917539e-01 -4.63626872e-02 -3.77515571e-03 1.53232184e+01] [ 4.63628473e-02 9.98924664e-01 -4.51419938e-05 2.05181279e-01] [ 3.77318906e-03 -1.29933839e-04 9.99992873e-01 -2.12131326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.715898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:15.36, Y:0.21, Z:-0.21 [[ 9.98795197e-01 -4.89397738e-02 -3.61278446e-03 1.53551288e+01] [ 4.89399394e-02 9.98801722e-01 -4.26220893e-05 2.05482414e-01] [ 3.61054125e-03 -1.34238714e-04 9.99993473e-01 -2.13238615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.745898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:15.39, Y:0.21, Z:-0.22 [[ 9.98661810e-01 -5.15238187e-02 -4.45932104e-03 1.53876307e+01] [ 5.15241007e-02 9.98671750e-01 -5.17130838e-05 2.05675436e-01] [ 4.45606240e-03 -1.78118624e-04 9.99990056e-01 -2.15223475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.42, Y:0.20, Z:-0.22 [[ 9.98548592e-01 -5.34985302e-02 -6.21421876e-03 1.54206431e+01] [ 5.34991240e-02 9.98567894e-01 -7.07537799e-05 2.04949960e-01] [ 6.20910457e-03 -2.61804173e-04 9.99980689e-01 -2.15603560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.805898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:15.45, Y:0.21, Z:-0.21 [[ 9.98509453e-01 -5.38409584e-02 -8.94553316e-03 1.54526896e+01] [ 5.38422190e-02 9.98549451e-01 -1.00030809e-04 2.06774890e-01] [ 8.93794297e-03 -3.81765647e-04 9.99959983e-01 -2.14014272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.835898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:15.49, Y:0.21, Z:-0.21 [[ 9.98590859e-01 -5.23251274e-02 -8.85315413e-03 1.54862985e+01] [ 5.23263158e-02 9.98630035e-01 -9.74990125e-05 2.08116756e-01] [ 8.84612727e-03 -3.65891317e-04 9.99960805e-01 -2.11709075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.865898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:15.52, Y:0.21, Z:-0.21 [[ 9.98710842e-01 -5.02092608e-02 -7.46221468e-03 1.55185020e+01] [ 5.02100547e-02 9.98738676e-01 -8.10287806e-05 2.09297643e-01] [ 7.45687081e-03 -2.93753886e-04 9.99972154e-01 -2.10299534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:0.21, Z:-0.21 [[ 9.98852718e-01 -4.76464399e-02 -4.80256904e-03 1.55513066e+01] [ 4.76467419e-02 9.98864248e-01 -5.15815656e-05 2.10493346e-01] [ 4.79957219e-03 -1.77304381e-04 9.99988466e-01 -2.09569777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.925898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:15.58, Y:0.21, Z:-0.21 [[ 9.98937478e-01 -4.60001121e-02 -2.81167113e-03 1.55832880e+01] [ 4.60002099e-02 9.98941430e-01 -2.99183912e-05 2.12728139e-01] [ 2.81007102e-03 -9.94508597e-05 9.99996047e-01 -2.09175563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:15.62, Y:0.22, Z:-0.21 [[ 9.98937247e-01 -4.59790115e-02 -3.21045706e-03 1.56153199e+01] [ 4.59791401e-02 9.98942400e-01 -3.37874861e-05 2.15698730e-01] [ 3.20861520e-03 -1.13862477e-04 9.99994846e-01 -2.11032958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.985898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:15.65, Y:0.22, Z:-0.21 [[ 9.98855006e-01 -4.77086892e-02 -3.54372034e-03 1.56477621e+01] [ 4.77088590e-02 9.98861283e-01 -3.66562848e-05 2.16865799e-01] [ 3.54143387e-03 -1.32452540e-04 9.99993720e-01 -2.12421877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.68, Y:0.22, Z:-0.21 [[ 9.98748915e-01 -4.98532411e-02 -3.90627298e-03 1.56810293e+01] [ 4.98534664e-02 9.98756542e-01 -3.97187784e-05 2.18908114e-01] [ 3.90339581e-03 -1.55072162e-04 9.99992370e-01 -2.11885756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.71, Y:0.22, Z:-0.21 [[ 9.98601834e-01 -5.26718954e-02 -4.47749855e-03 1.57133669e+01] [ 5.26722235e-02 9.98611854e-01 -4.46761420e-05 2.21884245e-01] [ 4.47363630e-03 -1.91226127e-04 9.99989975e-01 -2.10838812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:15.75, Y:0.22, Z:-0.21 [[ 9.98421502e-01 -5.58627368e-02 -5.81889816e-03 1.57468210e+01] [ 5.58633517e-02 9.98438422e-01 -5.69323260e-05 2.24699396e-01] [ 5.81299190e-03 -2.68220696e-04 9.99983068e-01 -2.10840205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.105898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:15.78, Y:0.23, Z:-0.21 [[ 9.98134336e-01 -6.06676518e-02 -6.87623060e-03 1.57788643e+01] [ 6.06686327e-02 9.98157960e-01 -6.60338064e-05 2.28079653e-01] [ 6.86757043e-03 -3.51260900e-04 9.99976356e-01 -2.11693291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.135898227000002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:15.81, Y:0.23, Z:-0.21 [[ 9.98064905e-01 -6.19233378e-02 -5.65196202e-03 1.58118278e+01] [ 6.19240251e-02 9.98080865e-01 -5.34808754e-05 2.29890256e-01] [ 5.64442686e-03 -2.96614853e-04 9.99984026e-01 -2.10493807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.165898227 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:15.84, Y:0.23, Z:-0.21 [[ 9.97997453e-01 -6.31563006e-02 -3.51652937e-03 1.58443437e+01] [ 6.31565755e-02 9.98003630e-01 -3.29285760e-05 2.32759651e-01] [ 3.51158872e-03 -1.89229318e-04 9.99993816e-01 -2.09583462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.195898227 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:15.88, Y:0.23, Z:-0.21 [[ 9.98002040e-01 -6.30837658e-02 -3.51653467e-03 1.58779123e+01] [ 6.30840422e-02 9.98008218e-01 -3.23521796e-05 2.32949917e-01] [ 3.51157139e-03 -1.89549680e-04 9.99993816e-01 -2.09454024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.225898227000002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:15.91, Y:0.24, Z:-0.21 [[ 9.97848750e-01 -6.55476247e-02 -1.17488204e-03 1.59109227e+01] [ 6.55476568e-02 9.97849440e-01 -1.11926570e-05 2.35839364e-01] [ 1.17308904e-03 -6.58421861e-05 9.99999310e-01 -2.09160617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:15.94, Y:0.24, Z:-0.21 [[ 9.97828786e-01 -6.58495391e-02 -1.24549027e-03 1.59428667e+01] [ 6.58495758e-02 9.97829561e-01 -1.15688659e-05 2.36732682e-01] [ 1.24354881e-03 -7.04712582e-05 9.99999224e-01 -2.10578025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.285898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:15.98, Y:0.24, Z:-0.21 [[ 9.97840995e-01 -6.56611861e-02 -1.39915830e-03 1.59764641e+01] [ 6.56612326e-02 9.97841973e-01 -1.26837570e-05 2.37763038e-01] [ 1.39697171e-03 -7.92140862e-05 9.99999021e-01 -2.11114277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.315898227 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:16.01, Y:0.24, Z:-0.21 [[ 9.97865581e-01 -6.52703430e-02 -2.01628923e-03 1.60083098e+01] [ 6.52704402e-02 9.97867611e-01 -1.76545475e-05 2.40373440e-01] [ 2.01314204e-03 -1.13987220e-04 9.99997967e-01 -2.08812962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.345898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:16.04, Y:0.24, Z:-0.21 [[ 9.97867349e-01 -6.51879427e-02 -3.35939986e-03 1.60418077e+01] [ 6.51882150e-02 9.97872986e-01 -2.85200312e-05 2.41364331e-01] [ 3.35411353e-03 -1.90534072e-04 9.99994357e-01 -2.07653122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.375898227 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:16.08, Y:0.24, Z:-0.21 [[ 9.97881078e-01 -6.48204367e-02 -5.62712167e-03 1.60752386e+01] [ 6.48212021e-02 9.97896893e-01 -4.64444474e-05 2.42548410e-01] [ 5.61829778e-03 -3.18410756e-04 9.99984167e-01 -2.08210114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.405898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:16.11, Y:0.24, Z:-0.21 [[ 9.97903604e-01 -6.43243625e-02 -7.12557022e-03 1.61070155e+01] [ 6.43255864e-02 9.97928963e-01 -5.75314809e-05 2.42697163e-01] [ 7.11451358e-03 -4.00945611e-04 9.99974611e-01 -2.09300711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435898227 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:16.14, Y:0.24, Z:-0.21 [[ 9.97952426e-01 -6.35743038e-02 -7.01875901e-03 1.61394112e+01] [ 6.35754801e-02 9.97977031e-01 -5.56248217e-05 2.44331572e-01] [ 7.00809659e-03 -3.90710048e-04 9.99975367e-01 -2.09137561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.465898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:16.17, Y:0.25, Z:-0.21 [[ 9.97974062e-01 -6.34230978e-02 -5.02819967e-03 1.61729513e+01] [ 6.34237026e-02 9.97986689e-01 -3.92273140e-05 2.45559556e-01] [ 5.02056426e-03 -2.79759199e-04 9.99987358e-01 -2.07092305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.495898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:16.21, Y:0.25, Z:-0.21 [[ 9.97977640e-01 -6.34683028e-02 -3.52206739e-03 1.62057739e+01] [ 6.34686014e-02 9.97983835e-01 -2.70514167e-05 2.46690679e-01] [ 3.51668323e-03 -1.96543982e-04 9.99993797e-01 -2.05985092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.525898227 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:16.24, Y:0.25, Z:-0.21 [[ 9.97936509e-01 -6.41501321e-02 -2.73582417e-03 1.62385603e+01] [ 6.41503157e-02 9.97940247e-01 -2.06775766e-05 2.47706832e-01] [ 2.73151552e-03 -1.54869076e-04 9.99996257e-01 -2.06920466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:16.27, Y:0.25, Z:-0.21 [[ 9.97863757e-01 -6.52548760e-02 -3.11826231e-03 1.62721739e+01] [ 6.52551219e-02 9.97868613e-01 -2.29128454e-05 2.47870394e-01] [ 3.11311126e-03 -1.80618689e-04 9.99995138e-01 -2.07542711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.585898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:16.30, Y:0.25, Z:-0.21 [[ 9.97701785e-01 -6.76027723e-02 -4.58396640e-03 1.63043623e+01] [ 6.76033336e-02 9.97712277e-01 -3.25537884e-05 2.48875600e-01] [ 4.57568028e-03 -2.77412437e-04 9.99989493e-01 -2.10597619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:16.34, Y:0.25, Z:-0.21 [[ 9.97652419e-01 -6.82822710e-02 -5.21359318e-03 1.63374097e+01] [ 6.82830114e-02 9.97665991e-01 -3.60600461e-05 2.49135822e-01] [ 5.20388686e-03 -3.20024450e-04 9.99986408e-01 -2.10540695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.645898227 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:16.37, Y:0.25, Z:-0.21 [[ 9.97615250e-01 -6.88327406e-02 -5.08590886e-03 1.63699186e+01] [ 6.88334567e-02 9.97628164e-01 -3.43144866e-05 2.49603855e-01] [ 5.07620788e-03 -3.15848032e-04 9.99987066e-01 -2.09892458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.675898227 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:16.40, Y:0.25, Z:-0.21 [[ 9.97597474e-01 -6.91562582e-02 -4.08562465e-03 1.64031705e+01] [ 6.91567253e-02 9.97605807e-01 -2.70173796e-05 2.49423704e-01] [ 4.07771129e-03 -2.55595952e-04 9.99991653e-01 -2.09663565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.44, Y:0.25, Z:-0.21 [[ 9.97614022e-01 -6.89925406e-02 -2.50842573e-03 1.64354551e+01] [ 6.89927166e-02 9.97617163e-01 -1.63918686e-05 2.48096877e-01] [ 2.50357948e-03 -1.56710347e-04 9.99996854e-01 -2.09472750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:16.47, Y:0.25, Z:-0.21 [[ 9.97610161e-01 -6.90076352e-02 -3.45156464e-03 1.64683193e+01] [ 6.90079713e-02 9.97616108e-01 -2.17556507e-05 2.48573756e-01] [ 3.44483779e-03 -2.16481816e-04 9.99994043e-01 -2.10004246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.765898227 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:16.50, Y:0.25, Z:-0.21 [[ 9.97670655e-01 -6.80718057e-02 -4.41505092e-03 1.65008902e+01] [ 6.80723508e-02 9.97680387e-01 -2.68723266e-05 2.49355488e-01] [ 4.40663896e-03 -2.73733164e-04 9.99990253e-01 -2.10142156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:16.53, Y:0.25, Z:-0.21 [[ 9.97821321e-01 -6.58919135e-02 -3.29667325e-03 1.65339927e+01] [ 6.58922068e-02 9.97826747e-01 -1.96938792e-05 2.50109966e-01] [ 3.29080641e-03 -1.97574103e-04 9.99994566e-01 -2.08881494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.825898227 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:16.57, Y:0.25, Z:-0.21 [[ 9.97859482e-01 -6.53444402e-02 -2.56087676e-03 1.65669661e+01] [ 6.53446161e-02 9.97862757e-01 -1.50147253e-05 2.49694386e-01] [ 2.55638467e-03 -1.52356923e-04 9.99996721e-01 -2.08700621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.855898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:16.60, Y:0.25, Z:-0.21 [[ 9.97902684e-01 -6.46565441e-02 -3.12489115e-03 1.65992000e+01] [ 6.46568049e-02 9.97907559e-01 -1.75878767e-05 2.47436472e-01] [ 3.11948967e-03 -1.84494488e-04 9.99995117e-01 -2.09043027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.885898227000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:16.63, Y:0.25, Z:-0.21 [[ 9.97893907e-01 -6.46778591e-02 -4.95235416e-03 1.66319642e+01] [ 6.46785205e-02 9.97906152e-01 -2.66443257e-05 2.46451892e-01] [ 4.94370798e-03 -2.93722730e-04 9.99987737e-01 -2.09420902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.66, Y:0.24, Z:-0.21 [[ 9.97885384e-01 -6.47201335e-02 -6.00536533e-03 1.66637961e+01] [ 6.47211131e-02 9.97903390e-01 -3.12699426e-05 2.44667169e-01] [ 5.99479822e-03 -3.57470110e-04 9.99981967e-01 -2.08156634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.945898227 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:16.70, Y:0.24, Z:-0.21 [[ 9.97850722e-01 -6.53760971e-02 -4.46117248e-03 1.66969995e+01] [ 6.53766461e-02 9.97860658e-01 -2.28128196e-05 2.42650018e-01] [ 4.45311992e-03 -2.68892706e-04 9.99990049e-01 -2.07386312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.975898227000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:16.73, Y:0.24, Z:-0.21 [[ 9.97821969e-01 -6.59016630e-02 -2.87914466e-03 1.67292865e+01] [ 6.59018947e-02 9.97826107e-01 -1.44367936e-05 2.40262282e-01] [ 2.87383712e-03 -1.75335739e-04 9.99995855e-01 -2.08204779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.005898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:16.76, Y:0.24, Z:-0.21 [[ 9.97768248e-01 -6.67284733e-02 -2.41554545e-03 1.67614437e+01] [ 6.67286397e-02 9.97771160e-01 -1.17223785e-05 2.37821269e-01] [ 2.41094380e-03 -1.49489845e-04 9.99997082e-01 -2.09299878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.035898227 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:16.79, Y:0.24, Z:-0.21 [[ 9.97785318e-01 -6.64291964e-02 -3.40889165e-03 1.67935147e+01] [ 6.64295279e-02 9.97791119e-01 -1.60110902e-05 2.35503615e-01] [ 3.40242541e-03 -2.10475432e-04 9.99994190e-01 -2.09586644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.065898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:16.83, Y:0.23, Z:-0.21 [[ 9.97883252e-01 -6.48113962e-02 -5.33847359e-03 1.68263256e+01] [ 6.48121921e-02 9.97897479e-01 -2.39585579e-05 2.33411934e-01] [ 5.32880213e-03 -3.22090332e-04 9.99985750e-01 -2.09318903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095898227 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:16.86, Y:0.23, Z:-0.21 [[ 9.98107389e-01 -6.10832527e-02 -7.10460028e-03 1.68582857e+01] [ 6.10845749e-02 9.98132593e-01 -3.09437225e-05 2.31498042e-01] [ 7.09322324e-03 -4.03096330e-04 9.99974762e-01 -2.08843497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.125898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:16.89, Y:0.23, Z:-0.21 [[ 9.98248587e-01 -5.88514673e-02 -6.02189215e-03 1.68901211e+01] [ 5.88523814e-02 9.98266696e-01 -2.54445312e-05 2.31041377e-01] [ 6.01295183e-03 -3.29002726e-04 9.99981868e-01 -2.08099048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.155898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:16.92, Y:0.23, Z:-0.21 [[ 9.98375895e-01 -5.67332462e-02 -5.18758768e-03 1.69236916e+01] [ 5.67338992e-02 9.98389335e-01 -2.13211389e-05 2.31127624e-01] [ 5.18044183e-03 -2.73025565e-04 9.99986544e-01 -2.06835521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.185898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:16.96, Y:0.23, Z:-0.21 [[ 9.98478291e-01 -5.48880475e-02 -5.32958986e-03 1.69573138e+01] [ 5.48887156e-02 9.98492478e-01 -2.09413865e-05 2.32288654e-01] [ 5.32270481e-03 -2.71624822e-04 9.99985797e-01 -2.06315114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.215898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:16.99, Y:0.23, Z:-0.21 [[ 9.98580956e-01 -5.29803423e-02 -5.39971911e-03 1.69902066e+01] [ 5.29810056e-02 9.98595520e-01 -2.02339103e-05 2.33066656e-01] [ 5.39320731e-03 -2.65877351e-04 9.99985421e-01 -2.07140224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.245898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:17.02, Y:0.23, Z:-0.21 [[ 9.98547504e-01 -5.37473430e-02 -3.75562083e-03 1.70227506e+01] [ 5.37476711e-02 9.98554549e-01 -1.35996701e-05 2.33189616e-01] [ 3.75092321e-03 -1.88275957e-04 9.99992948e-01 -2.07356574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:17.06, Y:0.23, Z:-0.21 [[ 9.98424249e-01 -5.61008808e-02 -1.30784297e-03 1.70552145e+01] [ 5.61009223e-02 9.98425103e-01 -5.00864410e-06 2.33301260e-01] [ 1.30606424e-03 -6.83704451e-05 9.99999145e-01 -2.06616878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.305898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:17.09, Y:0.23, Z:-0.21 [[ 9.98188218e-01 -6.01638366e-02 7.70698508e-04 1.70879223e+01] [ 6.01638531e-02 9.98188515e-01 1.75936148e-06 2.32511963e-01] [-7.69408249e-04 4.46120179e-05 9.99999703e-01 -2.06485117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.335898227 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:17.12, Y:0.23, Z:-0.21 [[ 9.97873891e-01 -6.51525046e-02 1.68777386e-03 1.71212477e+01] [ 6.51525900e-02 9.97875313e-01 4.37192675e-06 2.31709493e-01] [-1.68447271e-03 1.05600207e-04 9.99998576e-01 -2.07020429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.365898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:17.15, Y:0.23, Z:-0.21 [[ 9.97546850e-01 -6.99791881e-02 1.78770910e-03 1.71547116e+01] [ 6.99792921e-02 9.97548444e-01 4.34623293e-06 2.30265524e-01] [-1.78363058e-03 1.20767046e-04 9.99998402e-01 -2.07727008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:17.19, Y:0.23, Z:-0.21 [[ 9.97063851e-01 -7.65742449e-02 -2.49828142e-04 1.71876523e+01] [ 7.65742470e-02 9.97063882e-01 -1.33678216e-06 2.29914083e-01] [ 2.49196980e-04 -1.77975447e-05 9.99999969e-01 -2.08318530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.425898227 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:17.22, Y:0.23, Z:-0.21 [[ 9.96996559e-01 -7.74419003e-02 -7.83437362e-04 1.72198512e+01] [ 7.74419222e-02 9.96996865e-01 -2.40486476e-06 2.30373941e-01] [ 7.81270831e-04 -5.82732534e-05 9.99999693e-01 -2.08080700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455898227 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:17.25, Y:0.23, Z:-0.21 [[ 9.97033690e-01 -7.69663673e-02 7.73520001e-07 1.72533360e+01] [ 7.69663673e-02 9.97033690e-01 -6.65976090e-07 2.30692201e-01] [-7.19967738e-07 7.23535623e-07 1.00000000e+00 -2.07499082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.485898227 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:17.29, Y:0.23, Z:-0.21 [[ 9.97158042e-01 -7.53379681e-02 1.70285586e-04 1.72859479e+01] [ 7.53379692e-02 9.97158057e-01 -2.50694713e-07 2.31701663e-01] [-1.69782758e-04 1.30789525e-05 9.99999986e-01 -2.06942384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.515898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:17.32, Y:0.23, Z:-0.21 [[ 9.97547014e-01 -6.99881567e-02 -1.27034208e-03 1.73177875e+01] [ 6.99882092e-02 9.97547819e-01 -3.20800858e-06 2.33449259e-01] [ 1.26745149e-03 -8.57088277e-05 9.99999193e-01 -2.05897503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:0.23, Z:-0.21 [[ 9.97766137e-01 -6.67811340e-02 -1.73664433e-03 1.73510365e+01] [ 6.67812280e-02 9.97767642e-01 -3.88851276e-06 2.34494356e-01] [ 1.73302720e-03 -1.12095415e-04 9.99998492e-01 -2.06022783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575898227 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:17.38, Y:0.24, Z:-0.21 [[ 9.98000617e-01 -6.31695123e-02 -2.09292921e-03 1.73843771e+01] [ 6.31696419e-02 9.98002804e-01 -4.21405132e-06 2.35712189e-01] [ 2.08901542e-03 -1.28003963e-04 9.99997810e-01 -2.05838102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.605898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:17.42, Y:0.24, Z:-0.21 [[ 9.98496561e-01 -5.47638438e-02 -2.35368050e-03 1.74170065e+01] [ 5.47639855e-02 9.98499327e-01 -4.24972882e-06 2.38617906e-01] [ 2.35038113e-03 -1.24653585e-04 9.99997230e-01 -2.05182904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.635898227000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:0.24, Z:-0.20 [[ 9.98739532e-01 -5.01341301e-02 -2.43237189e-03 1.74500360e+01] [ 5.01342688e-02 9.98742487e-01 -3.97089844e-06 2.40349837e-01] [ 2.42951223e-03 -1.17979293e-04 9.99997042e-01 -2.04410261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.665898227 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:17.48, Y:0.24, Z:-0.20 [[ 9.98946057e-01 -4.58134843e-02 -2.81066851e-03 1.74820314e+01] [ 4.58136541e-02 9.98950003e-01 -3.95473225e-06 2.42728640e-01] [ 2.80789850e-03 -1.24816431e-04 9.99996050e-01 -2.04741347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.695898227 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:17.52, Y:0.25, Z:-0.21 [[ 9.99338509e-01 -3.62953916e-02 -2.27811927e-03 1.75155273e+01] [ 3.62954794e-02 9.99341102e-01 -2.78834801e-06 2.45241477e-01] [ 2.27671943e-03 -7.98989275e-05 9.99997405e-01 -2.06172614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.725898227000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:17.55, Y:0.25, Z:-0.21 [[ 9.99512857e-01 -3.11932545e-02 -1.01509661e-03 1.75485510e+01] [ 3.11932689e-02 9.99513372e-01 -1.60133206e-06 2.46989657e-01] [ 1.01465259e-03 -3.00636296e-05 9.99999485e-01 -2.06214134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:0.25, Z:-0.20 [[ 9.99648162e-01 -2.65183876e-02 5.72269260e-04 1.75814885e+01] [ 2.65183921e-02 9.99648326e-01 -2.68434787e-07 2.50023650e-01] [-5.72060889e-04 1.54440010e-05 9.99999836e-01 -2.04982216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.785898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:17.61, Y:0.25, Z:-0.20 [[ 9.99740416e-01 -2.26994644e-02 1.95807609e-03 1.76141179e+01] [ 2.26995069e-02 9.99742333e-01 4.86838764e-07 2.52770140e-01] [-1.95758261e-03 4.39606493e-05 9.99998083e-01 -2.03977703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.815898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:17.65, Y:0.25, Z:-0.20 [[ 9.99801170e-01 -1.98443836e-02 1.95452108e-03 1.76464587e+01] [ 1.98444206e-02 9.99803080e-01 4.85169919e-07 2.54572810e-01] [-1.95414583e-03 3.83012649e-05 9.99998090e-01 -2.03491337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.845898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:17.68, Y:0.26, Z:-0.20 [[ 9.99844876e-01 -1.75803835e-02 1.07423020e-03 1.76788858e+01] [ 1.75803934e-02 9.99845453e-01 1.92774390e-07 2.55481202e-01] [-1.07406757e-03 1.86926450e-05 9.99999423e-01 -2.03873340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.875898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.71, Y:0.25, Z:-0.23 [[ 9.99879759e-01 -1.50478765e-02 3.74560800e-03 1.77126313e+01] [ 1.49563423e-02 9.99614977e-01 2.33710417e-02 2.46792132e-01] [-4.09585040e-03 -2.33122110e-02 9.99719843e-01 -2.27266388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.905898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:17.74, Y:0.26, Z:-0.20 [[ 9.99914876e-01 -1.30457880e-02 2.18326566e-04 1.77428103e+01] [ 1.30475203e-02 9.99831327e-01 -1.29259554e-02 2.63952470e-01] [-4.96604662e-05 1.29277037e-02 9.99916433e-01 -1.96094279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:17.77, Y:0.26, Z:-0.20 [[ 9.99944104e-01 -1.03283076e-02 -2.26160318e-03 1.77733915e+01] [ 1.03024676e-02 9.99884721e-01 -1.11536913e-02 2.64691549e-01] [ 2.37654122e-03 1.11297678e-02 9.99935238e-01 -1.96142057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.965898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:17.81, Y:0.26, Z:-0.20 [[ 9.99972100e-01 -7.42183971e-03 -8.46442943e-04 1.78068710e+01] [ 7.42184209e-03 9.99972458e-01 -3.24617838e-07 2.61476948e-01] [ 8.46422040e-04 -5.95755708e-06 9.99999642e-01 -2.04011244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.995898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:17.84, Y:0.27, Z:-0.20 [[ 9.99998115e-01 -1.48373498e-03 1.25222050e-03 1.78384790e+01] [ 1.48373691e-03 9.99998899e-01 -6.14396521e-07 2.66008830e-01] [-1.25221821e-03 2.47236115e-06 9.99999216e-01 -2.01414034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.025898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:17.87, Y:0.26, Z:-0.22 [[ 9.99981952e-01 -3.22493759e-05 6.00787194e-03 1.78698771e+01] [-9.03800968e-05 9.99791689e-01 2.04100761e-02 2.57669507e-01] [-6.00727865e-03 -2.04102507e-02 9.99773642e-01 -2.21409079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:17.90, Y:0.27, Z:-0.19 [[ 9.99997950e-01 8.36572064e-04 1.84372356e-03 1.79021190e+01] [-8.13357129e-04 9.99920836e-01 -1.25563154e-02 2.71984503e-01] [-1.85408186e-03 1.25547900e-02 9.99919467e-01 -1.93173482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.085898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:17.93, Y:0.27, Z:-0.20 [[ 9.99997754e-01 8.78920974e-04 1.92859119e-03 1.79331134e+01] [-8.78965672e-04 9.99999613e-01 2.23294824e-05 2.66631743e-01] [-1.92857082e-03 -2.40245977e-05 9.99998140e-01 -2.04287726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:17.96, Y:0.27, Z:-0.20 [[ 9.99994561e-01 -1.87621106e-03 -2.71269813e-03 1.79638888e+01] [ 1.85514855e-03 9.99968277e-01 -7.74619257e-03 2.68115163e-01] [ 2.72714556e-03 7.74111798e-03 9.99966318e-01 -1.99070082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.145898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:17.99, Y:0.26, Z:-0.21 [[ 9.99983343e-01 -5.16600617e-03 -2.57420641e-03 1.79948589e+01] [ 5.16602400e-03 9.99986656e-01 2.75302101e-07 2.62707046e-01] [ 2.57417063e-03 -1.35737096e-05 9.99996687e-01 -2.05574375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.175898227 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:18.03, Y:0.26, Z:-0.20 [[ 9.99961016e-01 -8.69691935e-03 -1.52658720e-03 1.80270803e+01] [ 8.69692912e-03 9.99962181e-01 -2.40876236e-07 2.61543510e-01] [ 1.52653156e-03 -1.30357538e-05 9.99998835e-01 -2.04278093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.205898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:18.06, Y:0.26, Z:-0.20 [[ 9.99937472e-01 -1.11529594e-02 8.15072986e-04 1.80593756e+01] [ 1.11529637e-02 9.99937804e-01 -7.58167848e-07 2.58933364e-01] [-8.15013835e-04 9.84859986e-06 9.99999668e-01 -2.02475658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:18.09, Y:0.26, Z:-0.20 [[ 9.99914993e-01 -1.27886166e-02 2.54135581e-03 1.80927816e+01] [ 1.27886616e-02 9.99918222e-01 -1.43881000e-06 2.57289686e-01] [-2.54112958e-03 3.39392272e-05 9.99996771e-01 -2.00865081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.265898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:18.12, Y:0.26, Z:-0.20 [[ 9.99908910e-01 -1.31572121e-02 3.01003043e-03 1.81247446e+01] [ 1.31572795e-02 9.99913439e-01 -2.56526975e-06 2.55975782e-01] [-3.00973613e-03 4.21688477e-05 9.99995470e-01 -1.99250172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295898227 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:18.16, Y:0.25, Z:-0.20 [[ 9.99940372e-01 -1.07610514e-02 1.85798772e-03 1.81591763e+01] [ 1.07603564e-02 9.99942032e-01 3.83685427e-04 2.54063118e-01] [-1.86200888e-03 -3.63669938e-04 9.99998200e-01 -2.00518460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.325898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:18.19, Y:0.25, Z:-0.20 [[ 9.99973668e-01 -7.04852873e-03 1.72673956e-03 1.81907753e+01] [ 7.04918373e-03 9.99975084e-01 -3.73535646e-04 2.51852462e-01] [-1.72406366e-03 3.85697915e-04 9.99998439e-01 -2.01422517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.355898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:18.22, Y:0.25, Z:-0.20 [[ 9.99991630e-01 -3.75897214e-03 1.61531153e-03 1.82227373e+01] [ 3.75898012e-03 9.99992935e-01 -1.90639948e-06 2.49490598e-01] [-1.61529295e-03 7.97830746e-06 9.99998695e-01 -2.02389582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.385898227000002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:18.25, Y:0.25, Z:-0.20 [[ 9.99997780e-01 -3.90363784e-04 2.07057274e-03 1.82534539e+01] [ 3.90368894e-04 9.99999924e-01 -2.06405403e-06 2.47530494e-01] [-2.07057177e-03 2.87233664e-06 9.99997856e-01 -2.01895242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:18.28, Y:0.25, Z:-0.20 [[ 9.99979569e-01 5.89890822e-03 2.46243431e-03 1.82843935e+01] [-5.89891991e-03 9.99982601e-01 -2.51404079e-06 2.47455040e-01] [-2.46240630e-03 -1.20117134e-05 9.99996968e-01 -1.98533842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.445898227 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:18.31, Y:0.25, Z:-0.20 [[ 9.99962825e-01 8.35521755e-03 2.13052670e-03 1.83125572e+01] [-8.35523300e-03 9.99965094e-01 -1.64742987e-06 2.47152246e-01] [-2.13046609e-03 -1.61536783e-05 9.99997730e-01 -1.98711099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.475898227000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.34, Y:0.25, Z:-0.20 [[ 9.99947456e-01 1.01534204e-02 1.41159301e-03 1.83407321e+01] [-1.01534292e-02 9.99948453e-01 -9.05832454e-07 2.46866514e-01] [-1.41152944e-03 -1.34267248e-05 9.99999004e-01 -1.99526631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.505898227 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:18.37, Y:0.25, Z:-0.20 [[ 9.99906421e-01 1.36079287e-02 1.40469859e-03 1.83690719e+01] [-1.36079410e-02 9.99907408e-01 -8.00128092e-07 2.47381582e-01] [-1.40457942e-03 -1.83150023e-05 9.99999013e-01 -2.00867775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.535898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:18.40, Y:0.25, Z:-0.20 [[ 9.99877138e-01 1.55941510e-02 1.59073840e-03 1.83974692e+01] [-1.55941695e-02 9.99878404e-01 -8.14812538e-07 2.47417536e-01] [-1.59055768e-03 -2.39915318e-05 9.99998735e-01 -1.99775834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.565898227 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:18.42, Y:0.25, Z:-0.20 [[ 9.99856912e-01 1.68356519e-02 1.64793557e-03 1.84245878e+01] [-1.68356740e-02 9.99858270e-01 -4.05982789e-07 2.48315842e-01] [-1.64770884e-03 -2.73381814e-05 9.99998642e-01 -1.99608467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:18.45, Y:0.25, Z:-0.20 [[ 9.99847463e-01 1.73882530e-02 1.64310352e-03 1.84523320e+01] [-1.73882756e-02 9.99848813e-01 -5.16660403e-07 2.47638847e-01] [-1.64286409e-03 -2.80541553e-05 9.99998650e-01 -1.99271091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.625898227 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:18.48, Y:0.25, Z:-0.20 [[ 9.99855970e-01 1.68975327e-02 1.58528566e-03 1.84789739e+01] [-1.68975534e-02 9.99857226e-01 -3.12155101e-07 2.48285897e-01] [-1.58506460e-03 -2.64753390e-05 9.99998743e-01 -1.99318435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.655898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:18.51, Y:0.25, Z:-0.20 [[ 9.99879067e-01 1.53952491e-02 2.19934636e-03 1.85064738e+01] [-1.53952853e-02 9.99881486e-01 -4.48587592e-07 2.46806982e-01] [-2.19909261e-03 -3.34110313e-05 9.99997581e-01 -2.00207871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.685898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:18.53, Y:0.25, Z:-0.20 [[ 9.99899285e-01 1.40984264e-02 1.62916051e-03 1.85339874e+01] [-1.40984449e-02 9.99900612e-01 -1.47052344e-07 2.46690371e-01] [-1.62900067e-03 -2.28215922e-05 9.99998673e-01 -2.00099429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.715898227 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:18.56, Y:0.25, Z:-0.20 [[ 9.99912849e-01 1.31818855e-02 7.29133250e-04 1.85617499e+01] [-1.31818891e-02 9.99913115e-01 1.36964187e-07 2.46127607e-01] [-7.29068093e-04 -9.74830590e-06 9.99999734e-01 -1.99684564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.745898227 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:18.59, Y:0.25, Z:-0.20 [[ 9.99916356e-01 1.28779791e-02 -1.19963537e-03 1.85900616e+01] [-1.28779879e-02 9.99917075e-01 4.12539253e-07 2.46444548e-01] [ 1.19954120e-03 1.50363850e-05 9.99999280e-01 -1.99562104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:18.62, Y:0.24, Z:-0.20 [[ 9.99896581e-01 1.39449296e-02 -3.51663485e-03 1.86178933e+01] [-1.39450143e-02 9.99902764e-01 4.32789065e-07 2.43684550e-01] [ 3.51629894e-03 4.86067790e-05 9.99993817e-01 -2.00627983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.805898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:18.64, Y:0.24, Z:-0.20 [[ 9.99880189e-01 1.50461477e-02 -3.63594717e-03 1.86445485e+01] [-1.50462464e-02 9.99886799e-01 1.82687371e-07 2.42764796e-01] [ 3.63553832e-03 5.45246917e-05 9.99993390e-01 -2.00503509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.835898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.67, Y:0.24, Z:-0.20 [[ 9.99853961e-01 1.69180707e-02 -2.41552524e-03 1.86723303e+01] [-1.69181200e-02 9.99856878e-01 1.23600554e-08 2.41924821e-01] [ 2.41517974e-03 4.08537877e-05 9.99997083e-01 -1.99696913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.865898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:18.70, Y:0.24, Z:-0.20 [[ 9.99829654e-01 1.84471215e-02 -6.05544134e-04 1.86995756e+01] [-1.84471248e-02 9.99829837e-01 2.05212352e-07 2.41647212e-01] [ 6.05444879e-04 1.09653708e-05 9.99999817e-01 -1.98222421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.73, Y:0.24, Z:-0.20 [[ 9.99784801e-01 2.07305062e-02 7.73531195e-04 1.87270770e+01] [-2.07305128e-02 9.99785100e-01 4.86547351e-07 2.40644702e-01] [-7.73354877e-04 -1.65221410e-05 9.99999701e-01 -1.96327858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.75, Y:0.24, Z:-0.20 [[ 9.99771297e-01 2.13846489e-02 2.26417167e-04 1.87538912e+01] [-2.13846495e-02 9.99771322e-01 4.06463673e-07 2.39009299e-01] [-2.26356698e-04 -5.24822248e-06 9.99999974e-01 -1.97043668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.79, Y:0.24, Z:-0.20 [[ 9.99742124e-01 2.27083348e-02 1.28031840e-04 1.87877682e+01] [-2.27065740e-02 9.99709896e-01 -8.03333188e-03 2.37204392e-01] [-3.10418288e-04 8.02835312e-03 9.99967724e-01 -1.95345304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.985898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:18.81, Y:0.23, Z:-0.21 [[ 9.99771360e-01 2.10809719e-02 -3.58049512e-03 1.88100430e+01] [-2.10520350e-02 9.99746885e-01 7.93587827e-03 2.34304453e-01] [ 3.74688487e-03 -7.85868710e-03 9.99962100e-01 -2.06139316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.015898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.84, Y:0.24, Z:-0.20 [[ 9.99736929e-01 2.28155310e-02 -2.35027103e-03 1.88375703e+01] [-2.28155977e-02 9.99739690e-01 -1.54363584e-06 2.35866255e-01] [ 2.34962401e-03 5.51660679e-05 9.99997238e-01 -1.98839071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:0.24, Z:-0.20 [[ 9.99685878e-01 2.50578748e-02 4.98893845e-04 1.88716244e+01] [-2.50532940e-02 9.99656453e-01 -7.70125092e-03 2.35151643e-01] [-6.91699433e-04 7.68633285e-03 9.99970220e-01 -1.95123554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:18.90, Y:0.23, Z:-0.20 [[ 9.99670800e-01 2.56546139e-02 -3.64518365e-04 1.88966108e+01] [-2.56518535e-02 9.99651595e-01 6.21858228e-03 2.31542502e-01] [ 5.23926693e-04 -6.20718455e-03 9.99980598e-01 -2.02096145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.105898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:18.93, Y:0.23, Z:-0.19 [[ 9.99498094e-01 3.15652295e-02 2.68253646e-03 1.89305244e+01] [-3.15389932e-02 9.99459100e-01 -9.31662276e-03 2.34029744e-01] [-2.97516681e-03 9.22734219e-03 9.99953001e-01 -1.94475337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:18.96, Y:0.23, Z:-0.20 [[ 9.99409297e-01 3.42127425e-02 3.24734791e-03 1.89587701e+01] [-3.42151828e-02 9.99414245e-01 6.98910205e-04 2.28274218e-01] [-3.22153413e-03 -8.09605959e-04 9.99994483e-01 -2.04533590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:0.23, Z:-0.20 [[ 9.99426030e-01 3.37956841e-02 2.33710482e-03 1.89869696e+01] [-3.37980129e-02 9.99428219e-01 9.64234963e-04 2.29313398e-01] [-2.30318153e-03 -1.04267102e-03 9.99996804e-01 -2.04145435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:0.23, Z:-0.20 [[ 9.99413453e-01 3.41199340e-02 2.92923781e-03 1.90155926e+01] [-3.41201570e-02 9.99417738e-01 2.61880419e-05 2.28400463e-01] [-2.92663869e-03 -1.26118735e-04 9.99995709e-01 -2.03591673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.225898227000002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:19.05, Y:0.23, Z:-0.20 [[ 9.99424454e-01 3.38045071e-02 2.83126978e-03 1.90451476e+01] [-3.37985951e-02 9.99426436e-01 -2.11056297e-03 2.29395586e-01] [-2.90099240e-03 2.01365530e-03 9.99993765e-01 -2.00397919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.07, Y:0.23, Z:-0.20 [[ 9.99417604e-01 3.39274467e-02 3.65815289e-03 1.90732155e+01] [-3.39297249e-02 9.99424063e-01 5.62513860e-04 2.29956968e-01] [-3.63696137e-03 -6.86306375e-04 9.99993151e-01 -1.98696623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.285898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.10, Y:0.23, Z:-0.20 [[ 9.99423320e-01 3.37620757e-02 3.62617507e-03 1.91008080e+01] [-3.37610629e-02 9.99429875e-01 -3.40165087e-04 2.30344728e-01] [-3.63559238e-03 2.17545396e-04 9.99993368e-01 -1.98056323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:0.23, Z:-0.20 [[ 9.99467022e-01 3.24563159e-02 3.50140011e-03 1.91290927e+01] [-3.24567031e-02 9.99473141e-01 5.38193460e-05 2.29590684e-01] [-3.49780859e-03 -1.67434565e-04 9.99993869e-01 -2.00610698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.345898227 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:19.16, Y:0.23, Z:-0.20 [[ 9.99503681e-01 3.13455843e-02 3.13798354e-03 1.91586288e+01] [-3.13400665e-02 9.99507172e-01 -1.79239310e-03 2.28819564e-01] [-3.19262066e-03 1.69315889e-03 9.99993470e-01 -2.02053487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:0.23, Z:-0.20 [[ 9.99569312e-01 2.93229703e-02 1.16348197e-03 1.91849952e+01] [-2.93268091e-02 9.99563984e-01 3.43227983e-03 2.28672072e-01] [-1.06233003e-03 -3.46492280e-03 9.99993433e-01 -2.04488149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:0.23, Z:-0.20 [[ 9.99550730e-01 2.99618344e-02 7.91957145e-04 1.92153236e+01] [-2.99635047e-02 9.99548597e-01 2.18882904e-03 2.31010160e-01] [-7.26018320e-04 -2.21157548e-03 9.99997291e-01 -2.01296659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:19.24, Y:0.24, Z:-0.20 [[ 9.99534622e-01 3.04744933e-02 1.35799733e-03 1.92413271e+01] [-3.04717359e-02 9.99533614e-01 -2.00691716e-03 2.35568218e-01] [-1.41852376e-03 1.96460265e-03 9.99997064e-01 -1.97873781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.465898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:19.27, Y:0.24, Z:-0.20 [[ 9.99488201e-01 3.19786533e-02 8.38155903e-04 1.92709484e+01] [-3.19735405e-02 9.99473404e-01 -5.53234091e-03 2.36136042e-01] [-1.01463135e-03 5.50271065e-03 9.99984345e-01 -1.96904200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.30, Y:0.24, Z:-0.20 [[ 9.99520315e-01 3.09025965e-02 -2.04192479e-03 1.92968090e+01] [-3.08959167e-02 9.99517402e-01 3.22564766e-03 2.35601746e-01] [ 2.14062025e-03 -3.16101322e-03 9.99992713e-01 -2.04172019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.525898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:19.32, Y:0.24, Z:-0.20 [[ 9.99545137e-01 3.01174962e-02 -1.56727528e-03 1.93239151e+01] [-3.01169154e-02 9.99546306e-01 3.92858725e-04 2.35851380e-01] [ 1.57839613e-03 -3.45478531e-04 9.99998695e-01 -2.04286259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:19.35, Y:0.24, Z:-0.20 [[ 9.99646571e-01 2.64410782e-02 -2.75727273e-03 1.93541560e+01] [-2.64568709e-02 9.99632793e-01 -5.85777911e-03 2.39196075e-01] [ 2.60137424e-03 5.92865761e-03 9.99979042e-01 -1.98601236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.585898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:19.38, Y:0.24, Z:-0.20 [[ 9.99745039e-01 2.23766454e-02 -3.02370615e-03 1.93797397e+01] [-2.23736909e-02 9.99749170e-01 1.00743919e-03 2.38087441e-01] [ 3.04549082e-03 -9.39530863e-04 9.99994921e-01 -2.02720902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:19.41, Y:0.24, Z:-0.20 [[ 9.99820362e-01 1.88693297e-02 -1.78680162e-03 1.94069008e+01] [-1.88708492e-02 9.99821579e-01 -8.37431375e-04 2.38640642e-01] [ 1.77068105e-03 8.70999404e-04 9.99998053e-01 -2.02085325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.645898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.43, Y:0.24, Z:-0.21 [[ 9.99942775e-01 9.57072177e-03 -4.77992805e-03 1.94327470e+01] [-9.47696132e-03 9.99769453e-01 1.92672905e-02 2.35048517e-01] [ 4.96322792e-03 -1.92208887e-02 9.99802942e-01 -2.10330715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.675898227 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:19.46, Y:0.24, Z:-0.19 [[ 9.99963306e-01 7.66132185e-03 -3.83286951e-03 1.94619637e+01] [-7.66713462e-03 9.99969476e-01 -1.50416949e-03 2.43606271e-01] [ 3.82122858e-03 1.53350142e-03 9.99991523e-01 -1.94210801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:0.25, Z:-0.19 [[ 9.99982074e-01 5.75495028e-03 -1.65300022e-03 1.94927805e+01] [-5.77762703e-03 9.99884489e-01 -1.40580434e-02 2.48869102e-01] [ 1.57190594e-03 1.40673418e-02 9.99899814e-01 -1.88659090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:0.24, Z:-0.21 [[ 9.99982857e-01 1.94632192e-03 -5.52242361e-03 1.95162828e+01] [-1.85551076e-03 9.99863759e-01 1.64018210e-02 2.41226787e-01] [ 5.55359445e-03 -1.63912929e-02 9.99850230e-01 -2.05884635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:0.26, Z:-0.18 [[ 9.99996815e-01 1.32498486e-03 -2.14816968e-03 1.95477023e+01] [-1.36682286e-03 9.99807103e-01 -1.95930645e-02 2.55305175e-01] [ 2.12179479e-03 1.95959383e-02 9.99805730e-01 -1.82914994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:19.58, Y:0.24, Z:-0.21 [[ 9.99989730e-01 -3.77775013e-04 -4.51630848e-03 1.95767588e+01] [ 4.58400867e-04 9.99840312e-01 1.78644733e-02 2.42491471e-01] [ 4.50883853e-03 -1.78663601e-02 9.99830217e-01 -2.07894540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:0.25, Z:-0.19 [[ 9.99983674e-01 -3.04624937e-03 -4.83438427e-03 1.96028625e+01] [ 3.05464020e-03 9.99993839e-01 1.72922144e-03 2.53580439e-01] [ 4.82908685e-03 -1.74396051e-03 9.99986819e-01 -1.93003570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.855898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:19.63, Y:0.25, Z:-0.19 [[ 9.99980667e-01 -4.46988575e-03 -4.32260644e-03 1.96346150e+01] [ 4.46248887e-03 9.99988565e-01 -1.71934093e-03 2.54211252e-01] [ 4.33024227e-03 1.70001811e-03 9.99989179e-01 -1.91372598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.885898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:19.67, Y:0.26, Z:-0.19 [[ 9.99968030e-01 -7.16567396e-03 -3.54859715e-03 1.96657827e+01] [ 7.14686220e-03 9.99960491e-01 -5.28578928e-03 2.55430128e-01] [ 3.58633318e-03 5.26025896e-03 9.99979734e-01 -1.90094211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:19.70, Y:0.25, Z:-0.19 [[ 9.99908152e-01 -1.34955867e-02 1.24780571e-03 1.97005862e+01] [ 1.35112087e-02 9.99817614e-01 -1.34976219e-02 2.53957203e-01] [-1.06541980e-03 1.35132416e-02 9.99908124e-01 -1.91961689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.945898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:19.72, Y:0.24, Z:-0.21 [[ 9.99824652e-01 -1.85806518e-02 -2.32918778e-03 1.97248716e+01] [ 1.86255778e-02 9.99605223e-01 2.10353328e-02 2.43080454e-01] [ 1.93741808e-03 -2.10750268e-02 9.99776020e-01 -2.10273635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.975898227000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.75, Y:0.25, Z:-0.19 [[ 9.99751132e-01 -2.22976237e-02 -7.00309869e-04 1.97531916e+01] [ 2.22947141e-02 9.99743761e-01 -3.91903368e-03 2.54046614e-01] [ 7.87515561e-04 3.90244515e-03 9.99992075e-01 -1.90602740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.005898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:19.79, Y:0.25, Z:-0.19 [[ 9.99751500e-01 -2.22810010e-02 -7.04377250e-04 1.97867159e+01] [ 2.22810310e-02 9.99751746e-01 3.47409106e-05 2.52703423e-01] [ 7.03428323e-04 -5.04265288e-05 9.99999751e-01 -1.93809993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.035898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:19.82, Y:0.25, Z:-0.20 [[ 9.99754075e-01 -2.21661370e-02 6.71910750e-04 1.98210063e+01] [ 2.21672157e-02 9.99752927e-01 -1.64288952e-03 2.52988579e-01] [-6.35328225e-04 1.65737988e-03 9.99998425e-01 -1.95392592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:0.25, Z:-0.20 [[ 9.99763910e-01 -2.17278170e-02 1.61347777e-04 1.98533244e+01] [ 2.17275382e-02 9.99762704e-01 1.56506335e-03 2.52271292e-01] [-1.95314900e-04 -1.56118817e-03 9.99998762e-01 -1.97569119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.095898227 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:19.89, Y:0.25, Z:-0.19 [[ 9.99837417e-01 -1.72871346e-02 5.12790126e-03 1.98943134e+01] [ 1.73804299e-02 9.99673235e-01 -1.87441800e-02 2.54408288e-01] [-4.80219248e-03 1.88302576e-02 9.99811162e-01 -1.93302404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:0.25, Z:-0.21 [[ 9.99812665e-01 -1.93225900e-02 -1.12786177e-03 1.99158200e+01] [ 1.93433644e-02 9.99550411e-01 2.29087238e-02 2.46147212e-01] [ 6.84698814e-04 -2.29262488e-02 9.99736925e-01 -2.13633118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.155898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:19.95, Y:0.26, Z:-0.19 [[ 9.99827722e-01 -1.85425702e-02 8.36173057e-04 1.99489785e+01] [ 1.85460894e-02 9.99818245e-01 -4.41813945e-03 2.58973861e-01] [-7.54097417e-04 4.43288604e-03 9.99989890e-01 -1.91502558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.185898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:19.98, Y:0.26, Z:-0.20 [[ 9.99782712e-01 -2.08363376e-02 6.13572713e-04 1.99804650e+01] [ 2.08371509e-02 9.99781971e-01 -1.35050181e-03 2.58125311e-01] [-5.85299424e-04 1.36299347e-03 9.99998900e-01 -1.95220869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.215898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:20.01, Y:0.26, Z:-0.20 [[ 9.99718245e-01 -2.37347792e-02 -3.01371022e-04 2.00134296e+01] [ 2.37345525e-02 9.99718026e-01 -7.34964647e-04 2.57366584e-01] [ 3.18730266e-04 7.27604660e-04 9.99999685e-01 -1.95522025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.245898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:20.04, Y:0.26, Z:-0.20 [[ 9.99618481e-01 -2.76202608e-02 1.20365682e-04 2.00444390e+01] [ 2.76202090e-02 9.99618404e-01 4.12762301e-04 2.56162668e-01] [-1.31720354e-04 -4.09280299e-04 9.99999908e-01 -1.97692135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:0.25, Z:-0.19 [[ 9.99626883e-01 -2.69871635e-02 4.21765994e-03 2.00846003e+01] [ 2.70488888e-02 9.99516465e-01 -1.53360322e-02 2.54871808e-01] [-3.80174455e-03 1.54443931e-02 9.99873501e-01 -1.92514978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.305898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:20.11, Y:0.25, Z:-0.21 [[ 9.99504502e-01 -3.14720872e-02 5.07379646e-04 2.01093045e+01] [ 3.14599045e-02 9.99376245e-01 1.60435179e-02 2.48824059e-01] [-1.01198616e-03 -1.60196063e-02 9.99871166e-01 -2.11704662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.335898227 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:20.14, Y:0.26, Z:-0.20 [[ 9.99504335e-01 -3.14156287e-02 -2.03517946e-03 2.01370513e+01] [ 3.14166272e-02 9.99506270e-01 4.60529115e-04 2.59412556e-01] [ 2.01970682e-03 -5.24239321e-04 9.99997823e-01 -1.99811296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:0.26, Z:-0.20 [[ 9.99524853e-01 -3.03191398e-02 -5.55139810e-03 2.01691186e+01] [ 3.03224490e-02 9.99540037e-01 5.12892540e-04 2.62615752e-01] [ 5.53329420e-03 -6.80980826e-04 9.99984459e-01 -1.98121699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:0.26, Z:-0.20 [[ 9.99569146e-01 -2.88874835e-02 -5.19949872e-03 2.02027962e+01] [ 2.88994689e-02 9.99579802e-01 2.24492021e-03 2.64727876e-01] [ 5.13246381e-03 -2.39421573e-03 9.99983963e-01 -1.99020669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.425898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:20.24, Y:0.27, Z:-0.19 [[ 9.99597403e-01 -2.81126253e-02 -3.83556859e-03 2.02357082e+01] [ 2.81093856e-02 9.99604452e-01 -8.95960974e-04 2.71330063e-01] [ 3.85923925e-03 7.87784787e-04 9.99992243e-01 -1.94445072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:20.27, Y:0.28, Z:-0.20 [[ 9.99546998e-01 -3.00422312e-02 -1.80666150e-03 2.02674574e+01] [ 3.00429622e-02 9.99548537e-01 3.78871907e-04 2.75188725e-01] [ 1.79446370e-03 -4.32977740e-04 9.99998296e-01 -1.95246188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.485898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:20.30, Y:0.28, Z:-0.19 [[ 9.99514954e-01 -3.11061906e-02 -1.50365804e-03 2.03017474e+01] [ 3.11010152e-02 9.99510630e-01 -3.35070811e-03 2.77365039e-01] [ 1.60714996e-03 3.30231757e-03 9.99993256e-01 -1.91765710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.515898227 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:20.33, Y:0.28, Z:-0.20 [[ 9.99317013e-01 -3.67722929e-02 -3.64761789e-03 2.03307760e+01] [ 3.67784947e-02 9.99322083e-01 1.64797234e-03 2.80590080e-01] [ 3.58454538e-03 -1.78100070e-03 9.99991990e-01 -1.97153172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:0.28, Z:-0.20 [[ 9.99213571e-01 -3.94019325e-02 -4.44148182e-03 2.03612684e+01] [ 3.94125316e-02 9.99220320e-01 2.32462297e-03 2.80535901e-01] [ 4.34642425e-03 -2.49784486e-03 9.99987435e-01 -1.98019395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:20.39, Y:0.29, Z:-0.20 [[ 9.99098852e-01 -4.23203519e-02 -3.23597569e-03 2.03937067e+01] [ 4.23071693e-02 9.99096486e-01 -4.03915679e-03 2.85172041e-01] [ 3.40399048e-03 3.89861194e-03 9.99986607e-01 -1.95163209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.605898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:20.43, Y:0.29, Z:-0.19 [[ 9.99004368e-01 -4.45610258e-02 -2.14210512e-03 2.04281229e+01] [ 4.45499244e-02 9.98994759e-01 -4.97743355e-03 2.87491733e-01] [ 2.36175133e-03 4.87704723e-03 9.99985318e-01 -1.94408307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.635898227 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:20.46, Y:0.29, Z:-0.20 [[ 9.98995850e-01 -4.48002416e-02 -4.80547897e-04 2.04599038e+01] [ 4.48018130e-02 9.98987829e-01 4.01437321e-03 2.86508520e-01] [ 3.00216610e-04 -4.03187159e-03 9.99991827e-01 -1.98628123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.665898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:20.49, Y:0.29, Z:-0.20 [[ 9.99055791e-01 -4.34404697e-02 -6.72693695e-04 2.04912071e+01] [ 4.34420325e-02 9.99052783e-01 2.51536371e-03 2.90475128e-01] [ 5.62787927e-04 -2.54221186e-03 9.99996610e-01 -1.96105379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.695898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:20.52, Y:0.29, Z:-0.19 [[ 9.99109408e-01 -4.21673371e-02 -1.51843053e-03 2.05226579e+01] [ 4.21681737e-02 9.99110390e-01 5.23231594e-04 2.94329803e-01] [ 1.49501644e-03 -5.86795051e-04 9.99998710e-01 -1.93388271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.725898227000002 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:20.56, Y:0.30, Z:-0.20 [[ 9.99116452e-01 -4.19729633e-02 -2.14124139e-03 2.05567428e+01] [ 4.19748188e-02 9.99118325e-01 8.29125375e-04 2.98268963e-01] [ 2.10455266e-03 -9.18271022e-04 9.99997364e-01 -1.95841557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:20.59, Y:0.30, Z:-0.19 [[ 9.99157207e-01 -4.09101908e-02 -3.35144037e-03 2.05885529e+01] [ 4.09049214e-02 9.99161720e-01 -1.62603263e-03 2.99040331e-01] [ 3.41515223e-03 1.48757182e-03 9.99993062e-01 -1.94950204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.785898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:20.62, Y:0.30, Z:-0.20 [[ 9.99053331e-01 -4.34616913e-02 -1.87718587e-03 2.06184198e+01] [ 4.34676328e-02 9.99049551e-01 3.24962680e-03 2.99967005e-01] [ 1.73416743e-03 -3.32814731e-03 9.99992958e-01 -1.97948812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.815898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:20.65, Y:0.30, Z:-0.19 [[ 9.98906547e-01 -4.67338760e-02 -1.28639863e-03 2.06516754e+01] [ 4.67307944e-02 9.98904803e-01 -2.32953089e-03 3.03438467e-01] [ 1.39385778e-03 2.26686923e-03 9.99996459e-01 -1.92793976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.845898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:20.68, Y:0.30, Z:-0.20 [[ 9.98756573e-01 -4.98526572e-02 -1.45494196e-04 2.06819423e+01] [ 4.98528669e-02 9.98751331e-01 3.23569074e-03 3.01166258e-01] [-1.59952593e-05 -3.23892070e-03 9.99994755e-01 -1.96060416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.875898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:20.72, Y:0.30, Z:-0.19 [[ 9.98555210e-01 -5.37247471e-02 -1.07003522e-03 2.07151862e+01] [ 5.37212517e-02 9.98551270e-01 -3.06408055e-03 3.02151107e-01] [ 1.23310198e-03 3.00216997e-03 9.99994733e-01 -1.93356589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.905898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:20.75, Y:0.29, Z:-0.22 [[ 9.97906324e-01 -6.46043313e-02 3.04128110e-03 2.07498790e+01] [ 6.45151592e-02 9.97638392e-01 2.35676419e-02 2.87921475e-01] [-4.55667053e-03 -2.33220902e-02 9.99717619e-01 -2.18833147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:20.78, Y:0.30, Z:-0.19 [[ 9.97748185e-01 -6.70541180e-02 1.51784890e-03 2.07764315e+01] [ 6.70677798e-02 9.97672072e-01 -1.23429792e-02 3.01576846e-01] [-6.86667877e-04 1.24169838e-02 9.99922671e-01 -1.87188213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.965898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:20.81, Y:0.29, Z:-0.20 [[ 9.97413948e-01 -7.18556914e-02 1.47512703e-03 2.08109507e+01] [ 7.18479230e-02 9.97404164e-01 4.77602010e-03 2.92928593e-01] [-1.81448207e-03 -4.65768425e-03 9.99987507e-01 -2.02748445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.995898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:20.84, Y:0.29, Z:-0.20 [[ 9.97250685e-01 -7.40990604e-02 6.32818964e-04 2.08440465e+01] [ 7.40990026e-02 9.97250884e-01 1.14248096e-04 2.93157449e-01] [-6.39544947e-04 -6.70427383e-05 9.99999793e-01 -1.98186375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.025898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:20.87, Y:0.29, Z:-0.19 [[ 9.97229355e-01 -7.43628786e-02 -1.94291212e-03 2.08719418e+01] [ 7.43331337e-02 9.97155749e-01 -1.24498022e-02 2.93067493e-01] [ 2.86318912e-03 1.22708855e-02 9.99920611e-01 -1.86173720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055898227 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:20.91, Y:0.28, Z:-0.22 [[ 9.97154580e-01 -7.53115519e-02 3.30351907e-03 2.09111022e+01] [ 7.52207363e-02 9.96921836e-01 2.21064104e-02 2.76910274e-01] [-4.95821836e-03 -2.17950152e-02 9.99750165e-01 -2.17740234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.085898227 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:20.94, Y:0.30, Z:-0.17 [[ 9.97408563e-01 -7.18273242e-02 -4.12237243e-03 2.09380961e+01] [ 7.16669555e-02 9.96951698e-01 -3.08408840e-02 2.97222653e-01] [ 6.32502436e-03 3.04655239e-02 9.99515806e-01 -1.68882902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:20.97, Y:0.28, Z:-0.20 [[ 9.97704559e-01 -6.76724964e-02 -2.45904114e-03 2.09674168e+01] [ 6.76837050e-02 9.97695266e-01 4.80334786e-03 2.80315834e-01] [ 2.12831916e-03 -4.95875907e-03 9.99985440e-01 -2.00065603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.145898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:21.00, Y:0.28, Z:-0.20 [[ 9.98220001e-01 -5.95748041e-02 -2.76976235e-03 2.09990781e+01] [ 5.95798926e-02 9.98221931e-01 1.79236937e-03 2.79552660e-01] [ 2.65805747e-03 -1.95420110e-03 9.99994558e-01 -1.97652698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.175898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:21.03, Y:0.28, Z:-0.20 [[ 9.98515256e-01 -5.44340873e-02 -2.05268289e-03 2.10325618e+01] [ 5.44343254e-02 9.98517351e-01 6.02335177e-05 2.78251978e-01] [ 2.04636072e-03 -1.71880494e-04 9.99997891e-01 -1.95637448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.205898227 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:21.07, Y:0.28, Z:-0.19 [[ 9.98601626e-01 -5.27599872e-02 -3.34302481e-03 2.10678601e+01] [ 5.27564052e-02 9.98606748e-01 -1.15083124e-03 2.80374547e-01] [ 3.39908497e-03 9.72855973e-04 9.99993750e-01 -1.94115912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:21.09, Y:0.27, Z:-0.21 [[ 9.98926828e-01 -4.62919758e-02 1.49823775e-03 2.10910446e+01] [ 4.62677122e-02 9.98838533e-01 1.34493041e-02 2.72483671e-01] [-2.11909246e-03 -1.33655507e-02 9.99908432e-01 -2.05484749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.265898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:21.12, Y:0.28, Z:-0.20 [[ 9.99159357e-01 -4.08266894e-02 3.70957238e-03 2.11179463e+01] [ 4.08118561e-02 9.99158882e-01 3.99006580e-03 2.76517636e-01] [-3.86935337e-03 -3.83531704e-03 9.99985159e-01 -1.96959888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:21.16, Y:0.28, Z:-0.19 [[ 9.99006554e-01 -4.45537736e-02 9.31195967e-04 2.11605513e+01] [ 4.45538710e-02 9.99006980e-01 -8.40812632e-05 2.79483457e-01] [-9.26525133e-04 1.25486118e-04 9.99999563e-01 -1.93103138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.18, Y:0.28, Z:-0.20 [[ 9.99190095e-01 -3.99811265e-02 4.54578210e-03 2.11831790e+01] [ 3.99816294e-02 9.99200415e-01 -1.97781254e-05 2.77351161e-01] [-4.54135661e-03 2.01509882e-04 9.99989668e-01 -1.95863274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.355898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:21.22, Y:0.28, Z:-0.19 [[ 9.99012196e-01 -4.44324602e-02 -6.23254340e-04 2.12221866e+01] [ 4.44208478e-02 9.98930782e-01 -1.28093806e-02 2.84421042e-01] [ 1.19174024e-03 1.27690419e-02 9.99917762e-01 -1.85466693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.385898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:21.25, Y:0.27, Z:-0.21 [[ 9.99100587e-01 -4.20848297e-02 5.18491784e-03 2.12452755e+01] [ 4.20144968e-02 9.99032430e-01 1.29994757e-02 2.72921936e-01] [-5.72698180e-03 -1.27699421e-02 9.99902060e-01 -2.09138401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.415898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.28, Y:0.29, Z:-0.19 [[ 9.98920479e-01 -4.64525315e-02 -1.98489236e-04 2.12845574e+01] [ 4.64471132e-02 9.98853493e-01 -1.15916365e-02 2.85271836e-01] [ 7.36722525e-04 1.15699038e-02 9.99932795e-01 -1.85963089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.445898227 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:21.31, Y:0.28, Z:-0.20 [[ 9.98912294e-01 -4.64657454e-02 3.89398827e-03 2.13091572e+01] [ 4.64256320e-02 9.98873418e-01 9.82627398e-03 2.76674710e-01] [-4.34618652e-03 -9.63480502e-03 9.99944139e-01 -2.04917108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.475898227000002 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:21.35, Y:0.28, Z:-0.19 [[ 9.98893167e-01 -4.64611215e-02 7.33526158e-03 2.13527475e+01] [ 4.66141892e-02 9.98664134e-01 -2.22949711e-02 2.82799691e-01] [-6.28961329e-03 2.26122216e-02 9.99724526e-01 -1.88984823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.505898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:21.39, Y:0.27, Z:-0.21 [[ 9.98729008e-01 -4.99071094e-02 7.04624433e-03 2.13856818e+01] [ 4.99081732e-02 9.98753810e-01 2.48896765e-05 2.73266078e-01] [-7.03870555e-03 3.26807140e-04 9.99975175e-01 -2.09548538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.535898227 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:21.41, Y:0.27, Z:-0.22 [[ 9.98612089e-01 -5.25559745e-02 3.43018297e-03 2.14056780e+01] [ 5.24619401e-02 9.98349752e-01 2.33563258e-02 2.70411136e-01] [-4.65203678e-03 -2.31439552e-02 9.99721319e-01 -2.19570052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.565898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:21.44, Y:0.28, Z:-0.20 [[ 9.98507783e-01 -5.45260955e-02 3.01877600e-03 2.14375337e+01] [ 5.45211889e-02 9.98511193e-01 1.68453122e-03 2.79538656e-01] [-3.10613254e-03 -1.51743028e-03 9.99994025e-01 -2.01198595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:21.47, Y:0.28, Z:-0.19 [[ 9.98389330e-01 -5.67337773e-02 1.57349552e-04 2.14740017e+01] [ 5.67325548e-02 9.98340371e-01 -9.89551676e-03 2.84196116e-01] [ 4.04321634e-04 9.88850519e-03 9.99951026e-01 -1.90927506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.51, Y:0.28, Z:-0.20 [[ 9.98303812e-01 -5.82193020e-02 -1.08321989e-04 2.15080867e+01] [ 5.82190922e-02 9.98302836e-01 -1.40883240e-03 2.77370871e-01] [ 1.90159387e-04 1.40013634e-03 9.99999002e-01 -1.98500909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.655898227 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:21.54, Y:0.28, Z:-0.20 [[ 9.98285535e-01 -5.85026731e-02 1.85122075e-03 2.15392451e+01] [ 5.85030927e-02 9.98287212e-01 -1.73298280e-04 2.76048220e-01] [-1.83791159e-03 2.81303306e-04 9.99998271e-01 -2.03047388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.685898227 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:21.56, Y:0.27, Z:-0.21 [[ 9.98465009e-01 -5.52827068e-02 3.38351933e-03 2.15624693e+01] [ 5.52310475e-02 9.98377930e-01 1.38217348e-02 2.67133072e-01] [-4.14213394e-03 -1.36136433e-02 9.99898751e-01 -2.13822871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.715898227 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:21.60, Y:0.27, Z:-0.20 [[ 9.98456312e-01 -5.54038922e-02 3.92444452e-03 2.15958650e+01] [ 5.54118077e-02 9.98461705e-01 -1.93771196e-03 2.72807850e-01] [-3.81105079e-03 2.15218130e-03 9.99990422e-01 -2.02152747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.745898227 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:21.63, Y:0.27, Z:-0.20 [[ 9.98542253e-01 -5.39163581e-02 2.52881383e-03 2.16288844e+01] [ 5.39200555e-02 9.98544250e-01 -1.41740595e-03 2.69468342e-01] [-2.44871114e-03 1.55169351e-03 9.99995798e-01 -2.02331058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.66, Y:0.27, Z:-0.20 [[ 9.98572709e-01 -5.33842489e-02 1.63329686e-03 2.16595232e+01] [ 5.33834498e-02 9.98573947e-01 5.28993108e-04 2.67649078e-01] [-1.65920759e-03 -4.41047060e-04 9.99998526e-01 -2.02255810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.805898227 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:21.70, Y:0.27, Z:-0.19 [[ 9.98560112e-01 -5.36291906e-02 -1.26992555e-03 2.16962944e+01] [ 5.36120116e-02 9.98501084e-01 -1.10153589e-02 2.67184426e-01] [ 1.85876682e-03 1.09314147e-02 9.99938523e-01 -1.93362966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.835898227 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:21.74, Y:0.26, Z:-0.20 [[ 9.98648455e-01 -5.17066984e-02 5.26128513e-03 2.17360988e+01] [ 5.17706099e-02 9.98576475e-01 -1.28384827e-02 2.58640433e-01] [-4.58996001e-03 1.30935109e-02 9.99903741e-01 -2.02420111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.865898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:21.76, Y:0.25, Z:-0.22 [[ 9.98664207e-01 -5.16534140e-02 1.31377805e-03 2.17562167e+01] [ 5.16125998e-02 9.98429384e-01 2.17923217e-02 2.47485293e-01] [-2.43736242e-03 -2.16954042e-02 9.99761656e-01 -2.21733048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:21.79, Y:0.26, Z:-0.20 [[ 9.98683911e-01 -5.12637949e-02 1.57125604e-03 2.17889884e+01] [ 5.12630469e-02 9.98685054e-01 5.12679857e-04 2.56731767e-01] [-1.59547184e-03 -4.31457753e-04 9.99998634e-01 -2.04038910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.925898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:21.82, Y:0.26, Z:-0.20 [[ 9.98692951e-01 -5.11115409e-02 2.98059882e-06 2.18217499e+01] [ 5.11114460e-02 9.98690982e-01 -1.98557765e-03 2.55231170e-01] [ 9.85092358e-05 1.98313474e-03 9.99998029e-01 -2.02103158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955898227 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:21.87, Y:0.25, Z:-0.20 [[ 9.98753693e-01 -4.98775456e-02 1.81425101e-03 2.18656954e+01] [ 4.99043501e-02 9.98542073e-01 -2.05738550e-02 2.53592490e-01] [-7.85432573e-04 2.06387526e-02 9.99786690e-01 -1.95169283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.985898227 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:21.88, Y:0.24, Z:-0.22 [[ 9.98715593e-01 -5.06671753e-02 -3.48201603e-05 2.18845413e+01] [ 5.06573219e-02 9.98507337e-01 2.04189479e-02 2.40715729e-01] [-9.99802228e-04 -2.03944856e-02 9.99791511e-01 -2.20562183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.015898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:21.91, Y:0.25, Z:-0.21 [[ 9.98744931e-01 -5.00579083e-02 1.66383374e-03 2.19142196e+01] [ 5.00551730e-02 9.98745096e-01 1.64691631e-03 2.46822403e-01] [-1.74418697e-03 -1.56156583e-03 9.99997260e-01 -2.06644868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.045898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:21.95, Y:0.25, Z:-0.21 [[ 9.98695618e-01 -5.09472339e-02 3.38245513e-03 2.19470079e+01] [ 5.09485139e-02 9.98701238e-01 -2.93298162e-04 2.45172166e-01] [-3.36311940e-03 4.65246652e-04 9.99994236e-01 -2.06025768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.075898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:21.98, Y:0.24, Z:-0.21 [[ 9.98605934e-01 -5.26113652e-02 4.26990220e-03 2.19796236e+01] [ 5.26137500e-02 9.98614837e-01 -4.48047720e-04 2.43942877e-01] [-4.24041528e-03 6.72078678e-04 9.99990784e-01 -2.05438906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.105898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:22.02, Y:0.24, Z:-0.20 [[ 9.98380737e-01 -5.67575335e-02 3.80619881e-03 2.20153934e+01] [ 5.67821092e-02 9.98364156e-01 -6.69353599e-03 2.44219449e-01] [-3.42006387e-03 6.89882139e-03 9.99970354e-01 -2.02606551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.135898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:22.04, Y:0.24, Z:-0.21 [[ 9.98395239e-01 -5.65762352e-02 2.46496111e-03 2.20429917e+01] [ 5.65582723e-02 9.98375922e-01 6.83227066e-03 2.37619995e-01] [-2.84750197e-03 -6.68189256e-03 9.99973622e-01 -2.14149145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.165898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.08, Y:0.24, Z:-0.20 [[ 9.98239859e-01 -5.93030346e-02 5.78006406e-04 2.20791418e+01] [ 5.93057411e-02 9.98209382e-01 -7.80115440e-03 2.43632608e-01] [-1.14339288e-04 7.82170237e-03 9.99969403e-01 -2.01395073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.195898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:22.12, Y:0.24, Z:-0.20 [[ 9.98183475e-01 -6.01866224e-02 2.70551421e-03 2.21214975e+01] [ 6.02199307e-02 9.98077758e-01 -1.46406607e-02 2.39489425e-01] [-1.81914164e-03 1.47769914e-02 9.99889159e-01 -2.03750205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.225898227000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:0.23, Z:-0.22 [[ 9.98000742e-01 -6.31991150e-02 6.24932549e-04 2.21438661e+01] [ 6.31821764e-02 9.97884617e-01 1.53069665e-02 2.30288454e-01] [-1.59099731e-03 -1.52368793e-02 9.99882646e-01 -2.20606846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:22.19, Y:0.24, Z:-0.20 [[ 9.98009560e-01 -6.28796578e-02 4.80284688e-03 2.21855038e+01] [ 6.29463380e-02 9.97899723e-01 -1.52938303e-02 2.36135986e-01] [-3.83108875e-03 1.55657105e-02 9.99871507e-01 -2.03230140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.285898227 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:22.21, Y:0.23, Z:-0.22 [[ 9.97942258e-01 -6.40983280e-02 1.62915128e-03 2.22056037e+01] [ 6.40714709e-02 9.97858560e-01 1.31583279e-02 2.26148349e-01] [-2.46908937e-03 -1.30268694e-02 9.99912098e-01 -2.23431606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.315898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.24, Y:0.23, Z:-0.21 [[ 9.97849951e-01 -6.55383605e-02 -4.44928482e-04 2.22404421e+01] [ 6.55334558e-02 9.97824272e-01 -7.21725374e-03 2.32603521e-01] [ 9.16967416e-04 7.17257859e-03 9.99973856e-01 -2.06508616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.345898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:22.27, Y:0.23, Z:-0.22 [[ 9.97612381e-01 -6.90561818e-02 -8.83287484e-04 2.22710189e+01] [ 6.90604241e-02 9.97592093e-01 6.37756125e-03 2.26248114e-01] [ 4.40750582e-04 -6.42333427e-03 9.99979273e-01 -2.15682749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.375898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:22.31, Y:0.23, Z:-0.21 [[ 9.97631130e-01 -6.87875809e-02 -6.30725371e-04 2.23128663e+01] [ 6.87728607e-02 9.97541253e-01 -1.34811924e-02 2.27045139e-01] [ 1.55651319e-03 1.34058804e-02 9.99908926e-01 -2.05184855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.405898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:22.33, Y:0.21, Z:-0.23 [[ 9.98015451e-01 -6.29621931e-02 -9.59593005e-04 2.23298778e+01] [ 6.29694292e-02 9.97874700e-01 1.67610796e-02 2.13705791e-01] [-9.77607471e-05 -1.67882414e-02 9.99859063e-01 -2.25914190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.435898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:22.37, Y:0.22, Z:-0.21 [[ 9.98181143e-01 -6.02128325e-02 -2.97011117e-03 2.23658381e+01] [ 6.02056908e-02 9.98183014e-01 -2.43811136e-03 2.21300948e-01] [ 3.11152011e-03 2.25485918e-03 9.99992617e-01 -2.07771308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.41, Y:0.22, Z:-0.20 [[ 9.98432190e-01 -5.59714595e-02 -5.97623134e-04 2.24060749e+01] [ 5.59599783e-02 9.98358033e-01 -1.22359729e-02 2.18759403e-01] [ 1.28150712e-03 1.21833463e-02 9.99924959e-01 -2.04254137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.495898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:22.44, Y:0.21, Z:-0.21 [[ 9.98514220e-01 -5.44725161e-02 -1.44843378e-03 2.24388857e+01] [ 5.44725838e-02 9.98515267e-01 7.30306087e-06 2.12528948e-01] [ 1.44588542e-03 -8.61921403e-05 9.99998951e-01 -2.13716073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.525898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:22.47, Y:0.21, Z:-0.21 [[ 9.98655309e-01 -5.18413652e-02 -2.17559054e-04 2.24709059e+01] [ 5.18413667e-02 9.98655332e-01 1.42741716e-06 2.10284004e-01] [ 2.17192510e-04 -1.27040564e-05 9.99999976e-01 -2.13246273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:22.50, Y:0.20, Z:-0.21 [[ 9.98742019e-01 -5.01338036e-02 9.90236788e-04 2.25043278e+01] [ 5.01338329e-02 9.98742509e-01 -4.70508734e-06 2.04554675e-01] [-9.88755690e-04 5.43435341e-05 9.99999510e-01 -2.14831757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.585898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:22.52, Y:0.20, Z:-0.22 [[ 9.98849123e-01 -4.79624397e-02 1.85660142e-04 2.25219733e+01] [ 4.79558388e-02 9.98762634e-01 1.31696294e-02 1.98180641e-01] [-8.17077970e-04 -1.31455693e-02 9.99913259e-01 -2.23390350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.615898227 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:22.57, Y:0.21, Z:-0.20 [[ 9.98625114e-01 -5.24156998e-02 -6.90102816e-04 2.25680510e+01] [ 5.24007576e-02 9.98526323e-01 -1.41188864e-02 2.05153628e-01] [ 1.42913714e-03 1.40633126e-02 9.99900085e-01 -2.04784532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.645898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:22.60, Y:0.20, Z:-0.22 [[ 9.98591581e-01 -5.30320859e-02 -1.56605664e-03 2.26014642e+01] [ 5.30321605e-02 9.98592805e-01 6.14009346e-06 1.95893947e-01] [ 1.56352727e-03 -8.91828128e-05 9.99998774e-01 -2.16657966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.675898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:22.64, Y:0.19, Z:-0.22 [[ 9.98591357e-01 -5.30362897e-02 -1.56641924e-03 2.26350131e+01] [ 5.30363650e-02 9.98592582e-01 6.54840830e-06 1.89426971e-01] [ 1.56386733e-03 -8.96163667e-05 9.99998773e-01 -2.16168982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.705898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:22.67, Y:0.19, Z:-0.22 [[ 9.98575312e-01 -5.33384299e-02 -1.53555241e-03 2.26685815e+01] [ 5.33385030e-02 9.98576489e-01 6.71161009e-06 1.85879473e-01] [ 1.53300855e-03 -8.86061150e-05 9.99998821e-01 -2.16437537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.69, Y:0.18, Z:-0.22 [[ 9.98670136e-01 -5.15400598e-02 -1.25792849e-03 2.26911230e+01] [ 5.15489320e-02 9.98634138e-01 8.51858897e-03 1.80094747e-01] [ 8.17161751e-04 -8.57210527e-03 9.99962925e-01 -2.19502698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.765898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.73, Y:0.18, Z:-0.21 [[ 9.98559180e-01 -5.35786826e-02 2.98135538e-03 2.27333435e+01] [ 5.36022814e-02 9.98526217e-01 -8.49642629e-03 1.79514915e-01] [-2.52173418e-03 8.64399192e-03 9.99959460e-01 -2.07828536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.795898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.77, Y:0.17, Z:-0.21 [[ 9.98589762e-01 -5.29340645e-02 4.05858101e-03 2.27650962e+01] [ 5.29345761e-02 9.98597982e-01 -1.86712050e-05 1.72403148e-01] [-4.05190246e-03 2.33484139e-04 9.99991764e-01 -2.14840748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.825898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.80, Y:0.17, Z:-0.21 [[ 9.98547105e-01 -5.37266284e-02 4.13855438e-03 2.27981892e+01] [ 5.37271702e-02 9.98555652e-01 -1.97625616e-05 1.69697936e-01] [-4.13151509e-03 2.42086664e-04 9.99991436e-01 -2.14712573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.83, Y:0.17, Z:-0.22 [[ 9.98472814e-01 -5.51168050e-02 3.76525259e-03 2.28308614e+01] [ 5.51172658e-02 9.98479888e-01 -1.86458018e-05 1.67192431e-01] [-3.75850129e-03 2.26147754e-04 9.99992911e-01 -2.15408086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:0.16, Z:-0.22 [[ 9.98246632e-01 -5.91492935e-02 2.24097807e-03 2.28629353e+01] [ 5.91494675e-02 9.98249137e-01 -1.14068966e-05 1.59952499e-01] [-2.23637972e-03 1.43939556e-04 9.99997489e-01 -2.16784490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:22.90, Y:0.16, Z:-0.22 [[ 9.98123364e-01 -6.12160415e-02 1.53157965e-03 2.28958861e+01] [ 6.12161255e-02 9.98124534e-01 -7.99312965e-06 1.55572311e-01] [-1.52821792e-03 1.01735501e-04 9.99998827e-01 -2.17057054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.945898227 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:22.93, Y:0.15, Z:-0.22 [[ 9.97993279e-01 -6.33187516e-02 3.88682039e-04 2.29295073e+01] [ 6.33187571e-02 9.97993354e-01 -1.92827616e-06 1.51470613e-01] [-3.87779995e-04 2.65352702e-05 9.99999924e-01 -2.17103280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.975898227000002 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:22.96, Y:0.15, Z:-0.22 [[ 9.97881656e-01 -6.50418679e-02 -1.32546413e-03 2.29612843e+01] [ 6.50419351e-02 9.97882531e-01 7.63620102e-06 1.48328700e-01] [ 1.32216083e-03 -9.38307771e-05 9.99999122e-01 -2.15973444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:0.14, Z:-0.22 [[ 9.97913783e-01 -6.43568231e-02 -5.12645850e-03 2.29879040e+01] [ 6.44103151e-02 9.97862206e-01 1.10602313e-02 1.41041661e-01] [ 4.40369784e-03 -1.13673540e-02 9.99925693e-01 -2.17923948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.035898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.03, Y:0.15, Z:-0.21 [[ 9.98155117e-01 -6.06688612e-02 -2.37723646e-03 2.30253225e+01] [ 6.06389841e-02 9.98098145e-01 -1.10908299e-02 1.45055461e-01] [ 3.04558332e-03 1.09262154e-02 9.99935669e-01 -2.07808270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:0.14, Z:-0.22 [[ 9.98345458e-01 -5.74777364e-02 -1.62977886e-03 2.30585092e+01] [ 5.74778292e-02 9.98346783e-01 1.01394153e-05 1.38517872e-01] [ 1.62650169e-03 -1.03798790e-04 9.99998672e-01 -2.16052050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095898227 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:23.09, Y:0.14, Z:-0.22 [[ 9.98855718e-01 -4.78191215e-02 -7.65298410e-04 2.30903919e+01] [ 4.78191393e-02 9.98856011e-01 5.02540241e-06 1.37478926e-01] [ 7.64182606e-04 -4.16155632e-05 9.99999707e-01 -2.15106186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.125898227 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:23.12, Y:0.14, Z:-0.22 [[ 9.99103525e-01 -4.23162695e-02 -1.21659959e-03 2.31240083e+01] [ 4.23163106e-02 9.99104264e-01 8.06341202e-06 1.37552109e-01] [ 1.21516862e-03 -5.95381895e-05 9.99999260e-01 -2.15045269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.155898227 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:23.16, Y:0.14, Z:-0.21 [[ 9.99323104e-01 -3.67389824e-02 -1.89256988e-03 2.31575456e+01] [ 3.67390724e-02 9.99324892e-01 1.27656477e-05 1.38207669e-01] [ 1.89082320e-03 -8.22882686e-05 9.99998209e-01 -2.14891808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.185898227 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:23.19, Y:0.14, Z:-0.22 [[ 9.99472260e-01 -3.23807291e-02 -2.58640280e-03 2.31898148e+01] [ 3.23808828e-02 9.99475602e-01 1.75645982e-05 1.39578911e-01] [ 2.58447774e-03 -1.01305335e-04 9.99996655e-01 -2.15279330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.215898227 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:23.22, Y:0.14, Z:-0.21 [[ 9.99626956e-01 -2.72972406e-02 -8.99680012e-04 2.32231331e+01] [ 2.72972573e-02 9.99627360e-01 6.20637461e-06 1.42745213e-01] [ 8.99175339e-04 -3.07628561e-05 9.99999595e-01 -2.13992366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.245898227 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:23.26, Y:0.14, Z:-0.21 [[ 9.99641241e-01 -2.67841192e-02 -1.59565377e-06 2.32567877e+01] [ 2.67841192e-02 9.99641241e-01 2.43570371e-07 1.44654425e-01] [ 1.58855750e-06 -2.86221168e-07 1.00000000e+00 -2.14019303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275898227 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:23.29, Y:0.15, Z:-0.21 [[ 9.99640956e-01 -2.67498857e-02 1.55038048e-03 2.32904220e+01] [ 2.67499347e-02 9.99642156e-01 -1.08714215e-05 1.45931841e-01] [-1.54953487e-03 5.23400947e-05 9.99998798e-01 -2.13557108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.305898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:23.32, Y:0.15, Z:-0.22 [[ 9.99584198e-01 -2.88332009e-02 2.77470539e-04 2.33186848e+01] [ 2.88276808e-02 9.99510105e-01 1.21866300e-02 1.45823718e-01] [-6.28714158e-04 -1.21735639e-02 9.99925702e-01 -2.16095491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.335898227 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:23.35, Y:0.15, Z:-0.20 [[ 9.99575339e-01 -2.91075002e-02 1.37693429e-03 2.33545816e+01] [ 2.91221696e-02 9.99501206e-01 -1.22162792e-02 1.53863354e-01] [-1.02066213e-03 1.22511908e-02 9.99924430e-01 -2.04794173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.365898227 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:23.39, Y:0.15, Z:-0.21 [[ 9.99566133e-01 -2.94371160e-02 1.00138115e-03 2.33873957e+01] [ 2.94371381e-02 9.99566634e-01 -7.32801644e-06 1.48505892e-01] [-1.00073147e-03 3.68026323e-05 9.99999499e-01 -2.14458955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395898227 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:23.42, Y:0.15, Z:-0.21 [[ 9.99576090e-01 -2.91029337e-02 8.12597229e-04 2.34192135e+01] [ 2.91029483e-02 9.99576419e-01 -6.05720075e-06 1.48342314e-01] [-8.12076746e-04 2.97036081e-05 9.99999670e-01 -2.13881915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.425898227 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:23.45, Y:0.15, Z:-0.21 [[ 9.99647089e-01 -2.65297262e-02 1.36791071e-03 2.34517271e+01] [ 2.65297655e-02 9.99648024e-01 -1.05863133e-05 1.47897434e-01] [-1.36714838e-03 4.68729276e-05 9.99999064e-01 -2.14041150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.48, Y:0.15, Z:-0.21 [[ 9.99711630e-01 -2.39407182e-02 1.87044063e-03 2.34847832e+01] [ 2.39407879e-02 9.99713378e-01 -1.48779720e-05 1.46777344e-01] [-1.86954833e-03 5.96535041e-05 9.99998251e-01 -2.12786949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.485898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:23.52, Y:0.15, Z:-0.21 [[ 9.99777897e-01 -2.09852518e-02 1.94301272e-03 2.35183352e+01] [ 2.09853220e-02 9.99779784e-01 -1.57403822e-05 1.46032944e-01] [-1.94225452e-03 5.65116338e-05 9.99998112e-01 -2.12701608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.515898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:23.55, Y:0.15, Z:-0.21 [[ 9.99916313e-01 -1.28655274e-02 1.35819841e-03 2.35502567e+01] [ 1.28655543e-02 9.99917235e-01 -1.10677089e-05 1.47020707e-01] [-1.35794360e-03 2.85407581e-05 9.99999078e-01 -2.11453674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.545898227 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:23.58, Y:0.15, Z:-0.21 [[ 9.99964671e-01 -8.39504981e-03 -4.24886590e-04 2.35836286e+01] [ 8.39505210e-03 9.99964761e-01 3.60836555e-06 1.48118366e-01] [ 4.24841325e-04 -7.17518313e-06 9.99999910e-01 -2.12312111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:23.62, Y:0.15, Z:-0.21 [[ 9.99990435e-01 -4.09680592e-03 -1.53138903e-03 2.36163165e+01] [ 4.09683035e-03 9.99991608e-01 1.28138079e-05 1.49471059e-01] [ 1.53132368e-03 -1.90875264e-05 9.99998827e-01 -2.11098358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.605898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.65, Y:0.15, Z:-0.21 [[ 9.99997658e-01 1.34192354e-04 -2.15993656e-03 2.36473536e+01] [-1.34153555e-04 9.99999991e-01 1.81079180e-05 1.51024786e-01] [ 2.15993898e-03 -1.78181124e-05 9.99997667e-01 -2.11349475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.635898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:23.68, Y:0.16, Z:-0.21 [[ 9.99985737e-01 5.33410719e-03 -2.69114745e-04 2.36755463e+01] [-5.33410679e-03 9.99985774e-01 2.19630565e-06 1.55989337e-01] [ 2.69122632e-04 -7.60787534e-07 9.99999964e-01 -2.09295172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.665898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:23.70, Y:0.16, Z:-0.21 [[ 9.99980796e-01 6.09848209e-03 1.10263472e-03 2.37042201e+01] [-6.09847566e-03 9.99981404e-01 -9.19235285e-06 1.57790259e-01] [-1.10267027e-03 2.46778534e-06 9.99999392e-01 -2.08945990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.695898227 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:23.73, Y:0.16, Z:-0.21 [[ 9.99981365e-01 5.98656843e-03 1.19651773e-03 2.37333105e+01] [-5.98656085e-03 9.99982080e-01 -9.91579963e-06 1.58438685e-01] [-1.19655565e-03 2.75258867e-06 9.99999284e-01 -2.11170343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.725898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:23.76, Y:0.16, Z:-0.21 [[ 9.99989989e-01 4.38678368e-03 8.81754026e-04 2.37606266e+01] [-4.38677895e-03 9.99990378e-01 -7.28762730e-06 1.58211966e-01] [-8.81777511e-04 3.41949434e-06 9.99999611e-01 -2.10588990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:23.79, Y:0.16, Z:-0.21 [[ 9.99996883e-01 2.45124147e-03 4.74456136e-04 2.37897275e+01] [-2.45123988e-03 9.99996996e-01 -3.91877507e-06 1.57614761e-01] [-4.74464317e-04 2.75575705e-06 9.99999887e-01 -2.10327050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.785898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:23.82, Y:0.16, Z:-0.21 [[ 9.99999878e-01 4.02190404e-04 2.85647594e-04 2.38182158e+01] [-4.02189747e-04 9.99999919e-01 -2.35828401e-06 1.56319658e-01] [-2.85648519e-04 2.24339919e-06 9.99999959e-01 -2.10431953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.815898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.85, Y:0.15, Z:-0.21 [[ 9.99998074e-01 -1.68831381e-03 1.00069298e-03 2.38475981e+01] [ 1.68832277e-03 9.99998575e-01 -8.11220441e-06 1.54579911e-01] [-1.00067786e-03 9.80168153e-06 9.99999499e-01 -2.10235432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.845898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.88, Y:0.15, Z:-0.21 [[ 9.99998129e-01 -1.65533997e-03 1.00069318e-03 2.38794582e+01] [ 1.65534889e-03 9.99998630e-01 -8.08759472e-06 1.54279827e-01] [-1.00067842e-03 9.74407594e-06 9.99999499e-01 -2.10277144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.875898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:23.91, Y:0.15, Z:-0.21 [[ 9.99988973e-01 -3.91138813e-03 2.59896208e-03 2.39118946e+01] [ 3.91145674e-03 9.99992350e-01 -2.13148863e-05 1.50880120e-01] [-2.59885883e-03 3.14803790e-05 9.99996622e-01 -2.08018314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.905898227 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:23.94, Y:0.15, Z:-0.21 [[ 9.99990290e-01 -3.57849508e-03 2.57191568e-03 2.39441801e+01] [ 3.57856182e-03 9.99993597e-01 -2.13471270e-05 1.48133069e-01] [-2.57182282e-03 3.05506789e-05 9.99996692e-01 -2.09520744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:23.98, Y:0.14, Z:-0.21 [[ 9.99995048e-01 -2.46559076e-03 1.95568901e-03 2.39755664e+01] [ 2.46562734e-03 9.99996960e-01 -1.62970436e-05 1.44481233e-01] [-1.95564288e-03 2.11189632e-05 9.99998088e-01 -2.09064267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.965898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:24.01, Y:0.14, Z:-0.21 [[ 9.99997984e-01 -6.77362213e-04 1.89051721e-03 2.40076473e+01] [ 6.77393332e-04 9.99999770e-01 -1.58204412e-05 1.40396081e-01] [-1.89050606e-03 1.71010331e-05 9.99998213e-01 -2.11936098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.995898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:24.04, Y:0.13, Z:-0.21 [[ 9.99990233e-01 3.79707999e-03 2.26168161e-03 2.40384878e+01] [-3.79704670e-03 9.99992791e-01 -1.90149439e-05 1.34898050e-01] [-2.26173750e-03 1.04270476e-05 9.99997442e-01 -2.10784641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.025898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:24.07, Y:0.13, Z:-0.21 [[ 9.99974080e-01 6.74733133e-03 2.51248806e-03 2.40669294e+01] [-6.74729994e-03 9.99977236e-01 -2.09707710e-05 1.32952237e-01] [-2.51257237e-03 4.01771689e-06 9.99996843e-01 -2.09495434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.09, Y:0.13, Z:-0.21 [[ 9.99943624e-01 1.03802403e-02 2.23608744e-03 2.40935444e+01] [-1.03802251e-02 9.99946124e-01 -1.84148870e-05 1.30680176e-01] [-2.23615811e-03 -4.79724204e-06 9.99997500e-01 -2.09728345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.085898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.12, Y:0.12, Z:-0.21 [[ 9.99871551e-01 1.58682433e-02 2.25404507e-03 2.41185263e+01] [-1.58966119e-02 9.99786757e-01 1.31809434e-02 1.21366998e-01] [-2.04440600e-03 -1.32150820e-02 9.99910587e-01 -2.12461363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.15, Y:0.13, Z:-0.20 [[ 9.99838915e-01 1.75615613e-02 3.70613601e-03 2.41496373e+01] [-1.75112771e-02 9.99759660e-01 -1.31900678e-02 1.28726645e-01] [-3.93688345e-03 1.31230439e-02 9.99906139e-01 -2.00179572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.145898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.18, Y:0.12, Z:-0.21 [[ 9.99836747e-01 1.74425954e-02 4.71539713e-03 2.41769211e+01] [-1.74426143e-02 9.99847865e-01 -3.71112921e-05 1.20817566e-01] [-4.71532708e-03 -4.51436201e-05 9.99988882e-01 -2.10072336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.175898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:24.20, Y:0.11, Z:-0.21 [[ 9.99889523e-01 1.43986549e-02 3.69059891e-03 2.42046050e+01] [-1.43986467e-02 9.99896334e-01 -2.87859805e-05 1.14599783e-01] [-3.69063080e-03 -2.43568297e-05 9.99993189e-01 -2.11460065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.205898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.23, Y:0.11, Z:-0.21 [[ 9.99926119e-01 1.19926365e-02 1.98323454e-03 2.42327723e+01] [-1.19926296e-02 9.99928086e-01 -1.53877286e-05 1.11069059e-01] [-1.98327646e-03 -8.39760540e-06 9.99998033e-01 -2.11097064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:24.26, Y:0.11, Z:-0.21 [[ 9.99961649e-01 8.71247515e-03 8.90247943e-04 2.42611449e+01] [-8.71247247e-03 9.99962046e-01 -6.89343759e-06 1.07292592e-01] [-8.90274213e-04 -8.63087477e-07 9.99999604e-01 -2.11924691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.265898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.29, Y:0.10, Z:-0.21 [[ 9.99988057e-01 4.79546757e-03 -9.43513321e-04 2.42876592e+01] [-4.78321937e-03 9.99909408e-01 1.25815881e-02 9.85678732e-02] [ 1.00376244e-03 -1.25769248e-02 9.99920404e-01 -2.14635609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:24.32, Y:0.10, Z:-0.20 [[ 9.99998595e-01 1.15206175e-03 -1.21787966e-03 2.43183925e+01] [-1.16702320e-03 9.99922976e-01 -1.23563476e-02 1.02929000e-01] [ 1.20355058e-03 1.23577515e-02 9.99922916e-01 -2.04393780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.325898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:24.35, Y:0.09, Z:-0.21 [[ 9.99986934e-01 -4.70182675e-03 -2.00596098e-03 2.43473111e+01] [ 4.70186682e-03 9.99988946e-01 1.52588880e-05 8.73645371e-02] [ 2.00586706e-03 -2.46904500e-05 9.99997988e-01 -2.14475545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.38, Y:0.08, Z:-0.22 [[ 9.99979715e-01 -5.86976781e-03 -2.47286510e-03 2.43781290e+01] [ 5.89814342e-03 9.99914995e-01 1.16281808e-02 7.84016926e-02] [ 2.40440018e-03 -1.16425303e-02 9.99929333e-01 -2.15485144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.385898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.41, Y:0.08, Z:-0.21 [[ 9.99983592e-01 -5.31838728e-03 -2.12827752e-03 2.44115992e+01] [ 5.29542083e-03 9.99929212e-01 -1.06550279e-02 7.97125480e-02] [ 2.18479442e-03 1.06435829e-02 9.99940969e-01 -2.06290414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:24.44, Y:0.07, Z:-0.21 [[ 9.99990155e-01 -3.74628621e-03 -2.37819090e-03 2.44437505e+01] [ 3.74634216e-03 9.99992982e-01 1.90752579e-05 7.14840686e-02] [ 2.37810275e-03 -2.79845870e-05 9.99997172e-01 -2.13916197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.445898227 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:24.48, Y:0.07, Z:-0.22 [[ 9.99995071e-01 -1.33272202e-03 -2.84270642e-03 2.44753153e+01] [ 1.33279220e-03 9.99999112e-01 2.27924892e-05 6.85654483e-02] [ 2.84267351e-03 -2.65811138e-05 9.99995959e-01 -2.15709322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.475898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.51, Y:0.07, Z:-0.22 [[ 9.99992634e-01 1.81405259e-03 -3.38256080e-03 2.45051313e+01] [-1.81397169e-03 9.99998354e-01 2.69836956e-05 6.54590825e-02] [ 3.38260418e-03 -2.08476273e-05 9.99994279e-01 -2.15330338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.505898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.53, Y:0.06, Z:-0.21 [[ 9.99965482e-01 7.67615483e-03 -3.17972374e-03 2.45327012e+01] [-7.67611623e-03 9.99970538e-01 2.43443117e-05 6.16603049e-02] [ 3.17981693e-03 6.44576929e-08 9.99994944e-01 -2.14630301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.535898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:24.56, Y:0.06, Z:-0.21 [[ 9.99946660e-01 1.02053771e-02 -1.59004562e-03 2.45600930e+01] [-1.02053708e-02 9.99947924e-01 1.20746573e-05 6.08474790e-02] [ 1.59008604e-03 4.15299190e-06 9.99998736e-01 -2.13189982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.565898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:24.59, Y:0.06, Z:-0.21 [[ 9.99924647e-01 1.22543291e-02 7.29606783e-04 2.45883649e+01] [-1.22543282e-02 9.99924913e-01 -5.74942654e-06 6.06353160e-02] [-7.29622454e-04 -3.19184766e-06 9.99999734e-01 -2.13285506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:24.62, Y:0.05, Z:-0.21 [[ 9.99901798e-01 1.39490397e-02 1.34884481e-03 2.46153961e+01] [-1.39662994e-02 9.99807673e-01 1.37680713e-02 5.46101475e-02] [-1.15653402e-03 -1.37855576e-02 9.99904306e-01 -2.14839782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.625898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:24.64, Y:0.06, Z:-0.20 [[ 9.99841547e-01 1.76027233e-02 2.65038068e-03 2.46447866e+01] [-1.75646970e-02 9.99751241e-01 -1.37454439e-02 6.42194958e-02] [-2.89167862e-03 1.36967128e-02 9.99902014e-01 -2.03952203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.655898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.67, Y:0.06, Z:-0.21 [[ 9.99811667e-01 1.93157524e-02 1.87963835e-03 2.46723903e+01] [-1.93157603e-02 9.99813433e-01 -1.39682257e-05 5.84823713e-02] [-1.87955748e-03 -2.23410487e-05 9.99998233e-01 -2.13111762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.685898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.70, Y:0.06, Z:-0.21 [[ 9.99761870e-01 2.17990404e-02 1.00232760e-03 2.47000495e+01] [-2.17990439e-02 9.99762373e-01 -7.45890873e-06 5.95853879e-02] [-1.00225202e-03 -1.43926508e-05 9.99999498e-01 -2.12353711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.715898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:24.73, Y:0.06, Z:-0.21 [[ 9.99711211e-01 2.40237983e-02 5.93759301e-04 2.47274073e+01] [-2.40237999e-02 9.99711387e-01 -4.46718237e-06 6.10457481e-02] [-5.93695253e-04 -9.79846230e-06 9.99999824e-01 -2.12650215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.745898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.76, Y:0.06, Z:-0.21 [[ 9.99629511e-01 2.70653137e-02 2.88247130e-03 2.47554813e+01] [-2.70653665e-02 9.99633666e-01 -2.06931929e-05 6.26808803e-02] [-2.88197542e-03 -5.73296158e-05 9.99995845e-01 -2.11199674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.78, Y:0.06, Z:-0.21 [[ 9.99605298e-01 2.76620130e-02 4.90516965e-03 2.47822766e+01] [-2.76621756e-02 9.99617328e-01 -3.47030193e-05 6.33617675e-02] [-4.90425254e-03 -1.00998342e-04 9.99987969e-01 -2.10778328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.805898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:24.81, Y:0.07, Z:-0.21 [[ 9.99593301e-01 2.78823850e-02 5.98368910e-03 2.48096246e+01] [-2.78826342e-02 9.99611203e-01 -4.17841451e-05 6.50912895e-02] [-5.98252770e-03 -1.25073863e-04 9.99982097e-01 -2.11041596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.835898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.84, Y:0.07, Z:-0.21 [[ 9.99600155e-01 2.76695757e-02 5.82446840e-03 2.48371058e+01] [-2.76698108e-02 9.99617117e-01 -4.02280724e-05 6.60914969e-02] [-5.82335140e-03 -1.20949951e-04 9.99983037e-01 -2.10387125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.865898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.86, Y:0.06, Z:-0.22 [[ 9.99684790e-01 2.48920627e-02 3.27212516e-03 2.48645654e+01] [-2.49185420e-02 9.99654885e-01 8.31733157e-03 6.46296702e-02] [-3.06396036e-03 -8.39624644e-03 9.99960057e-01 -2.15493557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.89, Y:0.07, Z:-0.21 [[ 9.99732291e-01 2.30623076e-02 1.86462185e-03 2.48924333e+01] [-2.30460529e-02 9.99699836e-01 -8.31366155e-03 7.11611012e-02] [-2.05579438e-03 8.26846374e-03 9.99963702e-01 -2.06668902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.925898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.92, Y:0.07, Z:-0.21 [[ 9.99773709e-01 2.11691568e-02 2.09719851e-03 2.49204990e+01] [-2.11691742e-02 9.99775908e-01 -1.39109407e-05 6.62291319e-02] [-2.09702303e-03 -3.04881678e-05 9.99997801e-01 -2.12400112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:24.95, Y:0.06, Z:-0.21 [[ 9.99808629e-01 1.93677430e-02 2.75617144e-03 2.49477654e+01] [-1.93677669e-02 9.99812427e-01 -1.80230426e-05 6.45584504e-02] [-2.75600352e-03 -3.53612924e-05 9.99996202e-01 -2.12294016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.985898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:24.98, Y:0.06, Z:-0.21 [[ 9.99863896e-01 1.61381083e-02 3.42801885e-03 2.49760183e+01] [-1.61381274e-02 9.99869772e-01 -2.20903744e-05 6.06490134e-02] [-3.42792892e-03 -3.32344371e-05 9.99994124e-01 -2.12306179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.015898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.00, Y:0.06, Z:-0.21 [[ 9.99885348e-01 1.48374018e-02 3.02365086e-03 2.50027198e+01] [-1.48374113e-02 9.99889919e-01 -1.92800703e-05 5.86156293e-02] [-3.02360408e-03 -2.55852916e-05 9.99995429e-01 -2.12348560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.045898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:25.03, Y:0.06, Z:-0.21 [[ 9.99897749e-01 1.41829848e-02 1.82605369e-03 2.50309273e+01] [-1.41829873e-02 9.99899416e-01 -1.15626775e-05 5.60313893e-02] [-1.82603401e-03 -1.43374012e-05 9.99998333e-01 -2.12262745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.06, Y:0.05, Z:-0.21 [[ 9.99873172e-01 1.59230565e-02 3.09471073e-04 2.50589894e+01] [-1.59230566e-02 9.99873220e-01 -2.08211463e-06 5.08706899e-02] [-3.09464992e-04 -2.84587484e-06 9.99999952e-01 -2.12965807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.105898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:25.09, Y:0.05, Z:-0.21 [[ 9.99823331e-01 1.87915085e-02 4.31606293e-04 2.50856581e+01] [-1.87915090e-02 9.99823424e-01 -2.82748199e-06 4.90022052e-02] [-4.31583214e-04 -5.28355107e-06 9.99999907e-01 -2.12829218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.135898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:25.11, Y:0.05, Z:-0.21 [[ 9.99745125e-01 2.25599373e-02 8.57330947e-04 2.51138250e+01] [-2.25599411e-02 9.99745492e-01 -5.32954842e-06 4.86157908e-02] [-8.57232984e-04 -1.40131456e-05 9.99999632e-01 -2.13690893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:0.05, Z:-0.21 [[ 9.99488193e-01 3.19865674e-02 4.59634305e-04 2.51410785e+01] [-3.19865694e-02 9.99488299e-01 -2.92792083e-06 4.87115722e-02] [-4.59492764e-04 -1.17757023e-05 9.99999894e-01 -2.11847969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.195898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.17, Y:0.05, Z:-0.21 [[ 9.99372806e-01 3.54101938e-02 -3.36007164e-04 2.51691247e+01] [-3.54101953e-02 9.99372862e-01 1.46432968e-06 4.84992594e-02] [ 3.35848293e-04 1.04346680e-05 9.99999944e-01 -2.13327713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:0.05, Z:-0.21 [[ 9.99294466e-01 3.75480549e-02 -8.45029701e-04 2.51963099e+01] [-3.75480644e-02 9.99294823e-01 4.57598694e-06 4.89485851e-02] [ 8.44605625e-04 2.71564712e-05 9.99999643e-01 -2.13993382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.22, Y:0.05, Z:-0.21 [[ 9.99255128e-01 3.85877808e-02 -4.15131609e-04 2.52227630e+01] [-3.85877832e-02 9.99255214e-01 2.11242464e-06 4.98082613e-02] [ 4.14903938e-04 1.39081574e-05 9.99999914e-01 -2.14017753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.285898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.25, Y:0.05, Z:-0.22 [[ 9.99335605e-01 3.64442247e-02 4.08038859e-04 2.52482303e+01] [-3.64463514e-02 9.99235749e-01 1.41273073e-02 4.82457999e-02] [ 1.07131746e-04 -1.41327927e-02 9.99900121e-01 -2.16070567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.28, Y:0.05, Z:-0.21 [[ 9.99399859e-01 3.46309006e-02 7.89336011e-04 2.52771301e+01] [-3.46302909e-02 9.99399892e-01 -7.73425480e-04 5.48130198e-02] [-8.15646745e-04 7.45626380e-04 9.99999389e-01 -2.05806460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.345898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:25.31, Y:0.06, Z:-0.20 [[ 9.99459964e-01 3.28279837e-02 1.45047566e-03 2.53059354e+01] [-3.28061729e-02 9.99375617e-01 -1.31198752e-02 5.78099348e-02] [-1.88026906e-03 1.30652055e-02 9.99912879e-01 -2.04226483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:0.05, Z:-0.22 [[ 9.99605013e-01 2.81030162e-02 -1.93654661e-04 2.53330703e+01] [-2.81030166e-02 9.99605032e-01 7.75337741e-07 4.85447303e-02] [ 1.93599963e-04 4.66724867e-06 9.99999981e-01 -2.15166018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.405898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.36, Y:0.05, Z:-0.22 [[ 9.99675244e-01 2.54809326e-02 -3.59812393e-04 2.53607055e+01] [-2.54809336e-02 9.99675308e-01 1.61742271e-06 4.67047864e-02] [ 3.59736778e-04 7.55145826e-06 9.99999935e-01 -2.15275019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.39, Y:0.04, Z:-0.22 [[ 9.99748565e-01 2.24066710e-02 -8.64411169e-04 2.53874426e+01] [-2.23957363e-02 9.99687860e-01 1.10731448e-02 4.13920344e-02] [ 1.11225366e-03 -1.10510015e-02 9.99938317e-01 -2.15998162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:0.04, Z:-0.21 [[ 9.99821132e-01 1.84014466e-02 4.36919770e-03 2.54165387e+01] [-1.83520769e-02 9.99770160e-01 -1.10827932e-02 4.30152451e-02] [-4.57213291e-03 1.10006270e-02 9.99929038e-01 -2.05917060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.495898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.44, Y:0.03, Z:-0.21 [[ 9.99858283e-01 1.60153755e-02 5.18851762e-03 2.54432839e+01] [-1.60154657e-02 9.99871744e-01 -2.41774909e-05 3.38069687e-02] [-5.18823937e-03 -5.89224614e-05 9.99986539e-01 -2.14305716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.525898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:25.47, Y:0.03, Z:-0.22 [[ 9.99889262e-01 1.39956623e-02 5.05820884e-03 2.54711580e+01] [-1.39957239e-02 9.99902055e-01 -2.32169488e-05 2.85999443e-02] [-5.05803835e-03 -4.75789167e-05 9.99987207e-01 -2.17073964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:0.02, Z:-0.21 [[ 9.99904230e-01 1.32685479e-02 3.93395129e-03 2.54990566e+01] [-1.32685803e-02 9.99911968e-01 -1.78626172e-05 2.25596454e-02] [-3.93384199e-03 -3.43370420e-05 9.99992262e-01 -2.14625275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.585898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:25.53, Y:0.01, Z:-0.21 [[ 9.99859830e-01 1.64456270e-02 3.14031798e-03 2.55264103e+01] [-1.64725034e-02 9.99826176e-01 8.73352747e-03 1.10772202e-02] [-2.99614378e-03 -8.78403219e-03 9.99956931e-01 -2.14603735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:0.01, Z:-0.21 [[ 9.99773531e-01 2.10551322e-02 3.09310784e-03 2.55561759e+01] [-2.10282606e-02 9.99742940e-01 -8.47736368e-03 1.42007663e-02] [-3.27080474e-03 8.41040114e-03 9.99959283e-01 -2.06991725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.645898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.58, Y:0.01, Z:-0.21 [[ 9.99662106e-01 2.57987620e-02 3.17780342e-03 2.55844019e+01] [-2.57988484e-02 9.99667154e-01 -1.37848904e-05 8.34959501e-03] [-3.17710133e-03 -6.82034361e-05 9.99994951e-01 -2.12826157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:0.01, Z:-0.21 [[ 9.99332860e-01 3.64509228e-02 2.27249934e-03 2.56113052e+01] [-3.64509953e-02 9.99335442e-01 -9.54967596e-06 7.01439786e-03] [-2.27133723e-03 -7.32915579e-05 9.99997418e-01 -2.12886209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:0.01, Z:-0.21 [[ 9.99339095e-01 3.62795896e-02 2.27249996e-03 2.56396828e+01] [-3.62796619e-02 9.99341676e-01 -9.40023632e-06 7.06502178e-03] [-2.27134496e-03 -7.30515067e-05 9.99997418e-01 -2.12963266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.67, Y:0.01, Z:-0.21 [[ 9.99155265e-01 4.10630508e-02 1.60692379e-03 2.56671750e+01] [-4.10630933e-02 9.99156555e-01 -6.52900073e-06 7.61893785e-03] [-1.60583654e-03 -5.94617761e-05 9.99998709e-01 -2.13239279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.69, Y:0.01, Z:-0.21 [[ 9.98980436e-01 4.51437215e-02 3.63256241e-04 2.56943355e+01] [-4.51437238e-02 9.98980502e-01 -1.66446010e-06 8.15569537e-03] [-3.62961042e-04 -1.47359764e-05 9.99999934e-01 -2.13733849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:0.01, Z:-0.21 [[ 9.98871543e-01 4.74934059e-02 -1.30545244e-04 2.57219543e+01] [-4.74934063e-02 9.98871551e-01 -7.10013175e-08 9.05160534e-03] [ 1.30394559e-04 6.27095954e-06 9.99999991e-01 -2.14560052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.825898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:25.75, Y:0.01, Z:-0.22 [[ 9.98860384e-01 4.77084659e-02 -1.35502225e-03 2.57495365e+01] [-4.77085045e-02 9.98861301e-01 3.84223468e-06 1.24213565e-02] [ 1.35366260e-03 6.08082294e-05 9.99999082e-01 -2.18779762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:0.01, Z:-0.22 [[ 9.98918250e-01 4.64682124e-02 -1.74239178e-03 2.57762277e+01] [-4.64682741e-02 9.98919766e-01 5.02922536e-06 1.32334023e-02] [ 1.74074329e-03 7.59421541e-05 9.99998482e-01 -2.15422573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:0.01, Z:-0.22 [[ 9.99025324e-01 4.41249707e-02 -1.17845303e-03 2.58035758e+01] [-4.41249974e-02 9.99026018e-01 3.32645961e-06 1.41697368e-02] [ 1.17745201e-03 4.86760193e-05 9.99999306e-01 -2.15224438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:0.01, Z:-0.21 [[ 9.99149441e-01 4.12345402e-02 -3.26950937e-04 2.58313770e+01] [-4.12345423e-02 9.99149495e-01 3.91431532e-07 1.41996168e-02] [ 3.26689004e-04 1.30905736e-05 9.99999947e-01 -2.14380862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:0.01, Z:-0.21 [[ 9.99431474e-01 3.36242541e-02 2.47748589e-03 2.58594673e+01] [-3.36243399e-02 9.99434542e-01 -7.02123784e-06 1.32703067e-02] [-2.47632106e-03 -7.62865816e-05 9.99996931e-01 -2.12009766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:0.01, Z:-0.21 [[ 9.99566618e-01 2.93772259e-02 1.88547644e-03 2.58851614e+01] [-2.93909956e-02 9.99537977e-01 7.74610772e-03 9.75114857e-03] [-1.65704615e-03 -7.79816673e-03 9.99968221e-01 -2.13383332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.005898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.91, Y:0.01, Z:-0.21 [[ 9.99667142e-01 2.57799163e-02 1.00099624e-03 2.59147620e+01] [-2.57715598e-02 9.99638842e-01 -7.61654122e-03 1.34452363e-02] [-1.19698851e-03 7.58820876e-03 9.99970493e-01 -2.10909389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:0.01, Z:-0.22 [[ 9.99748317e-01 2.23861442e-02 -1.47104315e-03 2.59415102e+01] [-2.23861638e-02 9.99749398e-01 3.18526197e-06 6.55000991e-03] [ 1.47074581e-03 2.97465526e-05 9.99998918e-01 -2.17465867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:0.00, Z:-0.22 [[ 9.99854547e-01 1.69189868e-02 -2.15219058e-03 2.59698712e+01] [-1.69190160e-02 9.99856863e-01 4.65807949e-06 3.57802025e-04] [ 2.15196133e-03 3.17555448e-05 9.99997684e-01 -2.18894025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.00, Z:-0.22 [[ 9.99879799e-01 1.54581361e-02 1.19691054e-03 2.59965239e+01] [-1.54581437e-02 9.99880516e-01 -2.83063977e-06 -2.41106264e-03] [-1.19681128e-03 -1.56717156e-05 9.99999284e-01 -2.17066458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.01, Z:-0.21 [[ 9.99867001e-01 1.56602618e-02 4.55382705e-03 2.60241623e+01] [-1.56603797e-02 9.99877369e-01 -9.77777257e-06 -5.16772865e-03] [-4.55342173e-03 -6.15381885e-05 9.99989631e-01 -2.12920982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.01, Z:-0.21 [[ 9.99802129e-01 1.93510372e-02 4.60878545e-03 2.60518178e+01] [-1.93511987e-02 9.99812748e-01 -9.56356378e-06 -9.84044487e-03] [-4.60810751e-03 -7.96238513e-05 9.99989379e-01 -2.08432907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.01, Z:-0.21 [[ 9.99742835e-01 2.26766581e-02 -1.79746904e-04 2.60799844e+01] [-2.26766585e-02 9.99742852e-01 1.51171033e-07 -1.19322032e-02] [ 1.79704110e-04 3.92492699e-06 9.99999984e-01 -2.09638471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.01, Z:-0.21 [[ 9.99624132e-01 2.69079978e-02 -5.24922545e-03 2.61082687e+01] [-2.69083176e-02 9.99637906e-01 9.70684273e-06 -1.39305397e-02] [ 5.24758593e-03 1.31544632e-04 9.99986223e-01 -2.13339517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.02, Z:-0.22 [[ 9.99430744e-01 3.34231462e-02 -4.59142703e-03 2.61365545e+01] [-3.34234653e-02 9.99441280e-01 7.24179457e-06 -1.72714567e-02] [ 4.58910375e-03 1.46223730e-04 9.99989459e-01 -2.20183488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:-0.02, Z:-0.22 [[ 9.99411749e-01 3.42765786e-02 1.12758820e-03 2.61646396e+01] [-3.42765978e-02 9.99412385e-01 -2.23385007e-06 -1.89718807e-02] [-1.12700218e-03 -3.64173512e-05 9.99999364e-01 -2.19606084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.02, Z:-0.22 [[ 9.99372794e-01 3.46705247e-02 7.20927151e-03 2.61916328e+01] [-3.46713504e-02 9.99398768e-01 -1.04621449e-05 -2.09838462e-02] [-7.20529979e-03 -2.39499595e-04 9.99974013e-01 -2.15729110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.02, Z:-0.21 [[ 9.99308526e-01 3.54812010e-02 1.11154523e-02 2.62198100e+01] [-3.54832245e-02 9.99370272e-01 -1.51782798e-05 -2.48209319e-02] [-1.11089911e-02 -3.79244304e-04 9.99938221e-01 -2.07886554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.03, Z:-0.21 [[ 9.99360329e-01 3.55119133e-02 4.22347171e-03 2.62461815e+01] [-3.55475648e-02 9.99330211e-01 8.68910675e-03 -2.92177851e-02] [-3.91207607e-03 -8.83368271e-03 9.99953330e-01 -2.09097648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.02, Z:-0.21 [[ 9.99332756e-01 3.63476331e-02 -3.59064316e-03 2.62751427e+01] [-3.63775216e-02 9.99300747e-01 -8.64246078e-03 -2.48014148e-02] [ 3.27399940e-03 8.76731285e-03 9.99956207e-01 -2.06186971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.425898227 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.03, Z:-0.22 [[ 9.99294477e-01 3.64892864e-02 -8.89270849e-03 2.63033586e+01] [-3.64906598e-02 9.99333994e-01 7.81853192e-06 -2.87015957e-02] [ 8.88707118e-03 3.16687784e-04 9.99960459e-01 -2.19971534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.03, Z:-0.22 [[ 9.99249831e-01 3.87066646e-02 -1.25240753e-03 2.63307650e+01] [-3.87066942e-02 9.99250615e-01 6.53520319e-07 -2.89554895e-02] [ 1.25149429e-03 4.78235251e-05 9.99999216e-01 -2.16386640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.03, Z:-0.22 [[ 9.99190551e-01 3.98206750e-02 5.70580825e-03 2.63591172e+01] [-3.98213001e-02 9.99206817e-01 -4.06397517e-06 -3.01438748e-02] [-5.70144433e-03 -2.23152017e-04 9.99983722e-01 -2.15075284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.515898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.03, Z:-0.22 [[ 9.99124253e-01 4.07922153e-02 9.31245977e-03 2.63866473e+01] [-4.07939424e-02 9.99167581e-01 -4.49186385e-06 -3.24646644e-02] [-9.30489113e-03 -3.75404017e-04 9.99956638e-01 -2.17508326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.545898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.04, Z:-0.22 [[ 9.99098162e-01 4.15300590e-02 8.83834069e-03 2.64131819e+01] [-4.15316551e-02 9.99137189e-01 -2.94573570e-06 -3.59902235e-02] [-8.83083721e-03 -3.64127838e-04 9.99960941e-01 -2.16488532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.04, Z:-0.22 [[ 9.99091222e-01 4.26157269e-02 7.93648122e-04 2.64408202e+01] [-4.26157398e-02 9.99091537e-01 -6.21788023e-07 -3.94647560e-02] [-7.92953620e-04 -3.32006789e-05 9.99999685e-01 -2.16880284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.04, Z:-0.22 [[ 9.99079001e-01 4.27448145e-02 -3.74571074e-03 2.64681220e+01] [-4.27451151e-02 9.99086010e-01 -1.96191818e-07 -3.91787353e-02] [ 3.74227881e-03 1.60306848e-04 9.99992985e-01 -2.17840809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.04, Z:-0.22 [[ 9.99099882e-01 4.20152501e-02 -5.84334646e-03 2.64947462e+01] [-4.20159737e-02 9.99116939e-01 -1.07950526e-06 -3.80573457e-02] [ 5.83814108e-03 2.46592425e-04 9.99982928e-01 -2.17913685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.04, Z:-0.21 [[ 9.99223860e-01 3.93857698e-02 6.62400041e-04 2.65223094e+01] [-3.93857782e-02 9.99224079e-01 -3.30583155e-07 -3.54253547e-02] [-6.61899092e-04 -2.57588146e-05 9.99999781e-01 -2.14037305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.04, Z:-0.21 [[ 9.99264849e-01 3.79480247e-02 5.45057645e-03 2.65488209e+01] [-3.79485990e-02 9.99279692e-01 1.93308615e-06 -3.54302996e-02] [-5.44657701e-03 -2.08773405e-04 9.99985145e-01 -2.13014334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.04, Z:-0.21 [[ 9.99345091e-01 3.56267673e-02 6.33428613e-03 2.65764060e+01] [-3.56274995e-02 9.99365139e-01 2.76490495e-06 -3.77979829e-02] [-6.33016624e-03 -2.28437870e-04 9.99979938e-01 -2.14620166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:-0.05, Z:-0.22 [[ 9.99555515e-01 2.97686116e-02 1.61284168e-03 2.66046589e+01] [-2.97686514e-02 9.99556815e-01 6.67033778e-07 -4.50282120e-02] [-1.61210704e-03 -4.86788591e-05 9.99998699e-01 -2.19602692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.785898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.05, Z:-0.22 [[ 9.99638977e-01 2.67970494e-02 1.95823048e-03 2.66317383e+01] [-2.67971027e-02 9.99640893e-01 9.87204947e-07 -4.64764216e-02] [-1.95750081e-03 -5.34617518e-05 9.99998083e-01 -2.18914017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.815898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.05, Z:-0.22 [[ 9.99696950e-01 2.44845061e-02 2.55291417e-03 2.66598806e+01] [-2.44845900e-02 9.99700207e-01 1.57950762e-06 -4.70442479e-02] [-2.55211015e-03 -6.40860855e-05 9.99996741e-01 -2.16167439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.05, Z:-0.21 [[ 9.99732205e-01 2.30974447e-02 1.42321578e-03 2.66864160e+01] [-2.30974694e-02 9.99733218e-01 8.78247224e-07 -4.84170575e-02] [-1.42281580e-03 -3.37506948e-05 9.99998987e-01 -2.14785639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:-0.05, Z:-0.22 [[ 9.99688339e-01 2.44383479e-02 -5.09822295e-03 2.67138824e+01] [-2.44386886e-02 9.99701331e-01 -4.54180637e-06 -5.45202358e-02] [ 5.09658927e-03 1.29134274e-04 9.99987004e-01 -2.19227273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.06, Z:-0.22 [[ 9.99643853e-01 2.60108791e-02 -5.96665043e-03 2.67405375e+01] [-2.60113768e-02 9.99661647e-01 -5.81359172e-06 -5.64479459e-02] [ 5.96448037e-03 1.61012313e-04 9.99982199e-01 -2.20238502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:-0.06, Z:-0.22 [[ 9.99612212e-01 2.76634464e-02 -3.18731129e-03 2.67671809e+01] [-2.76635980e-02 9.99617289e-01 -3.47867324e-06 -5.72575451e-02] [ 3.18599524e-03 9.16498223e-05 9.99994921e-01 -2.19969819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.06, Z:-0.22 [[ 9.99551032e-01 2.99082797e-02 1.79721604e-03 2.67942107e+01] [-2.99083311e-02 9.99552646e-01 1.74773603e-06 -5.84131374e-02] [-1.79635977e-03 -5.54986837e-05 9.99998385e-01 -2.18281433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.07, Z:-0.22 [[ 9.99300206e-01 3.61163990e-02 9.73162396e-03 2.68220172e+01] [-3.61182183e-02 9.99347524e-01 1.12070614e-05 -6.51651480e-02] [-9.72486956e-03 -3.62688138e-04 9.99952647e-01 -2.15211633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.85, Y:-0.07, Z:-0.22 [[ 9.99257537e-01 3.78729507e-02 7.07202590e-03 2.68503938e+01] [-3.78739586e-02 9.99282524e-01 8.60043843e-06 -6.93265131e-02] [-7.06662616e-03 -2.76439669e-04 9.99974993e-01 -2.15179970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.07, Z:-0.21 [[ 9.99237525e-01 3.88424931e-02 -3.95351786e-03 2.68771696e+01] [-3.88428181e-02 9.99245333e-01 -5.41303816e-06 -6.98460818e-02] [ 3.95032402e-03 1.58974686e-04 9.99992185e-01 -2.14434185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.07, Z:-0.22 [[ 9.99165053e-01 3.99700915e-02 -8.46101785e-03 2.69025650e+01] [-3.98657933e-02 9.99131095e-01 1.21561943e-02 -7.27172073e-02] [ 8.93955023e-03 -1.18087393e-02 9.99890313e-01 -2.16267150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.06, Z:-0.21 [[ 9.99109336e-01 4.18393339e-02 -5.47758113e-03 2.69326907e+01] [-4.19034327e-02 9.99047629e-01 -1.21629329e-02 -6.43973641e-02] [ 4.96347543e-03 1.23816293e-02 9.99911026e-01 -2.11901294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.07, Z:-0.22 [[ 9.99106092e-01 4.22512622e-02 -1.35968310e-03 2.69609818e+01] [-4.22513052e-02 9.99107015e-01 -2.92739741e-06 -7.23424382e-02] [ 1.35834524e-03 6.03731664e-05 9.99999076e-01 -2.20183443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.07, Z:-0.22 [[ 9.99150593e-01 4.11274803e-02 2.57367729e-03 2.69876326e+01] [-4.11276280e-02 9.99153901e-01 4.48418635e-06 -7.47881935e-02] [-2.57131528e-03 -1.10329620e-04 9.99996688e-01 -2.19020569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.02, Y:-0.08, Z:-0.22 [[ 9.99322874e-01 3.67741141e-02 1.20774035e-03 2.70156925e+01] [-3.67741436e-02 9.99323602e-01 2.16482021e-06 -7.60138466e-02] [-1.20684383e-03 -4.65769715e-05 9.99999271e-01 -2.16436171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.08, Z:-0.22 [[ 9.99394285e-01 3.47241883e-02 -2.30092653e-03 2.70437470e+01] [-3.47242914e-02 9.99396930e-01 -4.86605798e-06 -7.61667420e-02] [ 2.29936994e-03 8.47611540e-05 9.99997353e-01 -2.16947314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.08, Z:-0.22 [[ 9.99428622e-01 3.36319568e-02 -3.36467032e-03 2.70703724e+01] [-3.36321719e-02 9.99434278e-01 -7.33601637e-06 -7.70489634e-02] [ 3.36252013e-03 1.20492995e-04 9.99994339e-01 -2.17740793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:-0.08, Z:-0.22 [[ 9.99432601e-01 3.36724085e-02 -8.02772646e-04 2.70983154e+01] [-3.36724209e-02 9.99432923e-01 -1.94821260e-06 -7.84271262e-02] [ 8.02251811e-04 2.89784056e-05 9.99999678e-01 -2.16352069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.08, Z:-0.21 [[ 9.99379490e-01 3.51415034e-02 2.38948322e-03 2.71255337e+01] [-3.51416161e-02 9.99382343e-01 5.18123573e-06 -7.96436789e-02] [-2.38782526e-03 -8.91483226e-05 9.99997145e-01 -2.14807780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.08, Z:-0.22 [[ 9.99137772e-01 4.14848664e-02 1.64857627e-03 2.71534415e+01] [-4.14849288e-02 9.99139130e-01 3.64933900e-06 -8.13954835e-02] [-1.64700567e-03 -7.20372615e-05 9.99998641e-01 -2.16612711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.08, Z:-0.22 [[ 9.99018937e-01 4.42660440e-02 -1.29664052e-03 2.71817423e+01] [-4.42660862e-02 9.99019776e-01 -3.82770842e-06 -8.17712632e-02] [ 1.29520009e-03 6.12211542e-05 9.99999159e-01 -2.19294295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:-0.08, Z:-0.22 [[ 9.98931320e-01 4.61780363e-02 -1.95120180e-03 2.72081915e+01] [-4.61781346e-02 9.98933221e-01 -5.34346878e-06 -8.24448978e-02] [ 1.94887355e-03 9.54406177e-05 9.99998096e-01 -2.20808161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.08, Z:-0.22 [[ 9.98922558e-01 4.64080036e-02 1.42509036e-04 2.72360583e+01] [-4.64080040e-02 9.98922568e-01 -1.18353697e-07 -8.18134155e-02] [-1.42360985e-04 -6.49533374e-06 9.99999990e-01 -2.19747000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.08, Z:-0.22 [[ 9.98984203e-01 4.49287264e-02 3.45991047e-03 2.72641669e+01] [-4.49290292e-02 9.98990181e-01 9.82487814e-06 -8.31412744e-02] [-3.45597517e-03 -1.65265317e-04 9.99994014e-01 -2.16691229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.09, Z:-0.22 [[ 9.99078972e-01 4.28738482e-02 1.74372817e-03 2.72920460e+01] [-4.28739223e-02 9.99080491e-01 5.14651752e-06 -8.59936405e-02] [-1.74190415e-03 -7.99022437e-05 9.99998480e-01 -2.17436092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.535898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.09, Z:-0.22 [[ 9.99159761e-01 4.09712108e-02 -1.06393524e-03 2.73186256e+01] [-4.09712378e-02 9.99160326e-01 -3.59149072e-06 -8.79245494e-02] [ 1.06289473e-03 4.71792167e-05 9.99999434e-01 -2.21467248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.565898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.09, Z:-0.22 [[ 9.99192761e-01 4.00802744e-02 -2.71990179e-03 2.73466149e+01] [-4.00804470e-02 9.99196456e-01 -8.97588715e-06 -8.91098434e-02] [ 2.71735647e-03 1.17983521e-04 9.99996301e-01 -2.20056911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.09, Z:-0.22 [[ 9.99183604e-01 4.03542994e-02 -1.91192961e-03 2.73749859e+01] [-4.03543856e-02 9.99185430e-01 -6.50842448e-06 -8.95928648e-02] [ 1.91010957e-03 8.36578558e-05 9.99998172e-01 -2.19705305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.09, Z:-0.22 [[ 9.99190901e-01 4.01732156e-02 -1.91192739e-03 2.74033752e+01] [-4.01733027e-02 9.99192727e-01 -7.15796364e-06 -8.93358404e-02] [ 1.91009639e-03 8.39606100e-05 9.99998172e-01 -2.19784595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.09, Z:-0.22 [[ 9.99170295e-01 4.07253152e-02 4.11914335e-04 2.74300322e+01] [-4.07253192e-02 9.99170380e-01 1.26197683e-06 -9.04218404e-02] [-4.11521209e-04 -1.80362726e-05 9.99999915e-01 -2.19395004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.09, Z:-0.22 [[ 9.99163740e-01 4.08018603e-02 2.65103173e-03 2.74583282e+01] [-4.08020286e-02 9.99167250e-01 9.40514136e-06 -9.19649667e-02] [-2.64844033e-03 -1.17564748e-04 9.99996486e-01 -2.18650179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.09, Z:-0.22 [[ 9.99198368e-01 4.00295930e-02 5.03648711e-04 2.74857701e+01] [-4.00295989e-02 9.99198494e-01 1.63361880e-06 -9.45466652e-02] [-5.03179641e-04 -2.17931651e-05 9.99999873e-01 -2.18336620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:-0.09, Z:-0.22 [[ 9.99201910e-01 3.98180823e-02 -3.17212668e-03 2.75138095e+01] [-3.98183213e-02 9.99206936e-01 -1.21797987e-05 -9.49096793e-02] [ 3.16912601e-03 1.38478838e-04 9.99994969e-01 -2.19593415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.09, Z:-0.22 [[ 9.99201615e-01 3.94610976e-02 -6.24135794e-03 2.75417753e+01] [-3.94620173e-02 9.99221071e-01 -2.42250407e-05 -9.48711571e-02] [ 6.23554042e-03 2.70502275e-04 9.99980522e-01 -2.21259552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.57, Y:-0.09, Z:-0.22 [[ 9.99238325e-01 3.87491899e-02 -4.61191815e-03 2.75693688e+01] [-3.87496863e-02 9.99248949e-01 -1.83015259e-05 -9.45379390e-02] [ 4.60774520e-03 1.96997968e-04 9.99989365e-01 -2.19939724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.10, Z:-0.22 [[ 9.99266507e-01 3.82749876e-02 -1.21368705e-03 2.75967068e+01] [-3.82750222e-02 9.99267243e-01 -5.29865251e-06 -9.56142821e-02] [ 1.21259491e-03 5.17486649e-05 9.99999263e-01 -2.19361218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.10, Z:-0.22 [[ 9.99307510e-01 3.71882668e-02 1.23844204e-03 2.76243034e+01] [-3.71883014e-02 9.99308276e-01 4.91273554e-06 -9.78944920e-02] [-1.23740268e-03 -5.09648893e-05 9.99999233e-01 -2.19130125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.10, Z:-0.22 [[ 9.99372477e-01 3.54169383e-02 5.40820450e-04 2.76506449e+01] [-3.54196473e-02 9.99352636e-01 6.30531218e-03 -1.02238736e-01] [-3.17155490e-04 -6.32051112e-03 9.99979975e-01 -2.20193089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.10, Z:-0.22 [[ 9.99405340e-01 3.43309702e-02 -3.21721244e-03 2.76797112e+01] [-3.43506779e-02 9.99390079e-01 -6.28490175e-03 -9.95430088e-02] [ 2.99948342e-03 6.39167780e-03 9.99975074e-01 -2.19972287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.10, Z:-0.22 [[ 9.99360084e-01 3.52720274e-02 -5.94193440e-03 2.77076900e+01] [-3.52728087e-02 9.99377721e-01 -2.67196495e-05 -1.00540393e-01] [ 5.93729440e-03 2.36291267e-04 9.99982346e-01 -2.22507550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.10, Z:-0.22 [[ 9.99261812e-01 3.77888108e-02 -6.91640790e-03 2.77345432e+01] [-3.77899369e-02 9.99285705e-01 -3.21460093e-05 -9.77343802e-02] [ 6.91025279e-03 2.93492898e-04 9.99976081e-01 -2.21580377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:-0.10, Z:-0.22 [[ 9.99120480e-01 4.15358104e-02 -5.74823594e-03 2.77613375e+01] [-4.15366525e-02 9.99136980e-01 -2.71254899e-05 -9.52184759e-02] [ 5.74214842e-03 2.65864111e-04 9.99983478e-01 -2.20621870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.09, Z:-0.22 [[ 9.98957023e-01 4.55279351e-02 -3.47473376e-03 2.77890223e+01] [-4.55282706e-02 9.98963051e-01 -1.74776223e-05 -9.36647140e-02] [ 3.47033491e-03 1.75658012e-04 9.99993963e-01 -2.20534605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.82, Y:-0.09, Z:-0.22 [[ 9.98623720e-01 5.24246705e-02 -1.52290240e-03 2.78157105e+01] [-5.24247431e-02 9.98624878e-01 -7.78722003e-06 -9.24883870e-02] [ 1.52039999e-03 8.76142700e-05 9.99998840e-01 -2.23037804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.09, Z:-0.22 [[ 9.98556736e-01 5.36423652e-02 -2.63482202e-03 2.78426782e+01] [-5.36425870e-02 9.98560200e-01 -1.35191219e-05 -9.07584353e-02] [ 2.63030321e-03 1.54838280e-04 9.99996529e-01 -2.22910287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.09, Z:-0.22 [[ 9.98587242e-01 5.30297723e-02 -3.37089825e-03 2.78704169e+01] [-5.30301348e-02 9.98592912e-01 -1.82006253e-05 -8.77027169e-02] [ 3.36518992e-03 1.96934101e-04 9.99994318e-01 -2.22943055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.09, Z:-0.22 [[ 9.98684280e-01 5.11922569e-02 -3.01023313e-03 2.78971694e+01] [-5.11925377e-02 9.98688802e-01 -1.62608308e-05 -8.53958476e-02] [ 3.00545369e-03 1.70340909e-04 9.99995469e-01 -2.22117729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.08, Z:-0.22 [[ 9.98822779e-01 4.84927831e-02 -1.22741570e-03 2.79236958e+01] [-4.84928280e-02 9.98823531e-01 -6.86281675e-06 -8.40097764e-02] [ 1.22563889e-03 6.63755963e-05 9.99999247e-01 -2.21664183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.09, Z:-0.22 [[ 9.98979059e-01 4.51022840e-02 2.57357752e-03 2.79518755e+01] [-4.51024690e-02 9.98982366e-01 1.38712693e-05 -8.55068567e-02] [-2.57033293e-03 -1.29931808e-04 9.99996688e-01 -2.23255081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:-0.09, Z:-0.22 [[ 9.99010691e-01 4.43791399e-02 2.85159553e-03 2.79791628e+01] [-4.43793658e-02 9.99014750e-01 1.59551477e-05 -8.51985822e-02] [-2.84807792e-03 -1.42491364e-04 9.99995934e-01 -2.24739896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.01, Y:-0.08, Z:-0.23 [[ 9.99044854e-01 4.36766942e-02 1.31374948e-03 2.80073279e+01] [-4.36767417e-02 9.99045716e-01 7.41045393e-06 -8.35423705e-02] [-1.31217213e-03 -6.47836726e-05 9.99999137e-01 -2.25509099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.315898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.08, Z:-0.23 [[ 9.99105651e-01 4.22835444e-02 -1.35091794e-06 2.80350022e+01] [-4.22835444e-02 9.99105651e-01 -2.08222270e-07 -8.22262328e-02] [ 1.34090538e-06 2.65157647e-07 1.00000000e+00 -2.26264371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.345898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.08, Z:-0.23 [[ 9.99313930e-01 3.70217461e-02 1.02923133e-03 2.80625639e+01] [-3.70217718e-02 9.99314459e-01 5.90465431e-06 -8.23049393e-02] [-1.02830715e-03 -4.40045708e-05 9.99999470e-01 -2.27485440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.09, Z:-0.23 [[ 9.99433591e-01 3.36513397e-02 2.90467758e-04 2.80878007e+01] [-3.36522312e-02 9.99345570e-01 1.32649903e-02 -8.82855876e-02] [ 1.56107029e-04 -1.32672518e-02 9.99911974e-01 -2.25170768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.08, Z:-0.22 [[ 9.99577188e-01 2.84879366e-02 5.82094136e-03 2.81174279e+01] [-2.84090638e-02 9.99509079e-01 -1.32107971e-02 -8.14279698e-02] [-6.19443209e-03 1.30398439e-02 9.99895790e-01 -2.18932903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.09, Z:-0.23 [[ 9.99642114e-01 2.61871722e-02 5.46594680e-03 2.81452074e+01] [-2.61877461e-02 9.99657042e-01 3.34413567e-05 -8.97329340e-02] [-5.46319647e-03 -1.76570215e-04 9.99985061e-01 -2.26287403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.465898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.09, Z:-0.23 [[ 9.99699298e-01 2.40474153e-02 4.79946311e-03 2.81734867e+01] [-2.40478347e-02 9.99710809e-01 2.96776785e-05 -9.16042669e-02] [-4.79736147e-03 -1.45085450e-04 9.99988482e-01 -2.28632483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.10, Z:-0.23 [[ 9.99741085e-01 2.23304799e-02 4.37177353e-03 2.82000807e+01] [-2.23308128e-02 9.99750636e-01 2.73472376e-05 -9.52139864e-02] [-4.37007269e-03 -1.24965413e-04 9.99990443e-01 -2.25521442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.10, Z:-0.22 [[ 9.99782349e-01 2.04702362e-02 4.02786685e-03 2.82272480e+01] [-2.04705050e-02 9.99790457e-01 2.55109651e-05 -9.79646227e-02] [-4.02650062e-03 -1.07957881e-04 9.99991888e-01 -2.24542491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.10, Z:-0.22 [[ 9.99797831e-01 1.95689909e-02 4.62069157e-03 2.82554961e+01] [-1.95693368e-02 9.99808502e-01 2.96596656e-05 -1.02276304e-01] [-4.61922630e-03 -1.20077539e-04 9.99989324e-01 -2.24584923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:-0.11, Z:-0.23 [[ 9.99792189e-01 1.99015239e-02 4.41683076e-03 2.82837108e+01] [-1.99018445e-02 9.99801938e-01 2.86419063e-05 -1.13838612e-01] [-4.41538594e-03 -1.16539033e-04 9.99990245e-01 -2.25445896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:-0.12, Z:-0.23 [[ 9.99758296e-01 2.12650324e-02 5.58109147e-03 2.83118053e+01] [-2.13155702e-02 9.99730857e-01 9.15754960e-03 -1.23143978e-01] [-5.38485377e-03 -9.27430033e-03 9.99942494e-01 -2.31463126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.34, Y:-0.12, Z:-0.22 [[ 9.99743124e-01 2.26047288e-02 1.64683940e-03 2.83402282e+01] [-2.25888881e-02 9.99703653e-01 -9.07461043e-03 -1.18435700e-01] [-1.85148047e-03 9.03507911e-03 9.99957469e-01 -2.21055419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:-0.13, Z:-0.22 [[ 9.99708463e-01 2.41167476e-02 1.17086325e-03 2.83679293e+01] [-2.41167731e-02 9.99709148e-01 7.66623896e-06 -1.25034279e-01] [-1.17033782e-03 -3.59014473e-05 9.99999315e-01 -2.24807476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.13, Z:-0.23 [[ 9.99645846e-01 2.64896445e-02 2.54583493e-03 2.83948933e+01] [-2.64897738e-02 9.99649084e-01 1.70889774e-05 -1.33197686e-01] [-2.54448888e-03 -8.45215167e-05 9.99996759e-01 -2.25090026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.14, Z:-0.23 [[ 9.99608020e-01 2.78074341e-02 3.24851229e-03 2.84221248e+01] [-2.78076527e-02 9.99613292e-01 2.21115610e-05 -1.37736034e-01] [-3.24664120e-03 -1.12436395e-04 9.99994723e-01 -2.26303613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.14, Z:-0.23 [[ 9.99593845e-01 2.83012726e-02 3.34401304e-03 2.84500755e+01] [-2.83015081e-02 9.99599432e-01 2.31188716e-05 -1.41865439e-01] [-3.34201924e-03 -1.17750094e-04 9.99994409e-01 -2.27332936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.15, Z:-0.23 [[ 9.99605657e-01 2.79537013e-02 2.66838215e-03 2.84781153e+01] [-2.79538504e-02 9.99609215e-01 1.85987276e-05 -1.46419226e-01] [-2.66681948e-03 -9.31829488e-05 9.99996440e-01 -2.28272109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.16, Z:-0.23 [[ 9.99721425e-01 2.35019013e-02 2.17570745e-03 2.85056256e+01] [-2.35019902e-02 9.99723790e-01 1.52782415e-05 -1.57206379e-01] [-2.17474743e-03 -6.64074404e-05 9.99997633e-01 -2.27501241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:-0.16, Z:-0.23 [[ 9.99791418e-01 2.02608907e-02 2.57244979e-03 2.85333629e+01] [-2.02610048e-02 9.99794725e-01 1.83264616e-05 -1.62664175e-01] [-2.57155042e-03 -7.04430567e-05 9.99996691e-01 -2.26366304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.17, Z:-0.23 [[ 9.99854004e-01 1.67446040e-02 3.40439639e-03 2.85611783e+01] [-1.67447846e-02 9.99859796e-01 2.45608843e-05 -1.67314403e-01] [-3.40350782e-03 -8.15631828e-05 9.99994205e-01 -2.25533786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.18, Z:-0.22 [[ 9.99935497e-01 9.90381130e-03 5.56033343e-03 2.85901704e+01] [-9.90418982e-03 9.99950951e-01 4.05442185e-05 -1.78057131e-01] [-5.55965917e-03 -9.56122010e-05 9.99984540e-01 -2.24859271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.62, Y:-0.18, Z:-0.23 [[ 9.99960818e-01 7.31513569e-03 4.98509999e-03 2.86199719e+01] [-7.31540865e-03 9.99973241e-01 3.65234227e-05 -1.83781466e-01] [-4.98469943e-03 -7.29900353e-05 9.99987574e-01 -2.25359323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.19, Z:-0.23 [[ 9.99978007e-01 5.97301315e-03 2.88245765e-03 2.86493791e+01] [-5.97309895e-03 9.99982161e-01 2.11586694e-05 -1.89511848e-01] [-2.88227984e-03 -3.83754088e-05 9.99995845e-01 -2.26205288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.19, Z:-0.23 [[ 9.99986120e-01 5.14587881e-03 1.13114459e-03 2.86776025e+01] [-5.14589145e-03 9.99986760e-01 8.25699363e-06 -1.94499175e-01] [-1.13108713e-03 -1.40776263e-05 9.99999360e-01 -2.27374899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.20, Z:-0.23 [[ 9.99988538e-01 4.19785867e-03 2.30276096e-03 2.87063839e+01] [-4.19790892e-03 9.99991189e-01 1.69898659e-05 -2.02921549e-01] [-2.30266935e-03 -2.66564519e-05 9.99997348e-01 -2.25132906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.065898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.21, Z:-0.22 [[ 9.99985734e-01 4.17754138e-03 3.32853494e-03 2.87356987e+01] [-4.17764692e-03 9.99991273e-01 2.47566372e-05 -2.05726468e-01] [-3.32840247e-03 -3.86617278e-05 9.99994460e-01 -2.22157346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.21, Z:-0.22 [[ 9.99986258e-01 4.40247024e-03 2.84630696e-03 2.87648128e+01] [-4.40254849e-03 9.99990309e-01 2.12272384e-05 -2.07891948e-01] [-2.84618592e-03 -3.37579511e-05 9.99995949e-01 -2.21361580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:-0.21, Z:-0.22 [[ 9.99986445e-01 5.19177342e-03 -3.93187879e-04 2.87958153e+01] [-5.19177498e-03 9.99986523e-01 -2.93685846e-06 -2.11875410e-01] [ 3.93167332e-04 4.97816165e-06 9.99999923e-01 -2.23507035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.21, Z:-0.22 [[ 9.99987045e-01 5.08889173e-03 -1.17243696e-04 2.88242330e+01] [-5.08889188e-03 9.99987052e-01 -1.01786423e-06 -2.12986173e-01] [ 1.17236998e-04 1.61449154e-06 9.99999993e-01 -2.24337780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:-0.21, Z:-0.22 [[ 9.99989649e-01 4.39015919e-03 1.19479834e-03 2.88523781e+01] [-4.39017294e-03 9.99990363e-01 8.88556370e-06 -2.13292476e-01] [-1.19474782e-03 -1.41308431e-05 9.99999286e-01 -2.24743996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.21, Z:-0.22 [[ 9.99990797e-01 3.76469432e-03 2.05757286e-03 2.88820538e+01] [-3.76473433e-03 9.99992913e-01 1.55763278e-05 -2.13162459e-01] [-2.05749964e-03 -2.33223997e-05 9.99997883e-01 -2.24719418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.21, Z:-0.23 [[ 9.99995176e-01 1.41862244e-03 2.76332324e-03 2.89119728e+01] [-1.41868591e-03 9.99998993e-01 2.10072189e-05 -2.12383753e-01] [-2.76329066e-03 -2.49274053e-05 9.99996182e-01 -2.25332275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.21, Z:-0.23 [[ 9.99998085e-01 -1.97322774e-04 1.94698056e-03 2.89434715e+01] [ 1.97294201e-04 9.99999980e-01 1.48680194e-05 -2.12324474e-01] [-1.94698345e-03 -1.44838629e-05 9.99998105e-01 -2.25781291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:-0.21, Z:-0.23 [[ 9.99998609e-01 -1.66505830e-03 9.74604466e-05 2.89733668e+01] [ 1.66505823e-03 9.99998614e-01 7.72876794e-07 -2.11686354e-01] [-9.74615983e-05 -6.10598399e-07 9.99999995e-01 -2.27065386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.21, Z:-0.23 [[ 9.99982581e-01 -5.17997276e-03 -2.82927296e-03 2.90038256e+01] [ 5.17993292e-03 9.99986584e-01 -2.14100238e-05 -2.07493713e-01] [ 2.82934591e-03 6.75420669e-06 9.99995997e-01 -2.27089418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.04, Y:-0.20, Z:-0.23 [[ 9.99969942e-01 -7.58404323e-03 -1.61148278e-03 2.90355603e+01] [ 7.58403357e-03 9.99971241e-01 -1.21074846e-05 -2.04928848e-01] [ 1.61152826e-03 -1.14418855e-07 9.99998701e-01 -2.27190347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.21, Z:-0.24 [[ 9.99925014e-01 -1.07967458e-02 5.77899057e-03 2.90659767e+01] [ 1.06628737e-02 9.99685108e-01 2.27153626e-02 -2.13362964e-01] [-6.02242281e-03 -2.26520387e-02 9.99725270e-01 -2.38176279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.19, Z:-0.22 [[ 9.99887221e-01 -1.44941917e-02 3.93243839e-03 2.90980816e+01] [ 1.45792625e-02 9.99639553e-01 -2.25434964e-02 -1.92156310e-01] [-3.60427120e-03 2.25982860e-02 9.99738129e-01 -2.18731443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.20, Z:-0.23 [[ 9.99736229e-01 -2.29556668e-02 7.14391477e-04 2.91315064e+01] [ 2.29556688e-02 9.99736484e-01 5.46180494e-06 -2.03252886e-01] [-7.14328603e-04 1.09389699e-05 9.99999745e-01 -2.28576684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.20, Z:-0.23 [[ 9.99630921e-01 -2.70134316e-02 -2.88047129e-03 2.91631601e+01] [ 2.70134841e-02 9.99635069e-01 -2.07038094e-05 -2.04734277e-01] [ 2.87997940e-03 -5.71153973e-05 9.99995851e-01 -2.30669555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.20, Z:-0.23 [[ 9.99632505e-01 -2.69547201e-02 -2.88047249e-03 2.91958540e+01] [ 2.69547728e-02 9.99636654e-01 -2.05366231e-05 -2.04580907e-01] [ 2.87997944e-03 -5.71134057e-05 9.99995851e-01 -2.30776929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.21, Z:-0.23 [[ 9.99500720e-01 -3.12280354e-02 -4.80834207e-03 2.92279107e+01] [ 3.12282324e-02 9.99512279e-01 -3.41288957e-05 -2.06683440e-01] [ 4.80706272e-03 -1.16044168e-04 9.99988439e-01 -2.32592200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.21, Z:-0.23 [[ 9.99359320e-01 -3.55374768e-02 -4.24703840e-03 2.92605505e+01] [ 3.55376708e-02 9.99368337e-01 -2.97903919e-05 -2.08742912e-01] [ 4.24541438e-03 -1.21158547e-04 9.99990981e-01 -2.33926424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.21, Z:-0.23 [[ 9.99155795e-01 -4.10677832e-02 -1.06553239e-03 2.92933200e+01] [ 4.10677988e-02 9.99156362e-01 -7.22681793e-06 -2.10684105e-01] [ 1.06493026e-03 -3.65383528e-05 9.99999432e-01 -2.29750960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:29.33, Y:-0.21, Z:-0.23 [[ 9.99166778e-01 -4.07968582e-02 -1.16870399e-03 2.93254935e+01] [ 4.07968771e-02 9.99167461e-01 -7.66407910e-06 -2.08969099e-01] [ 1.16804367e-03 -4.00217798e-05 9.99999317e-01 -2.29605588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.21, Z:-0.22 [[ 9.99273542e-01 -3.80681591e-02 -1.78967766e-03 2.93579843e+01] [ 3.80681986e-02 9.99275143e-01 -1.20266589e-05 -2.07217567e-01] [ 1.78883823e-03 -5.61118826e-05 9.99998398e-01 -2.24444064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:-0.20, Z:-0.23 [[ 9.99567261e-01 -2.92468778e-02 -3.14829749e-03 2.93908588e+01] [ 2.92469568e-02 9.99572216e-01 -2.09718509e-05 -2.02528465e-01] [ 3.14756406e-03 -7.11153450e-05 9.99995044e-01 -2.25875199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.20, Z:-0.23 [[ 9.99699816e-01 -2.43343524e-02 -2.84913915e-03 2.94224437e+01] [ 2.43343975e-02 9.99703875e-01 -1.88652707e-05 -2.00474417e-01] [ 2.84875452e-03 -5.04724769e-05 9.99995941e-01 -2.27785270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:29.45, Y:-0.20, Z:-0.23 [[ 9.99782372e-01 -2.08003598e-02 -1.59802964e-03 2.94540811e+01] [ 2.08003697e-02 9.99783649e-01 -1.04173501e-05 -1.97415255e-01] [ 1.59790059e-03 -2.28245243e-05 9.99998723e-01 -2.30857458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.20, Z:-0.23 [[ 9.99820950e-01 -1.88229822e-02 -1.93987255e-03 2.94846383e+01] [ 1.88418301e-02 9.99770397e-01 1.02048699e-02 -1.98809182e-01] [ 1.74734106e-03 -1.02395935e-02 9.99946047e-01 -2.26924005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815898226999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:-0.19, Z:-0.22 [[ 9.99804755e-01 -1.97304477e-02 1.07734896e-03 2.95173809e+01] [ 1.97404434e-02 9.99752828e-01 -1.02272885e-02 -1.88308140e-01] [-8.75293689e-04 1.02465590e-02 9.99947120e-01 -2.24041124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:-0.19, Z:-0.23 [[ 9.99747866e-01 -2.24424539e-02 -7.35143130e-04 2.95497772e+01] [ 2.24424567e-02 9.99748136e-01 -4.53292021e-06 -1.93153107e-01] [ 7.35059704e-04 -1.19666405e-05 9.99999730e-01 -2.28616238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:-0.19, Z:-0.23 [[ 9.99658635e-01 -2.60484030e-02 -2.02338559e-03 2.95824404e+01] [ 2.60484306e-02 9.99660682e-01 -1.27251174e-05 -1.93778900e-01] [ 2.02303049e-03 -3.99852456e-05 9.99997953e-01 -2.28972059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:-0.19, Z:-0.23 [[ 9.99486931e-01 -3.20251175e-02 5.15962215e-04 2.96150202e+01] [ 3.20251199e-02 9.99487064e-01 3.50102134e-06 -1.94679078e-01] [-5.15809680e-04 1.30245267e-05 9.99999867e-01 -2.28051551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.65, Y:-0.20, Z:-0.23 [[ 9.99414725e-01 -3.40576329e-02 3.20696377e-03 2.96469309e+01] [ 3.40577430e-02 9.99419867e-01 2.03150676e-05 -1.95562714e-01] [-3.20579519e-03 8.89187701e-05 9.99994857e-01 -2.27266670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:-0.20, Z:-0.23 [[ 9.99350580e-01 -3.57807011e-02 4.26142783e-03 2.96801517e+01] [ 3.57809135e-02 9.99359658e-01 2.64137759e-05 -1.96906041e-01] [-4.25964416e-03 1.26081158e-04 9.99990920e-01 -2.26565744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:-0.20, Z:-0.23 [[ 9.99291817e-01 -3.75745269e-02 2.00464687e-03 2.97117868e+01] [ 3.75745773e-02 9.99293826e-01 1.25380782e-05 -1.98051388e-01] [-2.00370236e-03 6.27945599e-05 9.99997991e-01 -2.27529841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:-0.20, Z:-0.23 [[ 9.99286504e-01 -3.77333897e-02 -1.63530239e-03 2.97437481e+01] [ 3.77445219e-02 9.99259899e-01 7.41649047e-03 -2.00985971e-01] [ 1.35424278e-03 -7.47292255e-03 9.99971160e-01 -2.27254367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.20, Z:-0.23 [[ 9.99339735e-01 -3.63300033e-02 -4.74537164e-04 2.97763115e+01] [ 3.63254690e-02 9.99312270e-01 -7.44626813e-03 -1.95700783e-01] [ 7.44733756e-04 7.42411384e-03 9.99972164e-01 -2.25668497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.81, Y:-0.20, Z:-0.23 [[ 9.99411903e-01 -3.42890428e-02 -3.31327906e-04 2.98091844e+01] [ 3.42890441e-02 9.99411958e-01 -1.67440453e-06 -1.99255664e-01] [ 3.31190485e-04 -9.68749735e-06 9.99999945e-01 -2.27856605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.20, Z:-0.23 [[ 9.99490083e-01 -3.19304287e-02 1.46010662e-04 2.98416487e+01] [ 3.19304289e-02 9.99490094e-01 1.03622712e-06 -1.99029702e-01] [-1.45969298e-04 3.62648434e-06 9.99999989e-01 -2.27549930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.87, Y:-0.20, Z:-0.23 [[ 9.99596875e-01 -2.83916469e-02 -5.34468459e-05 2.98748032e+01] [ 2.83916470e-02 9.99596876e-01 -6.89182723e-08 -1.96583155e-01] [ 5.34272569e-05 -1.44855349e-06 9.99999999e-01 -2.26569059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:-0.20, Z:-0.23 [[ 9.99618775e-01 -2.75931438e-02 9.61160652e-04 2.99063555e+01] [ 2.75931512e-02 9.99619236e-01 5.56911345e-06 -1.95346151e-01] [-9.60948346e-04 2.09544608e-05 9.99999538e-01 -2.26354327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.94, Y:-0.19, Z:-0.23 [[ 9.99576768e-01 -2.89179235e-02 3.16843156e-03 2.99381383e+01] [ 2.89180125e-02 9.99581787e-01 1.77272336e-05 -1.94621012e-01] [-3.16761911e-03 7.39050125e-05 9.99994980e-01 -2.26591918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.97, Y:-0.20, Z:-0.23 [[ 9.99523372e-01 -3.07029419e-02 3.21837794e-03 2.99702515e+01] [ 3.07030436e-02 9.99528550e-01 1.78195697e-05 -1.95063014e-01] [-3.21740775e-03 8.10029217e-05 9.99994821e-01 -2.27388060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.00, Y:-0.20, Z:-0.23 [[ 9.99460547e-01 -3.27457601e-02 2.51579026e-03 3.00031481e+01] [ 3.27458289e-02 9.99463711e-01 1.38386477e-05 -1.95119167e-01] [-2.51489423e-03 6.85504551e-05 9.99996835e-01 -2.27053436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.20, Z:-0.23 [[ 9.99410483e-01 -3.42892531e-02 1.71299626e-03 3.00349580e+01] [ 3.42892874e-02 9.99411949e-01 9.35730777e-06 -1.95019003e-01] [-1.71230979e-03 4.93856296e-05 9.99998533e-01 -2.27211303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.19, Z:-0.22 [[ 9.99351816e-01 -3.59987160e-02 -1.98334319e-04 3.00667930e+01] [ 3.59987166e-02 9.99351836e-01 -8.61509100e-07 -1.94155095e-01] [ 1.98236779e-04 -6.27883025e-06 9.99999980e-01 -2.24962815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.19, Z:-0.22 [[ 9.99358398e-01 -3.58152149e-02 -2.51470619e-04 3.01002776e+01] [ 3.58152158e-02 9.99358429e-01 -1.08871247e-06 -1.93849313e-01] [ 2.51348275e-04 -7.91846053e-06 9.99999968e-01 -2.24643339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.19, Z:-0.22 [[ 9.99377060e-01 -3.52892739e-02 3.98724963e-04 3.01331639e+01] [ 3.52892758e-02 9.99377140e-01 2.28382757e-06 -1.94055008e-01] [-3.98557207e-04 1.17883103e-05 9.99999921e-01 -2.24843805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.19, Z:-0.23 [[ 9.99430996e-01 -3.37090266e-02 1.17686354e-03 3.01647161e+01] [ 3.37090426e-02 9.99431689e-01 6.21359064e-06 -1.94899096e-01] [-1.17640417e-03 3.34608882e-05 9.99999307e-01 -2.25931530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.20, Y:-0.19, Z:-0.23 [[ 9.99463226e-01 -3.27462737e-02 9.70744071e-04 3.01981938e+01] [ 3.27462841e-02 9.99463697e-01 5.10434456e-06 -1.94877163e-01] [-9.70390606e-04 2.66866565e-05 9.99999529e-01 -2.27233620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:-0.19, Z:-0.23 [[ 9.99492250e-01 -3.18565342e-02 6.34470688e-04 3.02299270e+01] [ 3.18565385e-02 9.99492452e-01 3.33939898e-06 -1.94818179e-01] [-6.34255045e-04 1.68743365e-05 9.99999799e-01 -2.27337262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:-0.19, Z:-0.23 [[ 9.99447699e-01 -3.31839962e-02 1.76642961e-03 3.02632891e+01] [ 3.31840323e-02 9.99449258e-01 8.86074444e-06 -1.92677046e-01] [-1.76575080e-03 4.97614067e-05 9.99998440e-01 -2.25375571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.19, Z:-0.22 [[ 9.99402401e-01 -3.44817759e-02 2.41830124e-03 3.02950905e+01] [ 3.44818481e-02 9.99405324e-01 1.18692966e-05 -1.91789752e-01] [-2.41727241e-03 7.15252923e-05 9.99997076e-01 -2.24238572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.33, Y:-0.19, Z:-0.22 [[ 9.99375809e-01 -3.52182445e-02 2.76904278e-03 3.03284402e+01] [ 3.52183424e-02 9.99379642e-01 1.34107207e-05 -1.91411183e-01] [-2.76779728e-03 8.41187470e-05 9.99996166e-01 -2.24204150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.19, Z:-0.23 [[ 9.99360207e-01 -3.56012013e-02 3.42495793e-03 3.03603929e+01] [ 3.56013543e-02 9.99366071e-01 1.63015259e-05 -1.90948755e-01] [-3.42336710e-03 1.05642044e-04 9.99994135e-01 -2.26938430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.39, Y:-0.19, Z:-0.23 [[ 9.99359393e-01 -3.56462425e-02 3.18574604e-03 3.03933140e+01] [ 3.56463756e-02 9.99364466e-01 1.49968226e-05 -1.89725618e-01] [-3.18425597e-03 9.85730847e-05 9.99994925e-01 -2.26678011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.19, Z:-0.23 [[ 9.99339410e-01 -3.62512277e-02 2.56751278e-03 3.04257831e+01] [ 3.62513165e-02 9.99342705e-01 1.19491401e-05 -1.87304776e-01] [-2.56625833e-03 8.11344717e-05 9.99996704e-01 -2.26513882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.18, Z:-0.23 [[ 9.99301952e-01 -3.73058173e-02 1.97103231e-03 3.04589847e+01] [ 3.73058718e-02 9.99303894e-01 9.12275685e-06 -1.84173893e-01] [-1.97000059e-03 6.44146897e-05 9.99998057e-01 -2.26027954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.49, Y:-0.18, Z:-0.23 [[ 9.99173849e-01 -4.06389733e-02 3.06553677e-04 3.04919838e+01] [ 4.06389747e-02 9.99173896e-01 1.58926009e-06 -1.80256372e-01] [-3.06365018e-04 1.08700800e-05 9.99999953e-01 -2.27488642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.18, Z:-0.23 [[ 9.99073272e-01 -4.30416852e-02 -1.00642701e-04 3.05245319e+01] [ 4.30416854e-02 9.99073277e-01 -2.14562646e-07 -1.79054395e-01] [ 1.00558668e-04 -4.11746765e-06 9.99999995e-01 -2.28575025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.775898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.18, Z:-0.23 [[ 9.98954433e-01 -4.57019190e-02 -1.17313456e-03 3.05561904e+01] [ 4.57019447e-02 9.98955120e-01 -4.88071165e-06 -1.77281017e-01] [ 1.17213183e-03 -4.87389223e-05 9.99999312e-01 -2.31328069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.17, Z:-0.23 [[ 9.98723667e-01 -5.04853485e-02 -1.50559037e-03 3.05891546e+01] [ 5.04853965e-02 9.98724799e-01 -6.16953070e-06 -1.73304286e-01] [ 1.50398191e-03 -6.98486703e-05 9.99998867e-01 -2.30022831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.17, Z:-0.23 [[ 9.98613232e-01 -5.26318613e-02 -1.22501555e-03 3.06223645e+01] [ 5.26318948e-02 9.98613981e-01 -4.89266790e-06 -1.70660783e-01] [ 1.22357516e-03 -5.95890066e-05 9.99999250e-01 -2.30511106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.17, Z:-0.23 [[ 9.98548220e-01 -5.38498486e-02 -1.28304899e-03 3.06546745e+01] [ 5.38498871e-02 9.98549042e-01 -4.57562343e-06 -1.68627449e-01] [ 1.28143373e-03 -6.45230625e-05 9.99999177e-01 -2.30542137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.17, Z:-0.23 [[ 9.98504644e-01 -5.46418571e-02 -1.65618707e-03 3.06880673e+01] [ 5.46419216e-02 9.98506014e-01 -6.29572699e-06 -1.66238035e-01] [ 1.65405676e-03 -8.42109313e-05 9.99998629e-01 -2.31443097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.72, Y:-0.16, Z:-0.23 [[ 9.98377541e-01 -5.67952039e-02 -4.07324465e-03 3.07197551e+01] [ 5.67956132e-02 9.98385826e-01 -1.52060890e-05 -1.62001509e-01] [ 4.06753336e-03 -2.16161010e-04 9.99991704e-01 -2.32098093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.16, Z:-0.23 [[ 9.98269267e-01 -5.86169044e-02 -4.74644877e-03 3.07519320e+01] [ 5.86174851e-02 9.98280517e-01 -1.67961391e-05 -1.60599921e-01] [ 4.73927187e-03 -2.61457821e-04 9.99988735e-01 -2.31947206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:-0.16, Z:-0.23 [[ 9.98130937e-01 -6.09876025e-02 -3.89152726e-03 3.07850980e+01] [ 6.09880110e-02 9.98138499e-01 -1.37393138e-05 -1.59188800e-01] [ 3.88512111e-03 -2.23622873e-04 9.99992428e-01 -2.31552832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.82, Y:-0.16, Z:-0.23 [[ 9.97958469e-01 -6.38278204e-02 -2.21442224e-03 3.08177297e+01] [ 6.38279601e-02 9.97960917e-01 -7.57112085e-06 -1.57406872e-01] [ 2.21039009e-03 -1.33786390e-04 9.99997548e-01 -2.30624061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.85, Y:-0.15, Z:-0.23 [[ 9.97691468e-01 -6.79088526e-02 3.49820580e-04 3.08509463e+01] [ 6.79088561e-02 9.97691529e-01 1.77247275e-06 -1.53601946e-01] [-3.49133396e-04 2.19875345e-05 9.99999939e-01 -2.28377832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.88, Y:-0.15, Z:-0.23 [[ 9.97633314e-01 -6.87586468e-02 1.37822346e-04 3.08833035e+01] [ 6.87586473e-02 9.97633324e-01 9.98663968e-07 -1.52181982e-01] [-1.37564832e-04 8.48017764e-06 9.99999991e-01 -2.28560817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.15, Z:-0.23 [[ 9.97649682e-01 -6.85109169e-02 -1.16899022e-03 3.09168379e+01] [ 6.85109603e-02 9.97650364e-01 -2.91104828e-06 -1.51792458e-01] [ 1.16644295e-03 -7.71844359e-05 9.99999317e-01 -2.29776653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.15, Z:-0.23 [[ 9.97735357e-01 -6.71965801e-02 -2.96267946e-03 3.09495192e+01] [ 6.71968522e-02 9.97739737e-01 -7.72221907e-06 -1.50486740e-01] [ 2.95650193e-03 -1.91378003e-04 9.99995611e-01 -2.30863817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.16, Z:-0.25 [[ 9.97747775e-01 -6.67958539e-02 6.13936797e-03 3.09816424e+01] [ 6.65528969e-02 9.97214296e-01 3.36802696e-02 -1.64377676e-01] [-8.37196787e-03 -3.31958213e-02 9.99413802e-01 -2.47199668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.13, Z:-0.21 [[ 9.97823930e-01 -6.59294719e-02 -8.42031730e-04 3.10129771e+01] [ 6.58602275e-02 9.97220777e-01 -3.48303229e-02 -1.32071079e-01] [ 3.13603633e-03 3.46990733e-02 9.99392886e-01 -2.12271148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.14, Z:-0.23 [[ 9.97778844e-01 -6.66103197e-02 6.66764627e-04 3.10463402e+01] [ 6.66103332e-02 9.97779065e-01 2.08442351e-06 -1.43613891e-01] [-6.65422630e-04 4.23336203e-05 9.99999778e-01 -2.26648311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.14, Z:-0.23 [[ 9.97706462e-01 -6.76871664e-02 5.12859412e-04 3.10788598e+01] [ 6.76871745e-02 9.97706593e-01 1.58159075e-06 -1.43503316e-01] [-5.11790270e-04 3.31360412e-05 9.99999868e-01 -2.27846535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.14, Z:-0.23 [[ 9.97611805e-01 -6.90700868e-02 1.01350278e-04 3.11120808e+01] [ 6.90700871e-02 9.97611810e-01 6.19412008e-07 -1.44440783e-01] [-1.01151017e-04 6.38233981e-06 9.99999995e-01 -2.29416978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.315898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.15, Z:-0.23 [[ 9.97469968e-01 -7.10874765e-02 -4.82358346e-04 3.11451509e+01] [ 7.10874845e-02 9.97470085e-01 -5.70735629e-07 -1.46173770e-01] [ 4.81178592e-04 -3.37203498e-05 9.99999884e-01 -2.31661002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.15, Z:-0.23 [[ 9.97264681e-01 -7.39107806e-02 5.93210714e-04 3.11774438e+01] [ 7.39107927e-02 9.97264857e-01 1.46079919e-06 -1.51605629e-01] [-5.91696167e-04 4.23878707e-05 9.99999824e-01 -2.29868611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.15, Z:-0.23 [[ 9.97275864e-01 -7.37613452e-02 3.38244516e-04 3.12104099e+01] [ 7.37613491e-02 9.97275921e-01 9.52706203e-07 -1.54151731e-01] [-3.37393384e-04 2.39992609e-05 9.99999943e-01 -2.29034670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.405898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.16, Z:-0.23 [[ 9.97354610e-01 -7.26784073e-02 -1.27702347e-03 3.12430899e+01] [ 7.26784647e-02 9.97355423e-01 -1.48606212e-06 -1.58309402e-01] [ 1.27375429e-03 -9.13299743e-05 9.99999185e-01 -2.29137189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.16, Z:-0.23 [[ 9.97457142e-01 -7.12527478e-02 -1.51540579e-03 3.12751409e+01] [ 7.12528272e-02 9.97458287e-01 -1.60354572e-06 -1.60145801e-01] [ 1.51166832e-03 -1.06377479e-04 9.99998852e-01 -2.28766985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:-0.16, Z:-0.23 [[ 9.97462736e-01 -7.11743923e-02 -1.51540567e-03 3.13086820e+01] [ 7.11744715e-02 9.97463881e-01 -1.68619172e-06 -1.60217342e-01] [ 1.51168244e-03 -1.06176284e-04 9.99998852e-01 -2.28840000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.34, Y:-0.16, Z:-0.23 [[ 9.97590778e-01 -6.93498884e-02 -1.79818912e-03 3.13408222e+01] [ 6.93499978e-02 9.97592391e-01 -1.53881225e-06 -1.61707707e-01] [ 1.79396650e-03 -1.23169306e-04 9.99998383e-01 -2.28108175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.16, Z:-0.23 [[ 9.97722471e-01 -6.74298564e-02 -1.75642475e-03 3.13738762e+01] [ 6.74299584e-02 9.97724010e-01 -1.13335337e-06 -1.62299432e-01] [ 1.75250357e-03 -1.17304876e-04 9.99998457e-01 -2.27490794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.16, Z:-0.23 [[ 9.97850663e-01 -6.55066214e-02 -1.71362966e-03 3.14055310e+01] [ 6.55067161e-02 9.97852128e-01 -8.26771348e-07 -1.62789787e-01] [ 1.71000316e-03 -1.11429257e-04 9.99998532e-01 -2.26937855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.16, Z:-0.23 [[ 9.98022435e-01 -6.28412710e-02 -1.48107504e-03 3.14381642e+01] [ 6.28413393e-02 9.98023530e-01 -3.70951011e-07 -1.62739634e-01] [ 1.47817105e-03 -9.27025216e-05 9.99998903e-01 -2.27857939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.615898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.16, Z:-0.23 [[ 9.98129340e-01 -6.11089786e-02 -1.87422771e-03 3.14697668e+01] [ 6.11090854e-02 9.98131093e-01 -2.81128982e-07 -1.62134426e-01] [ 1.87074213e-03 -1.14251738e-04 9.99998244e-01 -2.30282722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:-0.16, Z:-0.23 [[ 9.98247209e-01 -5.91537325e-02 -1.82903556e-03 3.15029540e+01] [ 5.91538308e-02 9.98248879e-01 -3.63154653e-07 -1.62368088e-01] [ 1.82585418e-03 -1.07831942e-04 9.99998327e-01 -2.29215708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.16, Z:-0.23 [[ 9.98420168e-01 -5.60205795e-02 -4.34309571e-03 3.15361515e+01] [ 5.60211045e-02 9.98429585e-01 -7.71301039e-07 -1.61699105e-01] [ 4.33631846e-03 -2.42534936e-04 9.99990569e-01 -2.30188092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.57, Y:-0.16, Z:-0.23 [[ 9.98493957e-01 -5.46418276e-02 -4.90798250e-03 3.15680895e+01] [ 5.46424866e-02 9.98505983e-01 1.64602511e-07 -1.61309650e-01] [ 4.90064090e-03 -2.68348723e-04 9.99987956e-01 -2.30149534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.60, Y:-0.16, Z:-0.23 [[ 9.98592449e-01 -5.28225267e-02 -4.78563292e-03 3.15999110e+01] [ 5.28231362e-02 9.98603884e-01 9.73259472e-07 -1.60583648e-01] [ 4.77890021e-03 -2.53764029e-04 9.99988549e-01 -2.29211377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.765898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.63, Y:-0.16, Z:-0.23 [[ 9.98824911e-01 -4.83563821e-02 -3.23367466e-03 3.16328328e+01] [ 4.83566375e-02 9.98830134e-01 7.73681680e-07 -1.57183566e-01] [ 3.22985428e-03 -1.57142406e-04 9.99994772e-01 -2.28305082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:-0.15, Z:-0.23 [[ 9.98935761e-01 -4.60668314e-02 -2.27868924e-03 3.16649801e+01] [ 4.60669537e-02 9.98938354e-01 1.18640057e-06 -1.54666779e-01] [ 2.27621542e-03 -1.06157410e-04 9.99997404e-01 -2.28379369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.15, Z:-0.23 [[ 9.99039954e-01 -4.37921794e-02 -1.18974573e-03 3.16979093e+01] [ 4.37922112e-02 9.99040661e-01 6.65998828e-07 -1.52095745e-01] [ 1.18857519e-03 -5.27669557e-05 9.99999292e-01 -2.28454954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.855898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.15, Z:-0.23 [[ 9.99118138e-01 -4.19756663e-02 -9.94574786e-04 3.17295447e+01] [ 4.19756879e-02 9.99118632e-01 7.98330032e-07 -1.49363925e-01] [ 9.93664689e-04 -4.25455868e-05 9.99999505e-01 -2.30077053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.15, Z:-0.23 [[ 9.99120881e-01 -4.18271145e-02 -2.82079251e-03 3.17628660e+01] [ 4.18272863e-02 9.99124856e-01 1.89684700e-06 -1.46303692e-01] [ 2.81824457e-03 -1.19881275e-04 9.99996022e-01 -2.29348735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.79, Y:-0.14, Z:-0.23 [[ 9.99044084e-01 -4.35090751e-02 -4.22842535e-03 3.17946668e+01] [ 4.35094783e-02 9.99053014e-01 3.36213370e-06 -1.44296686e-01] [ 4.22427481e-03 -1.87335501e-04 9.99991060e-01 -2.29655992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.14, Z:-0.23 [[ 9.98920715e-01 -4.61759703e-02 -5.01839903e-03 3.18268385e+01] [ 4.61765723e-02 9.98933293e-01 4.09987737e-06 -1.42522348e-01] [ 5.01285656e-03 -2.35827918e-04 9.99987408e-01 -2.29411395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.14, Z:-0.23 [[ 9.98552579e-01 -5.36728766e-02 -3.45966627e-03 3.18600099e+01] [ 5.36732086e-02 9.98558554e-01 3.12945306e-06 -1.42132764e-01] [ 3.45451139e-03 -1.88816313e-04 9.99994015e-01 -2.31382633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.14, Z:-0.23 [[ 9.98315261e-01 -5.79768939e-02 -2.30619892e-03 3.18933431e+01] [ 5.79770534e-02 9.98317916e-01 2.29354735e-06 -1.42713560e-01] [ 2.30218673e-03 -1.35996301e-04 9.99997341e-01 -2.31647146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:-0.14, Z:-0.23 [[ 9.98064195e-01 -6.21750378e-02 -1.45836286e-03 3.19261778e+01] [ 6.21751062e-02 9.98065256e-01 1.60869787e-06 -1.43374002e-01] [ 1.45544128e-03 -9.22794493e-05 9.99998937e-01 -2.30978222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.14, Z:-0.23 [[ 9.97822863e-01 -6.59414247e-02 -1.12382977e-03 3.19596963e+01] [ 6.59414683e-02 9.97823493e-01 1.73306106e-06 -1.43956992e-01] [ 1.12126947e-03 -7.58362731e-05 9.99999369e-01 -2.30669295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.99, Y:-0.15, Z:-0.23 [[ 9.97387491e-01 -7.22267760e-02 -1.21881079e-03 3.19925880e+01] [ 7.22268322e-02 9.97388232e-01 2.06883709e-06 -1.46560131e-01] [ 1.21547811e-03 -9.00942748e-05 9.99999257e-01 -2.32320873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.125898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.15, Z:-0.23 [[ 9.97245184e-01 -7.41717080e-02 -7.74456129e-04 3.20260251e+01] [ 7.41717315e-02 9.97245483e-01 1.60076204e-06 -1.47979202e-01] [ 7.72204145e-04 -5.90391043e-05 9.99999700e-01 -2.34978512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.155898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.15, Z:-0.23 [[ 9.97168239e-01 -7.52022080e-02 -3.63076546e-04 3.20591448e+01] [ 7.52022133e-02 9.97168304e-01 1.02622551e-06 -1.49239472e-01] [ 3.61971250e-04 -2.83274794e-05 9.99999934e-01 -2.34394300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.185898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.16, Z:-0.24 [[ 9.97109750e-01 -7.58292887e-02 4.69737965e-03 3.20917080e+01] [ 7.57202227e-02 9.96925077e-01 2.01702236e-02 -1.59869310e-01] [-6.21242928e-03 -1.97562399e-02 9.99785525e-01 -2.44222916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.215898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.15, Z:-0.23 [[ 9.97192119e-01 -7.48671716e-02 -1.66863956e-03 3.21225558e+01] [ 7.48182803e-02 9.96991884e-01 -2.02338157e-02 -1.45067244e-01] [ 3.17846865e-03 2.00521568e-02 9.99793883e-01 -2.26052699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.16, Z:-0.23 [[ 9.97371975e-01 -7.24448569e-02 -9.41491451e-04 3.21556497e+01] [ 7.24448912e-02 9.97372417e-01 2.38222092e-06 -1.55357017e-01] [ 9.38845024e-04 -7.05822062e-05 9.99999557e-01 -2.31844622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.16, Z:-0.23 [[ 9.97658072e-01 -6.83980565e-02 2.78023485e-04 3.21892097e+01] [ 6.83980592e-02 9.97658111e-01 -2.45777050e-07 -1.55439515e-01] [-2.77355575e-04 1.92614683e-05 9.99999961e-01 -2.30997608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.15, Z:-0.23 [[ 9.98358474e-01 -5.72696500e-02 7.38273187e-04 3.22222764e+01] [ 5.72696667e-02 9.98358746e-01 -1.42736601e-06 -1.53026915e-01] [-7.36979748e-04 4.37056823e-05 9.99999727e-01 -2.30878100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.15, Z:-0.23 [[ 9.98708216e-01 -5.08123976e-02 8.84318639e-06 3.22547339e+01] [ 5.08123976e-02 9.98708216e-01 1.28406375e-07 -1.50974378e-01] [-8.83828753e-06 3.21103003e-07 1.00000000e+00 -2.30564708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.29, Y:-0.15, Z:-0.23 [[ 9.99011350e-01 -4.44527557e-02 -5.24593353e-04 3.22864067e+01] [ 4.44527627e-02 9.99011487e-01 1.63408233e-06 -1.48490041e-01] [ 5.24002147e-04 -2.49520906e-05 9.99999862e-01 -2.30578247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.14, Z:-0.23 [[ 9.99447157e-01 -3.32433820e-02 -5.07854094e-04 3.23197713e+01] [ 3.32433871e-02 9.99447286e-01 1.55751023e-06 -1.41707819e-01] [ 5.07521619e-04 -1.84394394e-05 9.99999871e-01 -2.29011793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:-0.14, Z:-0.23 [[ 9.99591692e-01 -2.85691809e-02 -5.00223168e-04 3.23528920e+01] [ 2.85691853e-02 9.99591818e-01 1.54701783e-06 -1.37289906e-01] [ 4.99974789e-04 -1.58373545e-05 9.99999875e-01 -2.28035093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.455898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:32.39, Y:-0.13, Z:-0.23 [[ 9.99713796e-01 -2.39137275e-02 -6.77490334e-04 3.23861357e+01] [ 2.39137344e-02 9.99714026e-01 2.09617742e-06 -1.32680720e-01] [ 6.77246462e-04 -1.82969014e-05 9.99999771e-01 -2.30055109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.42, Y:-0.12, Z:-0.23 [[ 9.99870101e-01 -1.60525676e-02 -1.44792109e-03 3.24188310e+01] [ 1.60525908e-02 9.99871149e-01 4.41171457e-06 -1.22857052e-01] [ 1.44766370e-03 -2.76540262e-05 9.99998952e-01 -2.27702539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.12, Z:-0.23 [[ 9.99914643e-01 -1.29337733e-02 -1.85058098e-03 3.24501424e+01] [ 1.29338058e-02 9.99916355e-01 5.58345721e-06 -1.18197925e-01] [ 1.85035398e-03 -2.95180357e-05 9.99998288e-01 -2.28398771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.545898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.48, Y:-0.12, Z:-0.23 [[ 9.99933200e-01 -1.09201556e-02 -3.78759076e-03 3.24800337e+01] [ 1.09743425e-02 9.99833282e-01 1.45935274e-02 -1.18196202e-01] [ 3.62759571e-03 -1.46341188e-02 9.99886335e-01 -2.28007688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.10, Z:-0.22 [[ 9.99962194e-01 -8.66711985e-03 -7.00928678e-04 3.25134022e+01] [ 8.65595559e-03 9.99855781e-01 -1.46113843e-02 -1.02911503e-01] [ 8.27466210e-04 1.46047647e-02 9.99893002e-01 -2.21271206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.605898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.10, Z:-0.23 [[ 9.99974424e-01 -7.10966046e-03 7.77858634e-04 3.25459801e+01] [ 7.10966443e-03 9.99974726e-01 -2.33632358e-06 -1.02537491e-01] [-7.77822364e-04 7.86657769e-06 9.99999697e-01 -2.30896788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.10, Z:-0.23 [[ 9.99973711e-01 -7.21979179e-03 6.71813155e-04 3.25770787e+01] [ 7.21979480e-03 9.99973937e-01 -2.05326225e-06 -1.00162047e-01] [-6.71780822e-04 6.90356140e-06 9.99999774e-01 -2.28744626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.665898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.61, Y:-0.09, Z:-0.23 [[ 9.99968698e-01 -7.84505755e-03 -1.02845624e-03 3.26093131e+01] [ 7.84506521e-03 9.99969227e-01 3.41414161e-06 -9.47884963e-02] [ 1.02839780e-03 -1.14823410e-05 9.99999471e-01 -2.30508342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.09, Z:-0.23 [[ 9.99971039e-01 -7.44213156e-03 -1.59237788e-03 3.26411281e+01] [ 7.44214944e-03 9.99972307e-01 5.30394744e-06 -9.33338194e-02] [ 1.59229431e-03 -1.71545080e-05 9.99998732e-01 -2.31556204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.09, Z:-0.23 [[ 9.99976385e-01 -6.75491740e-03 -1.26487017e-03 3.26720901e+01] [ 6.75492818e-03 9.99977185e-01 4.25288056e-06 -9.30194779e-02] [ 1.26481259e-03 -1.27968873e-05 9.99999200e-01 -2.32575683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.09, Z:-0.23 [[ 9.99983798e-01 -5.61596603e-03 -9.29437444e-04 3.27039880e+01] [ 5.61597144e-03 9.99984230e-01 3.21652060e-06 -9.34161676e-02] [ 9.29404723e-04 -8.43616263e-06 9.99999568e-01 -2.32079382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.09, Z:-0.23 [[ 9.99996187e-01 -2.24725920e-03 1.60479400e-03 3.27354291e+01] [ 2.24727068e-03 9.99997475e-01 -5.35222097e-06 -9.42085977e-02] [-1.60477792e-03 8.95860705e-06 9.99998712e-01 -2.30934326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.10, Z:-0.24 [[ 9.99983769e-01 -2.09995325e-04 5.69366395e-03 3.27670023e+01] [ 1.61378485e-04 9.99963539e-01 8.53787702e-03 -9.85232383e-02] [-5.69524926e-03 -8.53681961e-03 9.99947342e-01 -2.35188238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.09, Z:-0.23 [[ 9.99987883e-01 1.77655177e-03 4.59096207e-03 3.27983571e+01] [-1.73707939e-03 9.99961617e-01 -8.58757558e-03 -9.11138106e-02] [-4.60604213e-03 8.57949667e-03 9.99952587e-01 -2.26129643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:-0.09, Z:-0.23 [[ 9.99982867e-01 5.45893566e-03 2.11342816e-03 3.28292237e+01] [-5.45893244e-03 9.99985100e-01 -7.29367615e-06 -9.49765837e-02] [-2.11343649e-03 -4.24351035e-06 9.99997767e-01 -2.32085035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.09, Z:-0.23 [[ 9.99975219e-01 7.03644374e-03 -2.23046148e-04 3.28577182e+01] [-7.03644377e-03 9.99975244e-01 6.63333376e-07 -9.48532915e-02] [ 2.23045294e-04 9.06134742e-07 9.99999975e-01 -2.33795768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:-0.09, Z:-0.23 [[ 9.99962939e-01 8.50798007e-03 -1.31698637e-03 3.28861216e+01] [-8.50798170e-03 9.99963806e-01 4.36396291e-06 -9.49426672e-02] [ 1.31697583e-03 6.84109473e-06 9.99999133e-01 -2.33715202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.91, Y:-0.09, Z:-0.23 [[ 9.99947584e-01 1.01895749e-02 -1.00140757e-03 3.29138892e+01] [-1.01895768e-02 9.99948085e-01 3.18927267e-06 -9.48931721e-02] [ 1.00138808e-03 7.01481381e-06 9.99999499e-01 -2.32911710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.09, Z:-0.23 [[ 9.99910533e-01 1.33081816e-02 1.34813491e-03 3.29418213e+01] [-1.33081876e-02 9.99911442e-01 -4.54766723e-06 -9.48189235e-02] [-1.34807604e-03 -1.33939718e-05 9.99999091e-01 -2.30151036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:-0.09, Z:-0.23 [[ 9.99892601e-01 1.45648192e-02 1.62886272e-03 3.29703323e+01] [-1.45648298e-02 9.99893927e-01 -5.33298602e-06 -9.46222240e-02] [-1.62876761e-03 -1.83916950e-05 9.99998673e-01 -2.28792098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.11, Z:-0.25 [[ 9.99831124e-01 1.55449090e-02 9.80197095e-03 3.29971683e+01] [-1.58483169e-02 9.99372540e-01 3.16758045e-02 -1.08426471e-01] [-9.30342311e-03 -3.18258000e-02 9.99450131e-01 -2.47284267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:-0.08, Z:-0.21 [[ 9.99857258e-01 1.67844510e-02 1.93556384e-03 3.30272750e+01] [-1.67123939e-02 9.99327736e-01 -3.26308483e-02 -8.09560040e-02] [-2.48195350e-03 3.25938426e-02 9.99465598e-01 -2.12489509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.10, Z:-0.23 [[ 9.99858468e-01 1.64540998e-02 3.50819441e-03 3.30556358e+01] [-1.64541642e-02 9.99864621e-01 -1.05217069e-05 -9.78577735e-02] [-3.50789260e-03 -4.72041891e-05 9.99993846e-01 -2.30329224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:-0.10, Z:-0.23 [[ 9.99870717e-01 1.56381856e-02 3.74130698e-03 3.30837713e+01] [-1.56382541e-02 9.99877715e-01 -1.09504493e-05 -9.93469891e-02] [-3.74102072e-03 -4.75584757e-05 9.99993001e-01 -2.29894956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.10, Z:-0.23 [[ 9.99879393e-01 1.50578465e-02 3.80281485e-03 3.31121449e+01] [-1.50579139e-02 9.99886623e-01 -1.09184232e-05 -1.00969153e-01] [-3.80254811e-03 -4.63453521e-05 9.99992769e-01 -2.28715706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.205898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:33.14, Y:-0.11, Z:-0.23 [[ 9.99914255e-01 1.27383692e-02 3.03597614e-03 3.31405263e+01] [-1.27384018e-02 9.99918863e-01 -8.58265440e-06 -1.07560352e-01] [-3.03583914e-03 -3.00915656e-05 9.99995391e-01 -2.30633904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.11, Z:-0.23 [[ 9.99938655e-01 1.09130127e-02 1.89544060e-03 3.31681286e+01] [-1.09130223e-02 9.99940451e-01 -5.28189970e-06 -1.12582071e-01] [-1.89538538e-03 -1.54034098e-05 9.99998204e-01 -2.31952545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.20, Y:-0.12, Z:-0.23 [[ 9.99952911e-01 9.62427541e-03 1.24466012e-03 3.31960835e+01] [-9.62427861e-03 9.99953686e-01 -3.41943203e-06 -1.17433364e-01] [-1.24463538e-03 -8.55968476e-06 9.99999225e-01 -2.32743474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.22, Y:-0.12, Z:-0.23 [[ 9.99956409e-01 9.32556617e-03 4.61948433e-04 3.32249508e+01] [-9.32556657e-03 9.99956516e-01 -1.27881469e-06 -1.21578455e-01] [-4.61940272e-04 -3.02917192e-06 9.99999893e-01 -2.32435111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.12, Z:-0.23 [[ 9.99956742e-01 9.28985278e-03 4.61948516e-04 3.32542642e+01] [-9.28985320e-03 9.99956848e-01 -1.24767928e-06 -1.21578888e-01] [-4.61940173e-04 -3.04380859e-06 9.99999893e-01 -2.32471563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.28, Y:-0.13, Z:-0.23 [[ 9.99946590e-01 1.03199663e-02 5.61811471e-04 3.32827936e+01] [-1.03199670e-02 9.99946748e-01 -1.49570826e-06 -1.30767183e-01] [-5.61796989e-04 -4.30224750e-06 9.99999842e-01 -2.31893060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.14, Z:-0.23 [[ 9.99934781e-01 1.14133316e-02 4.12239265e-04 3.33114875e+01] [-1.14133321e-02 9.99934866e-01 -1.09370208e-06 -1.36062037e-01] [-4.12224897e-04 -3.61139288e-06 9.99999915e-01 -2.31670334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:-0.14, Z:-0.23 [[ 9.99917335e-01 1.28556685e-02 2.33254531e-04 3.33399582e+01] [-1.28556687e-02 9.99917362e-01 -6.33359086e-07 -1.40975161e-01] [-2.33243398e-04 -2.36533625e-06 9.99999973e-01 -2.31040966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.15, Z:-0.23 [[ 9.99855737e-01 1.69117540e-02 1.58054617e-03 3.33679585e+01] [-1.69117690e-02 9.99856986e-01 -3.87205462e-06 -1.48644509e-01] [-1.58038561e-03 -2.28583356e-05 9.99998751e-01 -2.29536158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.15, Z:-0.23 [[ 9.99809503e-01 1.93759961e-02 2.35131608e-03 3.33957939e+01] [-1.93760365e-02 9.99812267e-01 -5.57424634e-06 -1.52352502e-01] [-2.35098267e-03 -3.99860018e-05 9.99997236e-01 -2.29719203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.16, Z:-0.23 [[ 9.99749992e-01 2.21866183e-02 2.77608199e-03 3.34238212e+01] [-2.21866861e-02 9.99753845e-01 -6.37036063e-06 -1.56486682e-01] [-2.77553998e-03 -5.52232916e-05 9.99996147e-01 -2.30056125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.535898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.16, Z:-0.23 [[ 9.99691735e-01 2.47274224e-02 2.23395100e-03 3.34511135e+01] [-2.47274730e-02 9.99694229e-01 -4.99637862e-06 -1.60485598e-01] [-2.23339147e-03 -5.02451245e-05 9.99997505e-01 -2.33752403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.17, Z:-0.23 [[ 9.99582455e-01 2.88937527e-02 -2.57378309e-04 3.34786192e+01] [-2.88937535e-02 9.99582488e-01 4.62031099e-07 -1.67590567e-01] [ 2.57284201e-04 6.97478725e-06 9.99999967e-01 -2.32173096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.51, Y:-0.17, Z:-0.23 [[ 9.99547090e-01 3.00704582e-02 -1.17601058e-03 3.35068976e+01] [-3.00704762e-02 9.99547781e-01 2.33529845e-06 -1.70467687e-01] [ 1.17554899e-03 3.30289574e-05 9.99999308e-01 -2.31970091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.17, Z:-0.23 [[ 9.99519511e-01 3.09844042e-02 -8.44345170e-04 3.35350527e+01] [-3.09844139e-02 9.99519868e-01 1.59070047e-06 -1.73590169e-01] [ 8.43989060e-04 2.45716041e-05 9.99999644e-01 -2.31668070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:-0.18, Z:-0.23 [[ 9.99449564e-01 3.31364054e-02 1.59614791e-03 3.35631930e+01] [-3.31364426e-02 9.99450837e-01 -3.15055736e-06 -1.81694298e-01] [-1.59537576e-03 -4.97418405e-05 9.99998726e-01 -2.31696047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:-0.19, Z:-0.23 [[ 9.99410395e-01 3.42670452e-02 2.15235540e-03 3.35900093e+01] [-3.42671158e-02 9.99412710e-01 -4.05166469e-06 -1.85885031e-01] [-2.15123018e-03 -6.97057361e-05 9.99997684e-01 -2.31938603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.19, Z:-0.23 [[ 9.99380466e-01 3.51352712e-02 2.04880093e-03 3.36180513e+01] [-3.51353374e-02 9.99382563e-01 -3.69912095e-06 -1.88901229e-01] [-2.04766590e-03 -6.82884828e-05 9.99997901e-01 -2.32572867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.745898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.19, Z:-0.23 [[ 9.99306546e-01 3.72222831e-02 9.63298693e-04 3.36453189e+01] [-3.72222987e-02 9.99307010e-01 -1.72045883e-06 -1.92289801e-01] [-9.62695177e-04 -3.41369259e-05 9.99999536e-01 -2.34438885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.20, Z:-0.23 [[ 9.99226347e-01 3.93034968e-02 1.39353967e-03 3.36731694e+01] [-3.93035317e-02 9.99227318e-01 -2.32613932e-06 -1.95661714e-01] [-1.39255433e-03 -5.24466910e-05 9.99999029e-01 -2.32529979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.70, Y:-0.20, Z:-0.23 [[ 9.99147895e-01 4.12056918e-02 2.36103220e-03 3.36999513e+01] [-4.12057981e-02 9.99150680e-01 -3.64322463e-06 -1.99053530e-01] [-2.35917705e-03 -9.36480959e-05 9.99997213e-01 -2.32801023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.73, Y:-0.20, Z:-0.23 [[ 9.99068051e-01 4.30643710e-02 2.91358657e-03 3.37277280e+01] [-4.30645416e-02 9.99072292e-01 -4.17764658e-06 -2.02452895e-01] [-2.91106352e-03 -1.21298517e-04 9.99995755e-01 -2.32478968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.865898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.21, Z:-0.23 [[ 9.98884462e-01 4.71276046e-02 2.96997083e-03 3.37559109e+01] [-4.71278005e-02 9.98888868e-01 -4.04527324e-06 -2.07520652e-01] [-2.96686145e-03 -1.35927432e-04 9.99995590e-01 -2.33302087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.21, Z:-0.23 [[ 9.98787875e-01 4.91179617e-02 3.19487373e-03 3.37833703e+01] [-4.91181993e-02 9.98792973e-01 -4.09465848e-06 -2.10510387e-01] [-3.19121856e-03 -1.52836750e-04 9.99994896e-01 -2.30976446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.81, Y:-0.21, Z:-0.23 [[ 9.98678409e-01 5.12905759e-02 3.27309995e-03 3.38112624e+01] [-5.12908377e-02 9.98683759e-01 -3.94344872e-06 -2.14183953e-01] [-3.26899402e-03 -1.63941801e-04 9.99994643e-01 -2.31571883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.22, Z:-0.23 [[ 9.98471296e-01 5.51612578e-02 3.50813159e-03 3.38384132e+01] [-5.51615835e-02 9.98477441e-01 -3.94188111e-06 -2.21483810e-01] [-3.50300769e-03 -1.89578238e-04 9.99993846e-01 -2.31498358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:-0.23, Z:-0.23 [[ 9.98405748e-01 5.63374370e-02 3.47223108e-03 3.38668468e+01] [-5.63377640e-02 9.98411767e-01 -3.63656376e-06 -2.25131749e-01] [-3.46692124e-03 -1.91986969e-04 9.99993972e-01 -2.31934678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.23, Z:-0.23 [[ 9.98359119e-01 5.71955732e-02 2.78134816e-03 3.38950725e+01] [-5.71957868e-02 9.98362981e-01 -2.72566463e-06 -2.28842226e-01] [-2.77695093e-03 -1.56360204e-04 9.99996132e-01 -2.32216177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.25, Z:-0.24 [[ 9.98269628e-01 5.83386088e-02 7.37265188e-03 3.39229887e+01] [-5.85137553e-02 9.97939350e-01 2.63285791e-02 -2.49245385e-01] [-5.82148675e-03 -2.67144224e-02 9.99626155e-01 -2.44750026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:-0.23, Z:-0.22 [[ 9.98261061e-01 5.89467808e-02 3.61165984e-04 3.39516280e+01] [-5.89165268e-02 9.97911083e-01 -2.65011933e-02 -2.29422109e-01] [-1.92257157e-03 2.64338307e-02 9.99648716e-01 -2.23505312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.105898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.24, Z:-0.23 [[ 9.98249736e-01 5.91348996e-02 -7.26112115e-04 3.39797754e+01] [-5.91349149e-02 9.98250000e-01 3.68050741e-07 -2.43425212e-01] [ 7.24863183e-04 4.25711716e-05 9.99999736e-01 -2.34420842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.25, Z:-0.23 [[ 9.98202596e-01 5.99288926e-02 -3.25407935e-04 3.40067339e+01] [-5.99288958e-02 9.98202648e-01 7.82898682e-08 -2.50456477e-01] [ 3.24827755e-04 1.94231891e-05 9.99999947e-01 -2.33707222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.25, Z:-0.23 [[ 9.98237443e-01 5.93450467e-02 4.15010610e-04 3.40340648e+01] [-5.93450517e-02 9.98237529e-01 -2.80957960e-07 -2.53827489e-01] [-4.14295839e-04 -2.43483633e-05 9.99999914e-01 -2.33616554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.26, Z:-0.23 [[ 9.98298918e-01 5.82904235e-02 1.22379989e-03 3.40617480e+01] [-5.82904665e-02 9.98299665e-01 -5.42694962e-07 -2.56740190e-01] [-1.22175066e-03 -7.07940950e-05 9.99999251e-01 -2.33404667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.26, Z:-0.23 [[ 9.98347504e-01 5.74467330e-02 1.46099145e-03 3.40894514e+01] [-5.74467936e-02 9.98348569e-01 -5.26734934e-07 -2.59464713e-01] [-1.45860899e-03 -8.34034099e-05 9.99998933e-01 -2.33428779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:-0.27, Z:-0.24 [[ 9.98412224e-01 5.63164033e-02 1.22246762e-03 3.41167885e+01] [-5.63164449e-02 9.98412970e-01 -3.64616260e-07 -2.65262608e-01] [-1.22054806e-03 -6.84809932e-05 9.99999253e-01 -2.36081004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.285898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:34.14, Y:-0.27, Z:-0.24 [[ 9.98436879e-01 5.58907854e-02 1.39541344e-04 3.41437802e+01] [-5.58907859e-02 9.98436888e-01 -1.11852969e-07 -2.68187589e-01] [-1.39329477e-04 -7.68739724e-06 9.99999990e-01 -2.38138523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.27, Z:-0.24 [[ 9.98472335e-01 5.52538092e-02 -1.09843817e-04 3.41712628e+01] [-5.52538095e-02 9.98472341e-01 -7.68058150e-08 -2.71334568e-01] [ 1.09671770e-04 6.14597784e-06 9.99999994e-01 -2.36552287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:-0.28, Z:-0.23 [[ 9.98597501e-01 5.29407135e-02 -5.59149674e-04 3.41980506e+01] [-5.29407219e-02 9.98597657e-01 -1.10192531e-07 -2.75874908e-01] [ 5.58359720e-04 2.97118254e-05 9.99999844e-01 -2.34168810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.28, Z:-0.23 [[ 9.98635998e-01 5.22064478e-02 -7.94120505e-04 3.42261158e+01] [-5.22064643e-02 9.98636313e-01 -1.47864278e-07 -2.78645999e-01] [ 7.93029853e-04 4.16058864e-05 9.99999685e-01 -2.33954516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.405898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.28, Z:-0.24 [[ 9.98672829e-01 5.14893566e-02 -1.19461592e-03 3.42545011e+01] [-5.14893937e-02 9.98673541e-01 -2.74796242e-07 -2.81399360e-01] [ 1.19301716e-03 6.17844808e-05 9.99999286e-01 -2.35666632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.29, Z:-0.23 [[ 9.98659959e-01 5.17490429e-02 -5.67942762e-04 3.42826285e+01] [-5.17490514e-02 9.98660120e-01 -2.14727461e-07 -2.88752234e-01] [ 5.67170675e-04 2.96049389e-05 9.99999839e-01 -2.34204734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.29, Z:-0.23 [[ 9.98622850e-01 5.24633276e-02 4.63088813e-05 3.43093755e+01] [-5.24633276e-02 9.98622851e-01 -7.94094592e-08 -2.91739267e-01] [-4.62492732e-05 -2.35021791e-06 9.99999999e-01 -2.33651221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.29, Z:-0.23 [[ 9.98566636e-01 5.35225576e-02 9.93220359e-05 3.43369476e+01] [-5.35225578e-02 9.98566641e-01 -4.28596837e-08 -2.94488563e-01] [-9.91819657e-05 -5.27317116e-06 9.99999995e-01 -2.32042256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:-0.30, Z:-0.23 [[ 9.98496738e-01 5.48054203e-02 7.93429117e-04 3.43641296e+01] [-5.48054378e-02 9.98497053e-01 2.84524208e-07 -2.98086653e-01] [-7.92221042e-04 -4.37683266e-05 9.99999685e-01 -2.31855277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.31, Z:-0.23 [[ 9.98319621e-01 5.79001414e-02 2.34699229e-03 3.43920653e+01] [-5.79003037e-02 9.98322370e-01 1.20860117e-06 -3.07179905e-01] [-2.34298493e-03 -1.37098137e-04 9.99997246e-01 -2.31357895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.31, Z:-0.23 [[ 9.98219546e-01 5.95649907e-02 3.12240424e-03 3.44204777e+01] [-5.95652868e-02 9.98224412e-01 1.85627944e-06 -3.10257841e-01] [-3.11674957e-03 -1.87839879e-04 9.99995125e-01 -2.31517496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.32, Z:-0.24 [[ 9.98144398e-01 6.05266113e-02 6.65504206e-03 3.44480710e+01] [-6.06030203e-02 9.98090398e-01 1.19511981e-02 -3.17541026e-01] [-5.91896806e-03 -1.23323371e-02 9.99906435e-01 -2.36037239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.31, Z:-0.23 [[ 9.98132773e-01 6.09616984e-02 3.82594549e-03 3.44759389e+01] [-6.09123854e-02 9.98072182e-01 -1.18995786e-02 -3.10170682e-01] [-4.54398828e-03 1.16443119e-02 9.99921878e-01 -2.28529494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:-0.32, Z:-0.23 [[ 9.98110234e-01 6.13564125e-02 3.36907976e-03 3.45042904e+01] [-6.13567706e-02 9.98115898e-01 2.93228604e-06 -3.19259357e-01] [-3.36255216e-03 -2.09642599e-04 9.99994325e-01 -2.32304493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.705898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.33, Z:-0.24 [[ 9.98006956e-01 6.30262304e-02 3.13203713e-03 3.45318308e+01] [-6.30265487e-02 9.98011851e-01 2.94571154e-06 -3.25604916e-01] [-3.12562451e-03 -2.00341331e-04 9.99995095e-01 -2.36034988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.56, Y:-0.33, Z:-0.23 [[ 9.97904630e-01 6.46132169e-02 3.38850970e-03 3.45595311e+01] [-6.46135995e-02 9.97910358e-01 3.44024219e-06 -3.27898244e-01] [-3.38120665e-03 -2.22376842e-04 9.99994259e-01 -2.33894777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.33, Z:-0.23 [[ 9.97855498e-01 6.53720793e-02 3.30102872e-03 3.45866734e+01] [-6.53724473e-02 9.97860934e-01 3.61609309e-06 -3.28904375e-01] [-3.29373121e-03 -2.19404665e-04 9.99994552e-01 -2.34635396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.33, Z:-0.23 [[ 9.97843966e-01 6.56249364e-02 8.87121878e-04 3.46135732e+01] [-6.56249631e-02 9.97844359e-01 9.70474883e-07 -3.32591913e-01] [-8.85145874e-04 -5.91857229e-05 9.99999607e-01 -2.34222947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.34, Z:-0.24 [[ 9.97891722e-01 6.49003767e-02 -2.29320142e-04 3.46408553e+01] [-6.49003785e-02 9.97891748e-01 -3.93368719e-07 -3.35835885e-01] [ 2.28811148e-04 1.52755034e-05 9.99999974e-01 -2.35713745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.855898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.34, Z:-0.24 [[ 9.98001103e-01 6.31962888e-02 -1.68740013e-04 3.46692173e+01] [-6.31962898e-02 9.98001117e-01 -3.10658784e-07 -3.38407641e-01] [ 1.68383089e-04 1.09737806e-05 9.99999986e-01 -2.37350713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.34, Z:-0.24 [[ 9.98141548e-01 6.09197084e-02 1.49619867e-03 3.46968750e+01] [-6.09197798e-02 9.98142665e-01 2.11475028e-06 -3.40988384e-01] [-1.49329090e-03 -9.32589134e-05 9.99998881e-01 -2.35386396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:-0.35, Z:-0.23 [[ 9.98453504e-01 5.55519453e-02 2.14071833e-03 3.47240025e+01] [-5.55520795e-02 9.98455791e-01 3.22798445e-06 -3.46836694e-01] [-2.13723329e-03 -1.22144347e-04 9.99997709e-01 -2.33095364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.945898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:34.75, Y:-0.35, Z:-0.24 [[ 9.98613295e-01 5.26398071e-02 7.33496958e-04 3.47520378e+01] [-5.26398220e-02 9.98613563e-01 1.11072285e-06 -3.50839279e-01] [-7.32421542e-04 -3.97203319e-05 9.99999731e-01 -2.35763310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.78, Y:-0.36, Z:-0.23 [[ 9.98697055e-01 5.10308162e-02 -2.19580828e-04 3.47793756e+01] [-5.10308175e-02 9.98697079e-01 -4.69651405e-07 -3.57766842e-01] [ 2.19270765e-04 1.16744287e-05 9.99999976e-01 -2.32826817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:-0.37, Z:-0.23 [[ 9.98764938e-01 4.96732535e-02 1.08008384e-03 3.48068102e+01] [-4.96732845e-02 9.98765520e-01 1.84427607e-06 -3.69611010e-01] [-1.07865889e-03 -5.54933103e-05 9.99999417e-01 -2.32479562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.38, Z:-0.23 [[ 9.98736429e-01 5.02375739e-02 1.31611937e-03 3.48336909e+01] [-5.02376206e-02 9.98737294e-01 2.41587989e-06 -3.75153457e-01] [-1.31433613e-03 -6.85315331e-05 9.99999134e-01 -2.32716541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.86, Y:-0.38, Z:-0.23 [[ 9.98684456e-01 5.12709903e-02 8.02260841e-04 3.48615941e+01] [-5.12710080e-02 9.98684777e-01 1.50634440e-06 -3.80887705e-01] [-8.01128457e-04 -4.26370847e-05 9.99999678e-01 -2.33152909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.89, Y:-0.39, Z:-0.23 [[ 9.98480836e-01 5.50797919e-02 -1.49538827e-03 3.48888907e+01] [-5.50798582e-02 9.98481952e-01 -3.17687807e-06 -3.92113298e-01] [ 1.49294321e-03 8.55378255e-05 9.99998882e-01 -2.33453051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.92, Y:-0.40, Z:-0.23 [[ 9.98290072e-01 5.84207986e-02 -1.98561613e-03 3.49167213e+01] [-5.84209223e-02 9.98292039e-01 -4.31628322e-06 -3.95853893e-01] [ 1.98197261e-03 1.20310428e-04 9.99998029e-01 -2.32508846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.40, Z:-0.23 [[ 9.98042210e-01 6.25309553e-02 -1.27571843e-03 3.49443950e+01] [-6.25310099e-02 9.98043022e-01 -2.89510695e-06 -3.98499374e-01] [ 1.27304084e-03 8.26614004e-05 9.99999186e-01 -2.31637188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.97, Y:-0.40, Z:-0.23 [[ 9.97586254e-01 6.94250071e-02 1.35464495e-03 3.49717129e+01] [-6.94250749e-02 9.97587169e-01 3.01005640e-06 -4.04158290e-01] [-1.35116745e-03 -9.70491183e-05 9.99999082e-01 -2.31690442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.215898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.41, Z:-0.23 [[ 9.97426781e-01 7.16570946e-02 2.25329300e-03 3.50000502e+01] [-7.16572883e-02 9.97429312e-01 5.24386261e-06 -4.07539876e-01] [-2.24712472e-03 -1.66695235e-04 9.99997461e-01 -2.34419172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.245898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.03, Y:-0.41, Z:-0.23 [[ 9.97431060e-01 7.15975070e-02 2.25329265e-03 3.50285343e+01] [-7.15977009e-02 9.97433591e-01 5.39185284e-06 -4.07347493e-01] [-2.24712373e-03 -1.66708574e-04 9.99997461e-01 -2.34450651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.06, Y:-0.41, Z:-0.23 [[ 9.97315851e-01 7.31611786e-02 2.92142235e-03 3.50569918e+01] [-7.31615118e-02 9.97320106e-01 7.20602671e-06 -4.11339630e-01] [-2.91306604e-03 -2.20922360e-04 9.99995733e-01 -2.33528099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.41, Z:-0.23 [[ 9.97278098e-01 7.36604569e-02 3.24531624e-03 3.50839037e+01] [-7.36608716e-02 9.97283348e-01 8.26952496e-06 -4.14212863e-01] [-3.23589071e-03 -2.47299839e-04 9.99994734e-01 -2.34125083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.42, Z:-0.23 [[ 9.97351948e-01 7.26701239e-02 2.85401447e-03 3.51114988e+01] [-7.26704411e-02 9.97356008e-01 7.47754525e-06 -4.19730795e-01] [-2.84592509e-03 -2.14860235e-04 9.99995927e-01 -2.34841634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.42, Z:-0.23 [[ 9.97424929e-01 7.16745046e-02 2.50521037e-03 3.51383114e+01] [-7.16747465e-02 9.97428058e-01 6.77624625e-06 -4.22979544e-01] [-2.49828143e-03 -1.86319115e-04 9.99996862e-01 -2.34709530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.43, Z:-0.23 [[ 9.97506452e-01 7.05440605e-02 2.10075787e-03 3.51658756e+01] [-7.05442284e-02 9.97508652e-01 5.84644852e-06 -4.26486250e-01] [-2.09511172e-03 -1.54028213e-04 9.99997793e-01 -2.34211448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:-0.43, Z:-0.23 [[ 9.97707658e-01 6.76530785e-02 1.57806535e-03 3.51926072e+01] [-6.76531698e-02 9.97708900e-01 4.48785714e-06 -4.33040824e-01] [-1.57414623e-03 -1.11238693e-04 9.99998755e-01 -2.33827569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:-0.44, Z:-0.23 [[ 9.97810943e-01 6.61123704e-02 1.57351913e-03 3.52201029e+01] [-6.61124594e-02 9.97812178e-01 4.59616582e-06 -4.35878480e-01] [-1.56977269e-03 -1.08615324e-04 9.99998762e-01 -2.33905392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.25, Y:-0.44, Z:-0.23 [[ 9.97903789e-01 6.46874605e-02 1.88686514e-03 3.52481945e+01] [-6.46875863e-02 9.97905565e-01 5.65589981e-06 -4.39569739e-01] [-1.88254736e-03 -1.27700795e-04 9.99998220e-01 -2.33821760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.28, Y:-0.44, Z:-0.23 [[ 9.98022937e-01 6.28220703e-02 1.89860695e-03 3.52774757e+01] [-6.28221946e-02 9.98024735e-01 5.80356805e-06 -4.43849552e-01] [-1.89449210e-03 -1.25066749e-04 9.99998198e-01 -2.33052470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.45, Z:-0.23 [[ 9.98383043e-01 5.67893325e-02 2.50425352e-03 3.53049671e+01] [-5.67895300e-02 9.98386172e-01 7.80139488e-06 -4.53856000e-01] [-2.49976906e-03 -1.50004161e-04 9.99996864e-01 -2.32352958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.46, Z:-0.23 [[ 9.98565566e-01 5.34879685e-02 2.41799418e-03 3.53338009e+01] [-5.34881433e-02 9.98568485e-01 7.65718038e-06 -4.58689839e-01] [-2.41412321e-03 -1.36980216e-04 9.99997077e-01 -2.32272371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.46, Z:-0.23 [[ 9.98716907e-01 5.05851016e-02 2.38480404e-03 3.53620414e+01] [-5.05852638e-02 9.98719746e-01 7.68835987e-06 -4.63590685e-01] [-2.38136196e-03 -1.28314436e-04 9.99997156e-01 -2.32374738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.39, Y:-0.47, Z:-0.23 [[ 9.98893655e-01 4.69568329e-02 2.55360339e-03 3.53895320e+01] [-4.69570074e-02 9.98896911e-01 8.39506718e-06 -4.74778411e-01] [-2.55039233e-03 -1.28295353e-04 9.99996740e-01 -2.32031364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:-0.48, Z:-0.23 [[ 9.98893238e-01 4.69909411e-02 2.03730609e-03 3.54185762e+01] [-4.69910524e-02 9.98895310e-01 6.79353340e-06 -4.80317531e-01] [-2.03473627e-03 -1.02521172e-04 9.99997925e-01 -2.32139817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.45, Y:-0.49, Z:-0.23 [[ 9.98811177e-01 4.87327123e-02 1.16400988e-03 3.54472639e+01] [-4.87327499e-02 9.98811854e-01 3.91404845e-06 -4.85558392e-01] [-1.16243613e-03 -6.06347979e-05 9.99999323e-01 -2.32110794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.49, Z:-0.23 [[ 9.98425649e-01 5.60906419e-02 -2.51827395e-04 3.54748874e+01] [-5.60906439e-02 9.98425681e-01 -9.46499895e-07 -4.94438229e-01] [ 2.51377848e-04 1.50701705e-05 9.99999968e-01 -2.32089686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.50, Y:-0.50, Z:-0.23 [[ 9.98170907e-01 6.04534037e-02 -4.75367450e-04 3.55023285e+01] [-6.04534113e-02 9.98171020e-01 -1.74509436e-06 -4.97775092e-01] [ 4.74392515e-04 3.04794864e-05 9.99999887e-01 -2.32514321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.50, Z:-0.23 [[ 9.97880583e-01 6.50718014e-02 -4.31639835e-05 3.55309604e+01] [-6.50718014e-02 9.97880584e-01 -2.08070916e-07 -5.00876019e-01] [ 4.30589615e-05 3.01638809e-06 9.99999999e-01 -2.32427907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.56, Y:-0.50, Z:-0.23 [[ 9.97589150e-01 6.93961043e-02 2.60522849e-04 3.55589889e+01] [-6.93961069e-02 9.97589184e-01 8.82159523e-07 -5.03901467e-01] [-2.59833558e-04 -1.89593042e-05 9.99999966e-01 -2.32210735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.59, Y:-0.51, Z:-0.23 [[ 9.97295307e-01 7.34963961e-02 5.92502996e-04 3.55865527e+01] [-7.34964102e-02 9.97295482e-01 2.12722225e-06 -5.07510368e-01] [-5.90744217e-04 -4.56683120e-05 9.99999824e-01 -2.32718290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.51, Z:-0.23 [[ 9.96876407e-01 7.89746469e-02 6.58771759e-04 3.56140693e+01] [-7.89746656e-02 9.96876623e-01 2.41306920e-06 -5.12393169e-01] [-6.56523595e-04 -5.44318111e-05 9.99999783e-01 -2.33447524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.64, Y:-0.51, Z:-0.23 [[ 9.96728465e-01 8.08215829e-02 4.87659058e-04 3.56428542e+01] [-8.08215934e-02 9.96728584e-01 1.80373635e-06 -5.13943478e-01] [-4.85917942e-04 -4.12112175e-05 9.99999881e-01 -2.33637861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.67, Y:-0.52, Z:-0.23 [[ 9.96611993e-01 8.22457490e-02 4.15731421e-04 3.56720113e+01] [-8.22457567e-02 9.96612079e-01 1.54917098e-06 -5.15400401e-01] [-4.14195543e-04 -3.57360677e-05 9.99999914e-01 -2.33799099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:-0.52, Z:-0.23 [[ 9.96450448e-01 8.41813273e-02 -9.23845423e-05 3.56995565e+01] [-8.41813277e-02 9.96450452e-01 -4.25892825e-07 -5.20314557e-01] [ 9.20207668e-05 8.20143453e-06 9.99999996e-01 -2.33275974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.52, Z:-0.23 [[ 9.96427272e-01 8.44459706e-02 -1.25300282e-03 3.57276638e+01] [-8.44460432e-02 9.96428053e-01 -5.03545390e-06 -5.23371731e-01] [ 1.24810194e-03 1.10828594e-04 9.99999215e-01 -2.33050057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.53, Z:-0.23 [[ 9.96446707e-01 8.41980503e-02 -2.15617686e-03 3.57555655e+01] [-8.41982648e-02 9.96449021e-01 -8.75521194e-06 -5.26655660e-01] [ 2.14778315e-03 1.90270452e-04 9.99997675e-01 -2.33278524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.78, Y:-0.53, Z:-0.23 [[ 9.96578291e-01 8.26419889e-02 -1.41830149e-03 3.57829161e+01] [-8.26420803e-02 9.96579293e-01 -5.85085204e-06 -5.32501002e-01] [ 1.41296637e-03 1.23042218e-04 9.99998994e-01 -2.32643025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.81, Y:-0.53, Z:-0.23 [[ 9.96643093e-01 8.18669311e-02 5.92908771e-04 3.58115357e+01] [-8.18669469e-02 9.96643268e-01 2.39763470e-06 -5.34549708e-01] [-5.90722248e-04 -5.09292169e-05 9.99999824e-01 -2.31902272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.54, Z:-0.23 [[ 9.96707882e-01 8.10587860e-02 1.69470984e-03 3.58401196e+01] [-8.10589142e-02 9.96709312e-01 7.02402289e-06 -5.36358728e-01] [-1.68856372e-03 -1.44372238e-04 9.99998564e-01 -2.31653758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:-0.54, Z:-0.23 [[ 9.96804236e-01 7.98668323e-02 1.61405785e-03 3.58688488e+01] [-7.98669472e-02 9.96805533e-01 6.76188178e-06 -5.38407925e-01] [-1.60836175e-03 -1.35650146e-04 9.99998697e-01 -2.32640926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:-0.54, Z:-0.23 [[ 9.96843118e-01 7.93882755e-02 -1.13970982e-03 3.58971765e+01] [-7.93883326e-02 9.96843765e-01 -4.94254113e-06 -5.41968812e-01] [ 1.13572025e-03 9.54066001e-05 9.99999351e-01 -2.34152264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.93, Y:-0.54, Z:-0.23 [[ 9.96772840e-01 8.02681910e-02 -9.60939869e-04 3.59260015e+01] [-8.02682321e-02 9.96773300e-01 -4.20717186e-06 -5.43699567e-01] [ 9.57501502e-04 8.13265391e-05 9.99999538e-01 -2.34754811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.55, Z:-0.23 [[ 9.96747755e-01 8.05834230e-02 -4.73591290e-04 3.59533628e+01] [-8.05834331e-02 9.96747867e-01 -2.13830694e-06 -5.45929338e-01] [ 4.71878797e-04 4.02949647e-05 9.99999888e-01 -2.34041549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:-0.55, Z:-0.23 [[ 9.96942363e-01 7.81178350e-02 1.87837657e-03 3.59825978e+01] [-7.81179883e-02 9.96944121e-01 8.26823060e-06 -5.49737832e-01] [-1.87199058e-03 -1.54977948e-04 9.99998236e-01 -2.33557149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:-0.55, Z:-0.23 [[ 9.97180662e-01 7.50084856e-02 2.11072182e-03 3.60111481e+01] [-7.50086724e-02 9.97182881e-01 9.37248724e-06 -5.51904408e-01] [-2.10407265e-03 -1.67668504e-04 9.99997772e-01 -2.34217746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.04, Y:-0.56, Z:-0.24 [[ 9.97434142e-01 7.15645726e-02 1.90888108e-03 3.60401325e+01] [-7.15647192e-02 9.97435958e-01 8.52660440e-06 -5.55035459e-01] [-1.90337643e-03 -1.45113265e-04 9.99998178e-01 -2.35767577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:-0.56, Z:-0.24 [[ 9.97866660e-01 6.52744992e-02 1.16995252e-03 3.60708506e+01] [-6.52745500e-02 9.97867342e-01 5.24879016e-06 -5.64282601e-01] [-1.16711480e-03 -8.16057169e-05 9.99999316e-01 -2.37749050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.385898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.10, Y:-0.57, Z:-0.24 [[ 9.97991974e-01 6.33371160e-02 6.55674954e-04 3.60996405e+01] [-6.33371315e-02 9.97992188e-01 2.92616313e-06 -5.67986947e-01] [-6.54173148e-04 -4.44488581e-05 9.99999785e-01 -2.40156283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:-0.57, Z:-0.24 [[ 9.98045234e-01 6.24956711e-02 4.63182515e-05 3.61296538e+01] [-6.24956712e-02 9.98045235e-01 1.85286592e-07 -5.72458601e-01] [-4.62161305e-05 -3.07961461e-06 9.99999999e-01 -2.37868709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.16, Y:-0.58, Z:-0.24 [[ 9.98076927e-01 6.19609211e-02 -1.81441220e-03 3.61592240e+01] [-6.19610382e-02 9.98078569e-01 -8.31006987e-06 -5.80068697e-01] [ 1.81041104e-03 1.20716953e-04 9.99998354e-01 -2.37250743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.58, Z:-0.24 [[ 9.98066143e-01 6.20752377e-02 -3.26178140e-03 3.61882550e+01] [-6.20756169e-02 9.98071449e-01 -1.50420650e-05 -5.84496321e-01] [ 3.25455715e-03 2.17490069e-04 9.99994680e-01 -2.37487456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.59, Z:-0.24 [[ 9.98057567e-01 6.21397811e-02 -4.44310622e-03 3.62176323e+01] [-6.21404856e-02 9.98067412e-01 -2.05641099e-05 -5.88676250e-01] [ 4.43324168e-03 2.96620944e-04 9.99990129e-01 -2.38398105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.60, Z:-0.24 [[ 9.97925386e-01 6.43164689e-02 -2.88359487e-03 3.62461408e+01] [-6.43167752e-02 9.97929533e-01 -1.35214425e-05 -5.95128749e-01] [ 2.87675483e-03 1.98956914e-04 9.99995842e-01 -2.39425455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.60, Z:-0.24 [[ 9.97871043e-01 6.52084521e-02 -1.11307924e-03 3.62760380e+01] [-6.52084983e-02 9.97871661e-01 -5.17385827e-06 -5.97004550e-01] [ 1.11037285e-03 7.77450688e-05 9.99999381e-01 -2.38763225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.60, Z:-0.24 [[ 9.97848574e-01 6.55605151e-02 2.07654894e-04 3.63069287e+01] [-6.55605167e-02 9.97848595e-01 9.67553219e-07 -5.99087829e-01] [-2.07144711e-04 -1.45794337e-05 9.99999978e-01 -2.38829054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.60, Z:-0.24 [[ 9.97866264e-01 6.52908164e-02 -1.70311668e-04 3.63377221e+01] [-6.52908175e-02 9.97866278e-01 -7.93555109e-07 -6.01813030e-01] [ 1.69896458e-04 1.19116499e-05 9.99999985e-01 -2.38175430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.61, Z:-0.24 [[ 9.98033059e-01 6.26799390e-02 -1.11321149e-03 3.63685303e+01] [-6.26799834e-02 9.98033677e-01 -5.06387959e-06 -6.09700314e-01] [ 1.11070515e-03 7.48299968e-05 9.99999380e-01 -2.39446690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.61, Z:-0.24 [[ 9.98184326e-01 6.02280499e-02 7.96394571e-04 3.63990669e+01] [-6.02280719e-02 9.98184642e-01 3.68272491e-06 -6.13964474e-01] [-7.94727026e-04 -5.16413477e-05 9.99999683e-01 -2.38843537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.62, Z:-0.24 [[ 9.98353368e-01 5.72354321e-02 3.82866752e-03 3.64301295e+01] [-5.72359179e-02 9.98360681e-01 1.73650674e-05 -6.18433603e-01] [-3.82139721e-03 -2.36473773e-04 9.99992670e-01 -2.37690383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:-0.63, Z:-0.24 [[ 9.98629305e-01 5.18726904e-02 6.98105344e-03 3.64630412e+01] [-5.18741672e-02 9.98653629e-01 3.05184666e-05 -6.30684971e-01] [-6.97007127e-03 -3.92612968e-04 9.99975632e-01 -2.35712159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.775898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.50, Y:-0.64, Z:-0.24 [[ 9.98737085e-01 4.99394983e-02 5.50289492e-03 3.64961565e+01] [-4.99403811e-02 9.98752200e-01 2.30515368e-05 -6.37976234e-01] [-5.49487722e-03 -2.97839094e-04 9.99984859e-01 -2.38619052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.805898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.65, Z:-0.24 [[ 9.98802551e-01 4.87174285e-02 4.48064790e-03 3.65284713e+01] [-4.87179981e-02 9.98812573e-01 1.79920909e-05 -6.45634013e-01] [-4.47445093e-03 -2.36258742e-04 9.99989962e-01 -2.38236576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.835898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:36.56, Y:-0.66, Z:-0.24 [[ 9.98718149e-01 5.03477659e-02 5.21167394e-03 3.65611460e+01] [-5.03485535e-02 9.98731707e-01 1.99440792e-05 -6.57763896e-01] [-5.20405988e-03 -2.82318758e-04 9.99986419e-01 -2.37902788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.66, Z:-0.23 [[ 9.98570164e-01 5.31958950e-02 5.27483289e-03 3.65939756e+01] [-5.31967363e-02 9.98584051e-01 1.92146433e-05 -6.63788612e-01] [-5.26634186e-03 -2.99791064e-04 9.99986088e-01 -2.33186916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.67, Z:-0.23 [[ 9.98386360e-01 5.66378210e-02 4.10276556e-03 3.66270091e+01] [-5.66383560e-02 9.98394760e-01 1.42389342e-05 -6.69844595e-01] [-4.09537318e-03 -2.46589854e-04 9.99991584e-01 -2.32539413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.925898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.68, Z:-0.24 [[ 9.98195866e-01 5.99881174e-02 2.53744940e-03 3.66592606e+01] [-5.99883319e-02 9.98199078e-01 8.43670668e-06 -6.75758683e-01] [-2.53237355e-03 -1.60638842e-04 9.99996781e-01 -2.35241301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.69, Z:-0.23 [[ 9.97870857e-01 6.52119254e-02 1.07577636e-03 3.66922324e+01] [-6.52119669e-02 9.97871434e-01 3.50233428e-06 -6.87142911e-01] [-1.07325810e-03 -7.36483694e-05 9.99999421e-01 -2.32228459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.72, Y:-0.69, Z:-0.23 [[ 9.97693886e-01 6.78614312e-02 1.31772545e-03 3.67238751e+01] [-6.78614953e-02 9.97694752e-01 3.99425634e-06 -6.92153754e-01] [-1.31441670e-03 -9.34078643e-05 9.99999132e-01 -2.32339244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.70, Z:-0.23 [[ 9.97468150e-01 7.11033742e-02 1.26459826e-03 3.67570564e+01] [-7.11034356e-02 9.97468948e-01 3.61699869e-06 -6.97816956e-01] [-1.26114031e-03 -9.35251218e-05 9.99999200e-01 -2.32685732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:-0.70, Z:-0.23 [[ 9.97291904e-01 7.35403405e-02 8.22863927e-04 3.67897054e+01] [-7.35403673e-02 9.97292241e-01 2.27591879e-06 -7.02815793e-01] [-8.20468438e-04 -6.27834708e-05 9.99999661e-01 -2.33626750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.71, Z:-0.24 [[ 9.97131659e-01 7.56792509e-02 -1.05126331e-03 3.68231052e+01] [-7.56792951e-02 9.97132210e-01 -2.27006844e-06 -7.08760099e-01] [ 1.04807671e-03 8.18224236e-05 9.99999447e-01 -2.36188879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.86, Y:-0.71, Z:-0.24 [[ 9.97075580e-01 7.64201657e-02 -4.96588725e-04 3.68558164e+01] [-7.64201756e-02 9.97075703e-01 -8.76715500e-07 -7.10935241e-01] [ 4.95069553e-04 3.88235492e-05 9.99999877e-01 -2.36915544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.71, Z:-0.24 [[ 9.97069508e-01 7.64993466e-02 -4.96588562e-04 3.68893135e+01] [-7.64993565e-02 9.97069631e-01 -9.49283629e-07 -7.10990081e-01] [ 4.95060755e-04 3.89352072e-05 9.99999877e-01 -2.36952571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:-0.72, Z:-0.24 [[ 9.96951611e-01 7.79922096e-02 2.16802126e-03 3.69210614e+01] [-7.79924023e-02 9.96953953e-01 4.34770780e-06 -7.17594054e-01] [-2.16107828e-03 -1.73423641e-04 9.99997650e-01 -2.36566989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.95, Y:-0.72, Z:-0.24 [[ 9.96852654e-01 7.92126723e-02 3.18402102e-03 3.69538876e+01] [-7.92130921e-02 9.96857706e-01 5.73324744e-06 -7.21447239e-01] [-3.17356174e-03 -2.57931353e-04 9.99994931e-01 -2.36001632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:-0.72, Z:-0.24 [[ 9.96767030e-01 8.02920185e-02 2.94608715e-03 3.69870616e+01] [-8.02923810e-02 9.96771355e-01 4.78394824e-06 -7.24126928e-01] [-2.93619117e-03 -2.41316834e-04 9.99995660e-01 -2.36461472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:-0.73, Z:-0.24 [[ 9.96704312e-01 8.10898930e-02 2.22346758e-03 3.70195579e+01] [-8.10901007e-02 9.96706775e-01 3.25148935e-06 -7.25474168e-01] [-2.21588154e-03 -1.83541984e-04 9.99997528e-01 -2.37854074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:-0.73, Z:-0.24 [[ 9.96644419e-01 8.18375447e-02 1.58697849e-03 3.70515820e+01] [-8.18376511e-02 9.96645674e-01 2.09134037e-06 -7.25806568e-01] [-1.58148410e-03 -1.31958915e-04 9.99998741e-01 -2.39079020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:-0.73, Z:-0.24 [[ 9.96440018e-01 8.43001146e-02 8.84371216e-04 3.70847208e+01] [-8.43001485e-02 9.96440407e-01 1.09947670e-06 -7.26486607e-01] [-8.81130528e-04 -7.56481874e-05 9.99999609e-01 -2.39546256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.12, Y:-0.73, Z:-0.24 [[ 9.96272491e-01 8.62616992e-02 2.04820669e-04 3.71181522e+01] [-8.62617011e-02 9.96272512e-01 3.77940755e-07 -7.27411825e-01] [-2.04024601e-04 -1.80447113e-05 9.99999979e-01 -2.39680055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:-0.73, Z:-0.24 [[ 9.96147166e-01 8.76969565e-02 -2.58426619e-04 3.71503162e+01] [-8.76969594e-02 9.96147200e-01 -5.28101091e-08 -7.28467810e-01] [ 2.57426322e-04 2.27158354e-05 9.99999967e-01 -2.39700147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.18, Y:-0.73, Z:-0.24 [[ 9.96304038e-01 8.58946286e-02 -6.13482004e-04 3.71821543e+01] [-8.58946449e-02 9.96304226e-01 -1.47636070e-07 -7.29680753e-01] [ 6.11202031e-04 5.28419093e-05 9.99999812e-01 -2.39165608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:-0.73, Z:-0.24 [[ 9.96584174e-01 8.25821074e-02 -4.23797486e-04 3.72146754e+01] [-8.25821148e-02 9.96584264e-01 5.43385020e-08 -7.30656908e-01] [ 4.22354392e-04 3.49439397e-05 9.99999910e-01 -2.38587860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.73, Z:-0.24 [[ 9.96943987e-01 7.81184030e-02 -4.50086028e-04 3.72474573e+01] [-7.81184109e-02 9.96944088e-01 1.36473543e-07 -7.32614515e-01] [ 4.48721265e-04 3.50239488e-05 9.99999899e-01 -2.38347081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:-0.74, Z:-0.24 [[ 9.97574035e-01 6.96001297e-02 1.36621365e-03 3.72797476e+01] [-6.96001949e-02 9.97574966e-01 1.78384862e-07 -7.39656076e-01] [-1.36288812e-03 -9.52666883e-05 9.99999067e-01 -2.37252294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.74, Z:-0.24 [[ 9.97756608e-01 6.68840153e-02 2.87751900e-03 3.73117246e+01] [-6.68842912e-02 9.97760739e-01 -3.44590476e-07 -7.43452052e-01] [-2.87109853e-03 -1.92117001e-04 9.99995860e-01 -2.36885219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:-0.75, Z:-0.24 [[ 9.97846548e-01 6.54921328e-02 3.61219700e-03 3.73437533e+01] [-6.54925561e-02 9.97853058e-01 -1.10189867e-06 -7.46497250e-01] [-3.60451399e-03 -2.35472489e-04 9.99993476e-01 -2.37317064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.75, Z:-0.24 [[ 9.97871369e-01 6.51384652e-02 3.11639828e-03 3.73763792e+01] [-6.51387769e-02 9.97876215e-01 -1.48572226e-06 -7.49426823e-01] [-3.10987650e-03 -2.01515813e-04 9.99995144e-01 -2.37678803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.615898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.41, Y:-0.76, Z:-0.24 [[ 9.97841202e-01 6.56638104e-02 1.09547844e-03 3.74095572e+01] [-6.56638492e-02 9.97841801e-01 -5.92234975e-07 -7.57146245e-01] [-1.09315307e-03 -7.13423747e-05 9.99999400e-01 -2.41335436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:-0.76, Z:-0.24 [[ 9.97801269e-01 6.62654209e-02 1.23380508e-03 3.74414677e+01] [-6.62654702e-02 9.97802028e-01 -9.26192437e-07 -7.61871330e-01] [-1.23115459e-03 -8.08345179e-05 9.99999239e-01 -2.38304737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:-0.77, Z:-0.24 [[ 9.97758557e-01 6.68803054e-02 2.21047076e-03 3.74738143e+01] [-6.68804640e-02 9.97760995e-01 -2.19711800e-06 -7.66058857e-01] [-2.20566845e-03 -1.45645117e-04 9.99997557e-01 -2.37990346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.51, Y:-0.77, Z:-0.24 [[ 9.97613662e-01 6.88732218e-02 4.84367012e-03 3.75067772e+01] [-6.88740012e-02 9.97625367e-01 -5.91558359e-06 -7.74233482e-01] [-4.83257560e-03 -3.27701474e-04 9.99988269e-01 -2.37679401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:-0.78, Z:-0.24 [[ 9.97451282e-01 7.12182794e-02 4.34712882e-03 3.75401952e+01] [-7.12189259e-02 9.97460708e-01 -6.09097034e-06 -7.78849855e-01] [-4.33652399e-03 -3.03522399e-04 9.99990551e-01 -2.37419643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.57, Y:-0.78, Z:-0.24 [[ 9.97288614e-01 7.35311414e-02 2.93129303e-03 3.75728457e+01] [-7.35314439e-02 9.97292899e-01 -4.58238801e-06 -7.83627319e-01] [-2.92369467e-03 -2.10972246e-04 9.99995704e-01 -2.38019966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:-0.79, Z:-0.24 [[ 9.97052676e-01 7.66984529e-02 1.81901703e-03 3.76053688e+01] [-7.67090631e-02 9.97030731e-01 6.74102883e-03 -7.92850338e-01] [-1.29658940e-03 -6.86069592e-03 9.99975625e-01 -2.38295596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.64, Y:-0.79, Z:-0.24 [[ 9.96903262e-01 7.86375683e-02 -1.40913450e-04 3.76367277e+01] [-7.86367205e-02 9.96880394e-01 -6.76361157e-03 -7.88183569e-01] [-3.91400112e-04 6.75374741e-03 9.99977117e-01 -2.41019231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.855898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.67, Y:-0.79, Z:-0.24 [[ 9.96802698e-01 7.99007712e-02 4.98261265e-04 3.76686073e+01] [-7.99007807e-02 9.96802822e-01 -8.24388684e-07 -7.94011516e-01] [-4.96734104e-04 -3.89897112e-05 9.99999876e-01 -2.43197409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.885898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:37.70, Y:-0.80, Z:-0.24 [[ 9.96863872e-01 7.91350368e-02 2.60094215e-04 3.77019276e+01] [-7.91350394e-02 9.96863905e-01 -3.76070390e-07 -7.97058882e-01] [-2.59308296e-04 -2.02076750e-05 9.99999966e-01 -2.44036805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.915898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:37.73, Y:-0.80, Z:-0.24 [[ 9.97010410e-01 7.72669293e-02 -2.52774068e-04 3.77348598e+01] [-7.72669316e-02 9.97010442e-01 8.08446009e-07 -8.00412129e-01] [ 2.52080852e-04 1.87250476e-05 9.99999968e-01 -2.44184653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:-0.80, Z:-0.24 [[ 9.97251222e-01 7.40943208e-02 -1.77768414e-04 3.77669248e+01] [-7.40943219e-02 9.97251238e-01 5.72830333e-07 -8.04387364e-01] [ 1.77322215e-04 1.26003744e-05 9.99999984e-01 -2.41317612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.81, Z:-0.24 [[ 9.97865611e-01 6.52533564e-02 2.49433428e-03 3.78001333e+01] [-6.52535435e-02 9.97868716e-01 -6.37143024e-06 -8.13818700e-01] [-2.48943390e-03 -1.56406319e-04 9.99996889e-01 -2.42196372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:-0.82, Z:-0.24 [[ 9.98156397e-01 6.05870987e-02 3.60705584e-03 3.78324340e+01] [-6.05874577e-02 9.98162892e-01 -9.77728255e-06 -8.19484577e-01] [-3.60102166e-03 -2.08783086e-04 9.99993495e-01 -2.41585475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.035898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:37.87, Y:-0.82, Z:-0.24 [[ 9.98425703e-01 5.59608487e-02 3.80781102e-03 3.78652298e+01] [-5.59612125e-02 9.98432943e-01 -1.10206249e-05 -8.24578341e-01] [-3.80246069e-03 -2.02086447e-04 9.99992750e-01 -2.44277822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:-0.83, Z:-0.24 [[ 9.98627339e-01 5.23193194e-02 2.47534974e-03 3.78978691e+01] [-5.23194610e-02 9.98630399e-01 -7.55108665e-06 -8.30080579e-01] [-2.47235457e-03 -1.21968243e-04 9.99996936e-01 -2.40729367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.095898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:37.93, Y:-0.84, Z:-0.24 [[ 9.98943953e-01 4.59442050e-02 3.30402864e-04 3.79295749e+01] [-4.59442073e-02 9.98944007e-01 -8.91159014e-07 -8.38211571e-01] [-3.30094904e-04 -1.42898797e-05 9.99999945e-01 -2.43757619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.84, Z:-0.24 [[ 9.99039762e-01 4.38062231e-02 7.54555693e-04 3.79622087e+01] [-4.38062337e-02 9.99040046e-01 -2.43849584e-06 -8.42993479e-01] [-7.53938176e-04 -3.06180887e-05 9.99999715e-01 -2.39361780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:-0.85, Z:-0.24 [[ 9.99072388e-01 4.29911203e-02 2.47536166e-03 3.79955046e+01] [-4.29912299e-02 9.99075450e-01 -8.93574632e-06 -8.47672174e-01] [-2.47345722e-03 -9.74913846e-05 9.99996936e-01 -2.38262859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.185898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:38.03, Y:-0.86, Z:-0.24 [[ 9.98995444e-01 4.45026713e-02 5.25506308e-03 3.80280153e+01] [-4.45031798e-02 9.99009242e-01 -2.01870993e-05 -8.55167293e-01] [-5.25075497e-03 -2.13700197e-04 9.99986192e-01 -2.40007231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:-0.86, Z:-0.24 [[ 9.98873676e-01 4.72082225e-02 4.77107480e-03 3.80605529e+01] [-4.72086683e-02 9.98885049e-01 -1.91996086e-05 -8.58968924e-01] [-4.76666167e-03 -2.06058104e-04 9.99988618e-01 -2.36994478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:-0.86, Z:-0.24 [[ 9.98744486e-01 4.99280108e-02 4.07987532e-03 3.80937171e+01] [-4.99283565e-02 9.98752802e-01 -1.71475030e-05 -8.61421859e-01] [-4.07564305e-03 -1.86575495e-04 9.99991677e-01 -2.37882043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.13, Y:-0.87, Z:-0.24 [[ 9.98491088e-01 5.47357345e-02 4.42109517e-03 3.81268256e+01] [-5.47361837e-02 9.98500851e-01 -1.94185590e-05 -8.66531093e-01] [-4.41553018e-03 -2.22604620e-04 9.99990227e-01 -2.39024842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.16, Y:-0.87, Z:-0.24 [[ 9.98360290e-01 5.70083361e-02 5.17500483e-03 3.81585359e+01] [-5.70089783e-02 9.98373665e-01 -2.34393576e-05 -8.69858972e-01] [-5.16792478e-03 -2.71620814e-04 9.99986609e-01 -2.38798104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.19, Y:-0.87, Z:-0.24 [[ 9.98232964e-01 5.91468208e-02 5.70991178e-03 3.81913850e+01] [-5.91476321e-02 9.98249246e-01 -2.68198929e-05 -8.73186486e-01] [-5.70150144e-03 -3.10955260e-04 9.99983698e-01 -2.39084245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:-0.88, Z:-0.24 [[ 9.97969638e-01 6.35351321e-02 4.45964611e-03 3.82242338e+01] [-6.35356673e-02 9.97979568e-01 -2.17047103e-05 -8.78007788e-01] [-4.45201471e-03 -2.61685950e-04 9.99990055e-01 -2.39356896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.395898226999996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:38.26, Y:-0.88, Z:-0.24 [[ 9.97802213e-01 6.61701052e-02 3.50146770e-03 3.82569677e+01] [-6.61704491e-02 9.97808334e-01 -1.76518289e-05 -8.79227960e-01] [-3.49496168e-03 -2.14080656e-04 9.99993870e-01 -2.43212629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.29, Y:-0.88, Z:-0.24 [[ 9.97580209e-01 6.94673875e-02 2.83003388e-03 3.82890378e+01] [-6.94676241e-02 9.97584206e-01 -1.47414635e-05 -8.80662204e-01] [-2.82422115e-03 -1.81889937e-04 9.99995995e-01 -2.40230097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.32, Y:-0.88, Z:-0.24 [[ 9.97034027e-01 7.69515063e-02 1.27060169e-03 3.83215132e+01] [-7.69515599e-02 9.97034833e-01 -6.73667998e-06 -8.81361052e-01] [-1.26735254e-03 -9.10580828e-05 9.99999193e-01 -2.41168157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.35, Y:-0.88, Z:-0.24 [[ 9.96764090e-01 8.03812387e-02 -4.53951678e-04 3.83530301e+01] [-8.03812457e-02 9.96764192e-01 2.74970591e-06 -8.81063945e-01] [ 4.52703803e-04 3.37483933e-05 9.99999897e-01 -2.42231358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:-0.88, Z:-0.24 [[ 9.96533278e-01 8.31778234e-02 -1.69571314e-03 3.83863300e+01] [-8.31779260e-02 9.96534712e-01 1.00717764e-05 -8.81185972e-01] [ 1.69067475e-03 1.31009042e-04 9.99998562e-01 -2.42735118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:-0.88, Z:-0.24 [[ 9.96358977e-01 8.52549340e-02 -6.21126665e-04 3.84178965e+01] [-8.52549481e-02 9.96359169e-01 3.81188580e-06 -8.83321693e-01] [ 6.19190230e-04 4.91561150e-05 9.99999807e-01 -2.42604499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:-0.89, Z:-0.24 [[ 9.96423894e-01 8.44864546e-02 1.20972168e-03 3.84508789e+01] [-8.44865078e-02 9.96424623e-01 -7.19647345e-06 -8.85223271e-01] [-1.20600448e-03 -9.50344223e-05 9.99999268e-01 -2.42344071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.48, Y:-0.89, Z:-0.24 [[ 9.96527895e-01 8.32175903e-02 2.64340424e-03 3.84827586e+01] [-8.32178378e-02 9.96531380e-01 -1.64248500e-05 -8.87828372e-01] [-2.63560211e-03 -2.03610564e-04 9.99996506e-01 -2.42172470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:-0.89, Z:-0.24 [[ 9.96683303e-01 8.12982653e-02 3.60362145e-03 3.85147157e+01] [-8.12987104e-02 9.96689781e-01 -2.30636805e-05 -8.90679405e-01] [-3.59356772e-03 -2.69982592e-04 9.99993507e-01 -2.42101551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.90, Z:-0.24 [[ 9.96970600e-01 7.76576806e-02 4.34820692e-03 3.85477893e+01] [-7.76582906e-02 9.96980034e-01 -2.86300496e-05 -8.98611759e-01] [-4.33729883e-03 -3.09130999e-04 9.99990546e-01 -2.41800714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:-0.90, Z:-0.24 [[ 9.97064892e-01 7.64189662e-02 4.66301605e-03 3.85810595e+01] [-7.64196503e-02 9.97075742e-01 -3.15532662e-05 -9.03235677e-01] [-4.65179145e-03 -3.24885402e-04 9.99989128e-01 -2.42084798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.91, Z:-0.24 [[ 9.97159571e-01 7.52219633e-02 3.80076227e-03 3.86133494e+01] [-7.52224068e-02 9.97166781e-01 -2.63327507e-05 -9.07576908e-01] [-3.79197468e-03 -2.59644532e-04 9.99992777e-01 -2.41420525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:-0.91, Z:-0.24 [[ 9.97221469e-01 7.44880415e-02 9.34328335e-04 3.86450977e+01] [-7.44880680e-02 9.97221905e-01 -6.49015961e-06 -9.14758880e-01] [-9.32216121e-04 -6.31241860e-05 9.99999563e-01 -2.42358884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:-0.92, Z:-0.24 [[ 9.97183643e-01 7.49983245e-02 1.85290830e-04 3.86771292e+01] [-7.49983256e-02 9.97183660e-01 -1.17148761e-06 -9.18829752e-01] [-1.84856847e-04 -1.27283137e-05 9.99999983e-01 -2.41978574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.815898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.71, Y:-0.92, Z:-0.24 [[ 9.97149171e-01 7.54537758e-02 5.08660316e-04 3.87090261e+01] [-7.54537838e-02 9.97149300e-01 -3.61950400e-06 -9.22589412e-01] [-5.07483383e-04 -3.47711601e-05 9.99999871e-01 -2.44635538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.74, Y:-0.93, Z:-0.24 [[ 9.96935519e-01 7.81915657e-02 2.37701052e-03 3.87423540e+01] [-7.81917440e-02 9.96938339e-01 -1.79760065e-05 -9.30011610e-01] [-2.37113849e-03 -1.67941679e-04 9.99997175e-01 -2.40919202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.93, Z:-0.24 [[ 9.96771810e-01 8.02576139e-02 2.16187923e-03 3.87752798e+01] [-8.02577655e-02 9.96774142e-01 -1.67039533e-05 -9.32935291e-01] [-2.15624594e-03 -1.56857567e-04 9.99997663e-01 -2.41047383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:-0.94, Z:-0.24 [[ 9.96430092e-01 8.44219343e-02 -9.57754179e-05 3.88070014e+01] [-8.44219346e-02 9.96430096e-01 9.41473702e-07 -9.37059645e-01] [ 9.55129899e-05 7.14743335e-06 9.99999995e-01 -2.41850126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:-0.94, Z:-0.24 [[ 9.96246904e-01 8.65538998e-02 -7.26550013e-04 3.88401387e+01] [-8.65539183e-02 9.96247168e-01 6.12979077e-06 -9.39341644e-01] [ 7.24353950e-04 5.67789653e-05 9.99999736e-01 -2.42648676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:-0.95, Z:-0.24 [[ 9.96069527e-01 8.85352023e-02 2.64861057e-03 3.88722822e+01] [-8.85606771e-02 9.95999407e-01 1.19242798e-02 -9.46716175e-01] [-1.58229603e-03 -1.21119745e-02 9.99925395e-01 -2.38926776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:-0.94, Z:-0.25 [[ 9.95839429e-01 9.11093226e-02 1.70992782e-03 3.89049033e+01] [-9.10826151e-02 9.95771696e-01 -1.19451431e-02 -9.40344079e-01] [-2.79101163e-03 1.17396998e-02 9.99927192e-01 -2.45436291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:-0.95, Z:-0.24 [[ 9.95806682e-01 9.14396813e-02 2.79945811e-03 3.89374073e+01] [-9.14399725e-02 9.95810590e-01 -2.40765893e-05 -9.48899532e-01] [-2.78993159e-03 -2.32006744e-04 9.99996081e-01 -2.40537578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:-0.95, Z:-0.24 [[ 9.95799258e-01 9.15204912e-02 2.79945507e-03 3.89708838e+01] [-9.15207817e-02 9.95803166e-01 -2.44263489e-05 -9.49305090e-01] [-2.78994174e-03 -2.31884577e-04 9.99996081e-01 -2.40577127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:-0.95, Z:-0.24 [[ 9.95851108e-01 9.09475806e-02 3.01799835e-03 3.90032519e+01] [-9.09479144e-02 9.95855650e-01 -2.67539187e-05 -9.52612467e-01] [-3.00792392e-03 -2.47837736e-04 9.99995445e-01 -2.40474710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.115898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:39.04, Y:-0.96, Z:-0.24 [[ 9.95966768e-01 8.96899624e-02 2.43038464e-03 3.90353938e+01] [-8.96901743e-02 9.95969714e-01 -2.18508949e-05 -9.56097553e-01] [-2.42254931e-03 -1.96218857e-04 9.99997046e-01 -2.43567871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.96, Z:-0.24 [[ 9.96196000e-01 8.71383127e-02 6.66353673e-04 3.90682403e+01] [-8.71383281e-02 9.96196222e-01 -5.93387529e-06 -9.63152721e-01] [-6.64336079e-04 -5.21536421e-05 9.99999778e-01 -2.41186852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.97, Z:-0.24 [[ 9.96266711e-01 8.63272790e-02 4.90636573e-04 3.91004721e+01] [-8.63272872e-02 9.96266831e-01 -4.44936010e-06 -9.66114117e-01] [-4.89189045e-04 -3.79225750e-05 9.99999880e-01 -2.41657429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.97, Z:-0.24 [[ 9.96244189e-01 8.65783553e-02 1.30579790e-03 3.91321786e+01] [-8.65784132e-02 9.96245039e-01 -1.22144845e-05 -9.69332856e-01] [-1.30195219e-03 -1.00885301e-04 9.99999147e-01 -2.41116487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:-0.97, Z:-0.24 [[ 9.96136986e-01 8.77740696e-02 2.61119641e-03 3.91651177e+01] [-8.77743039e-02 9.96140387e-01 -2.49508721e-05 -9.72867437e-01] [-2.60330825e-03 -2.04341461e-04 9.99996591e-01 -2.40127266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.98, Z:-0.24 [[ 9.95760817e-01 9.19080574e-02 3.64745897e-03 3.91975163e+01] [-9.19085395e-02 9.95767452e-01 -3.55700400e-05 -9.77621238e-01] [-3.63529010e-03 -2.99813375e-04 9.99993347e-01 -2.40229460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.23, Y:-0.98, Z:-0.24 [[ 9.95576788e-01 9.39233299e-02 2.29514269e-03 3.92303114e+01] [-9.39235253e-02 9.95579415e-01 -2.27099587e-05 -9.79287942e-01] [-2.28712981e-03 -1.92958385e-04 9.99997366e-01 -2.40908828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.26, Y:-0.98, Z:-0.24 [[ 9.95359499e-01 9.62248091e-02 5.03877987e-04 3.92626137e+01] [-9.62248189e-02 9.95359626e-01 -4.91883617e-06 -9.81462905e-01] [-5.02013118e-04 -4.35895577e-05 9.99999873e-01 -2.41854101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:-0.99, Z:-0.24 [[ 9.95036233e-01 9.95006482e-02 -1.58631972e-03 3.92954122e+01] [-9.95007471e-02 9.95037487e-01 1.66075424e-05 -9.85008932e-01] [ 1.58010005e-03 1.41314891e-04 9.99998742e-01 -2.42256290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.99, Z:-0.24 [[ 9.94926726e-01 1.00598207e-01 -8.99964196e-04 3.93285021e+01] [-1.00598239e-01 9.94927130e-01 9.68006439e-06 -9.86419419e-01] [ 8.96372592e-04 8.09038586e-05 9.99999595e-01 -2.41820781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.415898227 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.36, Y:-0.99, Z:-0.24 [[ 9.94947209e-01 1.00399444e-01 -6.12151659e-05 3.93619050e+01] [-1.00399444e-01 9.94947211e-01 8.80708339e-07 -9.86850529e-01] [ 6.09942812e-05 5.26971030e-06 9.99999998e-01 -2.43285060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.99, Z:-0.24 [[ 9.95056183e-01 9.93131118e-02 -3.15246741e-04 3.93935263e+01] [-9.93131156e-02 9.95056232e-01 3.64249449e-06 -9.89308266e-01] [ 3.14049982e-04 2.76836494e-05 9.99999950e-01 -2.42654383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.99, Z:-0.24 [[ 9.95092253e-01 9.89425196e-02 -1.33650664e-03 3.94253910e+01] [-9.89425881e-02 9.95093143e-01 1.49866381e-05 -9.91018604e-01] [ 1.33143141e-03 1.17324339e-04 9.99999107e-01 -2.43020968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.99, Z:-0.24 [[ 9.95131834e-01 9.85197092e-02 -2.54934322e-03 3.94575896e+01] [-9.85199562e-02 9.95135075e-01 2.88212208e-05 -9.91639114e-01] [ 2.53978032e-03 2.22480268e-04 9.99996750e-01 -2.43300297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.99, Z:-0.24 [[ 9.95048468e-01 9.93497527e-02 -2.85891862e-03 3.94898667e+01] [-9.93500661e-02 9.95052543e-01 3.25377076e-05 -9.89973378e-01] [ 2.84800686e-03 2.51657158e-04 9.99995913e-01 -2.43279191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.99, Z:-0.24 [[ 9.94913130e-01 1.00714749e-01 -2.09860738e-03 3.95224893e+01] [-1.00714919e-01 9.94915325e-01 2.43582341e-05 -9.88338431e-01] [ 2.09038987e-03 1.87126746e-04 9.99997798e-01 -2.43147922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.595898227 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:39.56, Y:-0.99, Z:-0.25 [[ 9.94768593e-01 1.02144299e-01 -1.41047057e-03 3.95555326e+01] [-1.02144377e-01 9.94769584e-01 1.66891887e-05 -9.86920892e-01] [ 1.40479793e-03 1.27469757e-04 9.99999005e-01 -2.46728880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:-0.99, Z:-0.24 [[ 9.94615073e-01 1.03636554e-01 -5.67583247e-04 3.95873578e+01] [-1.03636567e-01 9.94615233e-01 6.91890719e-06 -9.85700545e-01] [ 5.65243995e-04 5.19407297e-05 9.99999839e-01 -2.42172026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.98, Z:-0.24 [[ 9.94692071e-01 1.02894147e-01 -6.91025267e-04 3.96201982e+01] [-1.02894166e-01 9.94692310e-01 8.52948063e-06 -9.84933669e-01] [ 6.88235152e-04 6.26182616e-05 9.99999761e-01 -2.42308125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.685898227 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.65, Y:-0.98, Z:-0.25 [[ 9.94959277e-01 1.00272500e-01 -1.20962389e-03 3.96529868e+01] [-1.00272555e-01 9.94960006e-01 1.49925459e-05 -9.83834901e-01] [ 1.20503074e-03 1.06375106e-04 9.99999268e-01 -2.45527114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:-0.99, Z:-0.24 [[ 9.95776137e-01 9.18131750e-02 4.74732426e-04 3.96852321e+01] [-9.18131826e-02 9.95776250e-01 -5.67813394e-06 -9.85265220e-01] [-4.73248603e-04 -3.79325447e-05 9.99999887e-01 -2.42374879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.745898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:39.72, Y:-0.99, Z:-0.24 [[ 9.96280037e-01 8.61562807e-02 1.78395610e-03 3.97183466e+01] [-8.61563783e-02 9.96281626e-01 -2.22078232e-05 -9.86858615e-01] [-1.77923603e-03 -1.31573986e-04 9.99998409e-01 -2.44391858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:-0.99, Z:-0.24 [[ 9.96657236e-01 8.16484397e-02 2.80810346e-03 3.97505586e+01] [-8.16486620e-02 9.96661173e-01 -3.55693965e-05 -9.89038165e-01] [-2.80163188e-03 -1.93827394e-04 9.99996057e-01 -2.40704983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:-0.99, Z:-0.24 [[ 9.96986812e-01 7.74495999e-02 4.34238139e-03 3.97825647e+01] [-7.74500883e-02 9.96996229e-01 -5.58230099e-05 -9.89952530e-01] [-4.33366134e-03 -2.80663017e-04 9.99990570e-01 -2.40971937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.81, Y:-0.99, Z:-0.24 [[ 9.96950553e-01 7.79127985e-02 4.38080770e-03 3.98145805e+01] [-7.79132969e-02 9.96960137e-01 -5.70216080e-05 -9.90293271e-01] [-4.37193335e-03 -2.84475447e-04 9.99990403e-01 -2.41044328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:-0.99, Z:-0.24 [[ 9.96827497e-01 7.95042730e-02 3.74328886e-03 3.98476141e+01] [-7.95046459e-02 9.96834494e-01 -4.93232274e-05 -9.90466688e-01] [-3.73536086e-03 -2.48442106e-04 9.99992993e-01 -2.41127355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.895898226999996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:39.88, Y:-0.99, Z:-0.24 [[ 9.96722397e-01 8.08453039e-02 2.91547757e-03 3.98802362e+01] [-8.08455345e-02 9.96726642e-01 -3.88876691e-05 -9.89734946e-01] [-2.90907806e-03 -1.96943132e-04 9.99995749e-01 -2.44226798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:-0.99, Z:-0.24 [[ 9.96509499e-01 8.34627901e-02 1.66740204e-03 3.99125257e+01] [-8.34628688e-02 9.96510888e-01 -2.24452834e-05 -9.88581194e-01] [-1.66345763e-03 -1.16799219e-04 9.99998610e-01 -2.41983759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.95, Y:-0.99, Z:-0.24 [[ 9.96447195e-01 8.42085495e-02 1.38097448e-03 3.99453504e+01] [-8.42086040e-02 9.96448148e-01 -1.87915641e-05 -9.88541111e-01] [-1.37765187e-03 -9.75651317e-05 9.99999046e-01 -2.42235252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:-0.99, Z:-0.24 [[ 9.96447623e-01 8.42125729e-02 6.14007000e-04 3.99777848e+01] [-8.42125837e-02 9.96447811e-01 -8.35522930e-06 -9.89399163e-01] [-6.12529547e-04 -4.33815675e-05 9.99999811e-01 -2.42826144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.01, Y:-0.99, Z:-0.24 [[ 9.96475110e-01 8.38866383e-02 6.22315546e-04 4.00105822e+01] [-8.38866493e-02 9.96475303e-01 -8.56939922e-06 -9.89703814e-01] [-6.20840930e-04 -4.36647729e-05 9.99999806e-01 -2.42822685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.04, Y:-0.99, Z:-0.24 [[ 9.96480304e-01 8.38141684e-02 1.47976665e-03 4.00437055e+01] [-8.38142293e-02 9.96481397e-01 -2.09429190e-05 -9.88276498e-01] [-1.47631525e-03 -1.03156295e-04 9.99998905e-01 -2.42757654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:-0.99, Z:-0.24 [[ 9.96459211e-01 8.40542791e-02 1.97964922e-03 4.00758962e+01] [-8.40543877e-02 9.96461168e-01 -2.84061351e-05 -9.85504924e-01] [-1.97503123e-03 -1.38092648e-04 9.99998040e-01 -2.43287057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.98, Z:-0.24 [[ 9.96365987e-01 8.51576996e-02 1.72822808e-03 4.01090042e+01] [-8.51577836e-02 9.96367478e-01 -2.50208608e-05 -9.79169590e-01] [-1.72408098e-03 -1.22242139e-04 9.99998506e-01 -2.43590550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.14, Y:-0.98, Z:-0.24 [[ 9.96337345e-01 8.55034941e-02 1.02304630e-03 4.01415249e+01] [-8.55035236e-02 9.96337868e-01 -1.49124414e-05 -9.76894387e-01] [-1.02057484e-03 -7.26162414e-05 9.99999477e-01 -2.43898867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:-0.97, Z:-0.25 [[ 9.96545234e-01 8.30511716e-02 -3.15118658e-04 4.01732723e+01] [-8.30511742e-02 9.96545284e-01 4.92172290e-06 -9.73188149e-01] [ 3.14438767e-04 2.12662550e-05 9.99999950e-01 -2.45121382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:-0.97, Z:-0.25 [[ 9.96754907e-01 8.04956870e-02 -3.15494216e-04 4.02057883e+01] [-8.04956894e-02 9.96754957e-01 4.99791877e-06 -9.72530293e-01] [ 3.14872734e-04 2.04142243e-05 9.99999950e-01 -2.45282560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.97, Z:-0.25 [[ 9.97063557e-01 7.65781766e-02 2.16891414e-04 4.02376379e+01] [-7.65781777e-02 9.97063580e-01 -3.12008535e-06 -9.72559911e-01] [-2.16493460e-04 -1.34982258e-05 9.99999976e-01 -2.45714974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.255898226999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.27, Y:-0.97, Z:-0.25 [[ 9.97420665e-01 7.17726111e-02 8.41782940e-04 4.02704093e+01] [-7.17726258e-02 9.97421019e-01 -1.28354888e-05 -9.73882083e-01] [-8.40533235e-04 -4.76145902e-05 9.99999646e-01 -2.47978376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.285898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.98, Z:-0.25 [[ 9.97950286e-01 6.39675830e-02 1.83736933e-03 4.03019420e+01] [-6.39676384e-02 9.97951973e-01 -2.86202390e-05 -9.78265995e-01] [-1.83543712e-03 -8.89706015e-05 9.99998312e-01 -2.46551426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.315898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:40.33, Y:-0.98, Z:-0.25 [[ 9.98027623e-01 6.27211475e-02 2.63102878e-03 4.03348811e+01] [-6.27212554e-02 9.98031083e-01 -4.15491467e-05 -9.79613807e-01] [-2.62845451e-03 -1.23554232e-04 9.99996538e-01 -2.45334300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:-0.98, Z:-0.24 [[ 9.97876240e-01 6.50482344e-02 3.42598241e-03 4.03665707e+01] [-6.50484293e-02 9.97882107e-01 -5.46441523e-05 -9.78446518e-01] [-3.42228105e-03 -1.68326673e-04 9.99994130e-01 -2.42064414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.40, Y:-0.98, Z:-0.25 [[ 9.97683627e-01 6.79910553e-02 2.14385166e-03 4.03999438e+01] [-6.79911378e-02 9.97685925e-01 -3.44549735e-05 -9.77594277e-01] [-2.14123325e-03 -1.11387750e-04 9.99997701e-01 -2.45758645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.405898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.43, Y:-0.98, Z:-0.25 [[ 9.97318437e-01 7.31823735e-02 5.24425789e-04 4.04332718e+01] [-7.31823792e-02 9.97318575e-01 -8.35965293e-06 -9.78144807e-01] [-5.23631360e-04 -3.00414910e-05 9.99999862e-01 -2.45462608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:-0.98, Z:-0.24 [[ 9.96480439e-01 8.38059838e-02 1.81410455e-03 4.04667241e+01] [-8.38060678e-02 9.96482083e-01 -2.97909938e-05 -9.78214219e-01] [-1.81021934e-03 -1.22346826e-04 9.99998354e-01 -2.40775909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.50, Y:-0.98, Z:-0.24 [[ 9.96214786e-01 8.68651184e-02 3.24825674e-03 4.04991214e+01] [-8.68654015e-02 9.96220056e-01 -5.40884352e-05 -9.76950752e-01] [-3.24067691e-03 -2.28277427e-04 9.99994723e-01 -2.40385520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:-0.98, Z:-0.24 [[ 9.96019767e-01 8.90143798e-02 4.58944366e-03 4.05313472e+01] [-8.90149637e-02 9.96030286e-01 -7.72846065e-05 -9.75050952e-01] [-4.57810432e-03 -3.31552165e-04 9.99989465e-01 -2.41051130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.525898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:40.56, Y:-0.97, Z:-0.25 [[ 9.95963444e-01 8.95945478e-02 5.44375771e-03 4.05640215e+01] [-8.95953725e-02 9.95978243e-01 -9.26887662e-05 -9.73445061e-01] [-5.43016865e-03 -3.95420877e-04 9.99985178e-01 -2.45918647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.60, Y:-0.97, Z:-0.24 [[ 9.96139189e-01 8.76587389e-02 4.76042188e-03 4.05961292e+01] [-8.76593446e-02 9.96150507e-01 -8.16505141e-05 -9.72474157e-01] [-4.74925405e-03 -3.35960185e-04 9.99988666e-01 -2.44393990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.63, Y:-0.97, Z:-0.24 [[ 9.96383125e-01 8.49047945e-02 3.44146042e-03 4.06288244e+01] [-8.49050938e-02 9.96389041e-01 -5.93033631e-05 -9.72268385e-01] [-3.43406859e-03 -2.33108650e-04 9.99994076e-01 -2.44709572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:-0.97, Z:-0.24 [[ 9.96634443e-01 8.19509772e-02 1.95549141e-03 4.06620293e+01] [-8.19510678e-02 9.96636354e-01 -3.38933015e-05 -9.71766005e-01] [-1.95169141e-03 -1.26475377e-04 9.99998087e-01 -2.44305951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.69, Y:-0.97, Z:-0.24 [[ 9.97072130e-01 7.64383660e-02 2.08399670e-03 4.06937716e+01] [-7.64384561e-02 9.97074301e-01 -3.65085600e-05 -9.69183672e-01] [-2.08069021e-03 -1.22895823e-04 9.99997828e-01 -2.44549707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:-0.97, Z:-0.24 [[ 9.97240291e-01 7.41865802e-02 2.85537204e-03 4.07258512e+01] [-7.41867385e-02 9.97244366e-01 -5.05856780e-05 -9.68411762e-01] [-2.85125646e-03 -1.61384663e-04 9.99995922e-01 -2.44574430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:-0.97, Z:-0.24 [[ 9.97345643e-01 7.27475255e-02 3.07677999e-03 4.07590986e+01] [-7.27477008e-02 9.97350374e-01 -5.50683118e-05 -9.68357015e-01] [-3.07263375e-03 -1.68906529e-04 9.99995265e-01 -2.44164888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:-0.97, Z:-0.24 [[ 9.97423678e-01 7.16923622e-02 2.49241730e-03 4.07924282e+01] [-7.16924728e-02 9.97426783e-01 -4.50255785e-05 -9.66729027e-01] [-2.48923176e-03 -1.33777981e-04 9.99996893e-01 -2.43404405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:-0.97, Z:-0.24 [[ 9.97404658e-01 7.19610176e-02 2.35800835e-03 4.08246854e+01] [-7.19611165e-02 9.97407437e-01 -4.30084328e-05 -9.65651635e-01] [-2.35498999e-03 -1.26788102e-04 9.99997219e-01 -2.42790712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.86, Y:-0.96, Z:-0.24 [[ 9.97240410e-01 7.42351484e-02 8.41158263e-04 4.08572098e+01] [-7.42351618e-02 9.97240764e-01 -1.53509573e-05 -9.62159012e-01] [-8.39976889e-04 -4.71349248e-05 9.99999646e-01 -2.43442801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.89, Y:-0.96, Z:-0.24 [[ 9.97094176e-01 7.61784401e-02 2.24026948e-04 4.08894526e+01] [-7.61784411e-02 9.97094201e-01 -3.97978909e-06 -9.61019959e-01] [-2.23679145e-04 -1.30977992e-05 9.99999975e-01 -2.43342558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.92, Y:-0.96, Z:-0.24 [[ 9.96927054e-01 7.83354907e-02 -1.06335808e-05 4.09210065e+01] [-7.83354907e-02 9.96927054e-01 3.36383771e-07 -9.60330053e-01] [ 1.06272552e-05 4.97636689e-07 1.00000000e+00 -2.43783514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.95, Y:-0.96, Z:-0.24 [[ 9.96706611e-01 8.10909954e-02 4.27779757e-04 4.09537020e+01] [-8.10909995e-02 9.96706702e-01 -7.90794456e-06 -9.57874273e-01] [-4.27012214e-04 -2.68071874e-05 9.99999908e-01 -2.43217944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.99, Y:-0.96, Z:-0.24 [[ 9.96611838e-01 8.22404085e-02 1.16619740e-03 4.09855686e+01] [-8.22404387e-02 9.96612517e-01 -2.21454094e-05 -9.56648608e-01] [-1.16406818e-03 -7.38382090e-05 9.99999320e-01 -2.42683305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.02, Y:-0.96, Z:-0.24 [[ 9.96495838e-01 8.36061319e-02 2.46151851e-03 4.10187948e+01] [-8.36062689e-02 9.96498866e-01 -4.73979413e-05 -9.55522563e-01] [-2.45686316e-03 -1.58566527e-04 9.99996969e-01 -2.42950086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.05, Y:-0.96, Z:-0.24 [[ 9.96485520e-01 8.37290224e-02 2.46151135e-03 4.10522578e+01] [-8.37291588e-02 9.96488548e-01 -4.77677052e-05 -9.56305743e-01] [-2.45686741e-03 -1.58500448e-04 9.99996969e-01 -2.42989618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:-0.96, Z:-0.24 [[ 9.96363623e-01 8.51478181e-02 3.06257638e-03 4.10848299e+01] [-8.51480343e-02 9.96368310e-01 -5.99541427e-05 -9.55687264e-01] [-3.05655901e-03 -2.01036232e-04 9.99995309e-01 -2.42876969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.95, Z:-0.24 [[ 9.96114505e-01 8.80173874e-02 2.97182424e-03 4.11178776e+01] [-8.80176021e-02 9.96118918e-01 -5.87147717e-05 -9.54604143e-01] [-2.96545827e-03 -2.03086208e-04 9.99995582e-01 -2.42064053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.95, Z:-0.24 [[ 9.96003559e-01 8.92676192e-02 2.86391838e-03 4.11510671e+01] [-8.92678223e-02 9.96007657e-01 -5.71009418e-05 -9.54112041e-01] [-2.85758190e-03 -1.98783016e-04 9.99995897e-01 -2.42257916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:-0.95, Z:-0.24 [[ 9.95908872e-01 9.03040314e-02 3.27131059e-03 4.11829118e+01] [-9.03043000e-02 9.95914218e-01 -6.58270892e-05 -9.53304568e-01] [-3.26388918e-03 -2.29855631e-04 9.99994647e-01 -2.43330660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.95, Z:-0.24 [[ 9.95706212e-01 9.24649055e-02 4.40223792e-03 4.12157706e+01] [-9.24654090e-02 9.95715893e-01 -8.94493571e-05 -9.52141693e-01] [-4.39164919e-03 -3.17989450e-04 9.99990306e-01 -2.43530917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.25, Y:-0.95, Z:-0.24 [[ 9.95589714e-01 9.36979572e-02 4.67059995e-03 4.12475187e+01] [-9.36985336e-02 9.95600611e-01 -9.57345376e-05 -9.52676546e-01] [-4.65902230e-03 -3.42316046e-04 9.99989088e-01 -2.43875816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.95, Z:-0.24 [[ 9.95516026e-01 9.44828858e-02 4.56357682e-03 4.12800928e+01] [-9.44834407e-02 9.95526429e-01 -9.43242658e-05 -9.52855329e-01] [-4.55207336e-03 -3.37281122e-04 9.99989582e-01 -2.43975972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:-0.95, Z:-0.25 [[ 9.95434891e-01 9.53950967e-02 3.02546701e-03 4.13120275e+01] [-9.53953438e-02 9.95439463e-01 -6.28671523e-05 -9.51955831e-01] [-3.01766647e-03 -2.26035309e-04 9.99995421e-01 -2.45163758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:-0.95, Z:-0.25 [[ 9.95391846e-01 9.58521632e-02 2.72700920e-03 4.13447881e+01] [-9.58523646e-02 9.95395560e-01 -5.70471683e-05 -9.52632290e-01] [-2.71992094e-03 -2.04605994e-04 9.99996280e-01 -2.45395808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:-0.95, Z:-0.25 [[ 9.95393004e-01 9.58356591e-02 2.87988773e-03 4.13781182e+01] [-9.58358821e-02 9.95397147e-01 -6.07667328e-05 -9.53489384e-01] [-2.87245565e-03 -2.15509800e-04 9.99995851e-01 -2.45088389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.41, Y:-0.95, Z:-0.24 [[ 9.95431006e-01 9.53854522e-02 4.32761162e-03 4.14097201e+01] [-9.53859480e-02 9.95440361e-01 -9.21628225e-05 -9.54232792e-01] [-4.31667026e-03 -3.21051606e-04 9.99990632e-01 -2.44687639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.44, Y:-0.95, Z:-0.24 [[ 9.95456626e-01 9.51103212e-02 4.48696572e-03 4.14417575e+01] [-9.51108489e-02 9.95466683e-01 -9.61165756e-05 -9.54837804e-01] [-4.47576656e-03 -3.31079237e-04 9.99989929e-01 -2.44839062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:-0.96, Z:-0.25 [[ 9.95542171e-01 9.42517899e-02 3.51934666e-03 4.14750042e+01] [-9.42521074e-02 9.95548359e-01 -7.59117280e-05 -9.55314049e-01] [-3.51083461e-03 -2.56132513e-04 9.99993804e-01 -2.45449449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.96, Z:-0.25 [[ 9.95532060e-01 9.43622008e-02 3.41940860e-03 4.15071674e+01] [-9.43624996e-02 9.95537901e-01 -7.42168503e-05 -9.57027634e-01] [-3.41115412e-03 -2.48778688e-04 9.99994151e-01 -2.45359209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:-0.96, Z:-0.24 [[ 9.95521551e-01 9.44515441e-02 3.96836025e-03 4.15396560e+01] [-9.44519446e-02 9.95529418e-01 -8.68017854e-05 -9.59525315e-01] [-3.95881793e-03 -2.88406294e-04 9.99992122e-01 -2.44534238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.96, Z:-0.24 [[ 9.95520615e-01 9.44131966e-02 4.98531806e-03 4.15720196e+01] [-9.44138235e-02 9.95533032e-01 -1.09976072e-04 -9.62952781e-01] [-4.97343199e-03 -3.61199492e-04 9.99987567e-01 -2.43832779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.60, Y:-0.97, Z:-0.24 [[ 9.95737875e-01 9.20593754e-02 5.58175893e-03 4.16046056e+01] [-9.20601188e-02 9.95753443e-01 -1.24154726e-04 -9.68565512e-01] [-5.56948528e-03 -3.90231827e-04 9.99984414e-01 -2.43517607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:-0.97, Z:-0.24 [[ 9.95827706e-01 9.11473999e-02 4.39678449e-03 4.16367308e+01] [-9.11478492e-02 9.95837366e-01 -9.85072233e-05 -9.71892246e-01] [-4.38746096e-03 -3.02661228e-04 9.99990329e-01 -2.44239305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:-0.98, Z:-0.24 [[ 9.95894318e-01 9.04837136e-02 2.68433188e-03 4.16682921e+01] [-9.04838776e-02 9.95897919e-01 -6.05103863e-05 -9.79077401e-01] [-2.67879573e-03 -1.82626807e-04 9.99996395e-01 -2.44889225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:-0.98, Z:-0.25 [[ 9.95833005e-01 9.11652712e-02 2.34925687e-03 4.17007191e+01] [-9.11653979e-02 9.95835763e-01 -5.33320802e-05 -9.83855184e-01] [-2.34433604e-03 -1.61061092e-04 9.99997239e-01 -2.45004689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.73, Y:-0.99, Z:-0.24 [[ 9.95718274e-01 9.24108744e-02 2.31281210e-03 4.17323136e+01] [-9.24109997e-02 9.95720947e-01 -5.28933093e-05 -9.88840221e-01] [-2.30780337e-03 -1.61062444e-04 9.99997324e-01 -2.44786902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:-0.99, Z:-0.24 [[ 9.95530320e-01 9.44042713e-02 2.68606075e-03 4.17638738e+01] [-9.44044462e-02 9.95533925e-01 -6.18987277e-05 -9.93511975e-01] [-2.67990811e-03 -1.91954017e-04 9.99996391e-01 -2.44817303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:-1.00, Z:-0.25 [[ 9.94948601e-01 1.00337487e-01 3.10962530e-03 4.17962469e+01] [-1.00337748e-01 9.94953432e-01 -7.22129047e-05 -9.98869021e-01] [-3.10117803e-03 -2.40164672e-04 9.99995162e-01 -2.45231432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:-1.00, Z:-0.25 [[ 9.94516688e-01 1.04547081e-01 2.54275626e-03 4.18286571e+01] [-1.04547268e-01 9.94519917e-01 -5.94321162e-05 -1.00021872e+00] [-2.53503520e-03 -2.06731990e-04 9.99996765e-01 -2.46001489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:-1.00, Z:-0.25 [[ 9.94031624e-01 1.09086071e-01 1.16569205e-03 4.18617553e+01] [-1.09086114e-01 9.94032303e-01 -2.73299721e-05 -1.00115646e+00] [-1.16171687e-03 -9.99939589e-05 9.99999320e-01 -2.46362143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.89, Y:-1.00, Z:-0.25 [[ 9.93000727e-01 1.18106765e-01 -5.89871768e-04 4.18944060e+01] [-1.18106778e-01 9.93000901e-01 1.42485913e-05 -1.00015951e+00] [ 5.87426052e-04 5.55189922e-05 9.99999826e-01 -2.46866885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:-1.00, Z:-0.25 [[ 9.92592188e-01 1.21490668e-01 -8.74668272e-04 4.19261765e+01] [-1.21490697e-01 9.92592570e-01 2.10428711e-05 -9.99687258e-01] [ 8.70745740e-04 8.53770681e-05 9.99999617e-01 -2.47190102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:-1.00, Z:-0.25 [[ 9.92393553e-01 1.23104141e-01 -6.37718845e-04 4.19594495e+01] [-1.23104156e-01 9.92393756e-01 1.55692945e-05 -9.98572021e-01] [ 6.34784845e-04 6.30549728e-05 9.99999797e-01 -2.47341357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:-1.00, Z:-0.25 [[ 9.92341438e-01 1.23525030e-01 -1.92709841e-04 4.19922273e+01] [-1.23525031e-01 9.92341457e-01 4.89553056e-06 -9.97374505e-01] [ 1.91838685e-04 1.89464513e-05 9.99999981e-01 -2.47945330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:-0.99, Z:-0.25 [[ 9.92533071e-01 1.21966954e-01 1.47144225e-03 4.20244976e+01] [-1.21967034e-01 9.92534151e-01 -3.57637924e-05 -9.94049539e-01] [-1.46481868e-03 -1.43970700e-04 9.99998917e-01 -2.48307112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.99, Z:-0.25 [[ 9.92685073e-01 1.20690193e-01 3.19738500e-03 4.20573716e+01] [-1.20690560e-01 9.92690174e-01 -7.85165072e-05 -9.92699302e-01] [-3.18348884e-03 -3.07952022e-04 9.99994885e-01 -2.47524420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.09, Y:-0.99, Z:-0.25 [[ 9.92861650e-01 1.19152617e-01 5.32888395e-03 4.20894017e+01] [-1.19153609e-01 9.92875823e-01 -1.31901941e-04 -9.91266893e-01] [-5.30663650e-03 -5.03995378e-04 9.99985793e-01 -2.46906992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.12, Y:-0.99, Z:-0.25 [[ 9.93084700e-01 1.17244452e-01 6.04286404e-03 4.21219743e+01] [-1.17245687e-01 9.93102928e-01 -1.50660692e-04 -9.89921885e-01] [-6.01885010e-03 -5.58880916e-04 9.99981730e-01 -2.45364692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.15, Y:-0.99, Z:-0.25 [[ 9.93666840e-01 1.12253321e-01 5.04008746e-03 4.21537352e+01] [-1.12254114e-01 9.93679525e-01 -1.26260794e-04 -9.86645142e-01] [-5.02240491e-03 -4.40309387e-04 9.99987291e-01 -2.45995645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:-0.99, Z:-0.25 [[ 9.93892730e-01 1.10285935e-01 3.77537571e-03 4.21866618e+01] [-1.10286364e-01 9.93899849e-01 -9.51345380e-05 -9.86238146e-01] [-3.76283735e-03 -3.21818935e-04 9.99992869e-01 -2.47197098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.22, Y:-0.99, Z:-0.25 [[ 9.94109877e-01 1.08328342e-01 3.24386626e-03 4.22200883e+01] [-1.08328646e-01 9.94115133e-01 -8.22937843e-05 -9.85364815e-01] [-3.23369129e-03 -2.69594575e-04 9.99994735e-01 -2.48036712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.25, Y:-0.99, Z:-0.25 [[ 9.94150682e-01 1.07943280e-01 3.55959705e-03 4.22522072e+01] [-1.07943641e-01 9.94157011e-01 -9.09397341e-05 -9.85376115e-01] [-3.54861470e-03 -2.93828069e-04 9.99993660e-01 -2.47627897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:-0.99, Z:-0.25 [[ 9.94209457e-01 1.07386091e-01 3.97284999e-03 4.22850156e+01] [-1.07386534e-01 9.94217341e-01 -1.02234706e-04 -9.85774638e-01] [-3.96085494e-03 -3.24987880e-04 9.99992103e-01 -2.46949674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.99, Z:-0.25 [[ 9.94256581e-01 1.06927863e-01 4.50376560e-03 4.23167186e+01] [-1.06928424e-01 9.94266714e-01 -1.16718064e-04 -9.86121104e-01] [-4.49042464e-03 -3.65532854e-04 9.99989851e-01 -2.46892982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:-0.99, Z:-0.25 [[ 9.94226437e-01 1.07202382e-01 4.63036806e-03 4.23499739e+01] [-1.07202975e-01 9.94237149e-01 -1.20834283e-04 -9.85669487e-01] [-4.61663766e-03 -3.76252591e-04 9.99989272e-01 -2.47249142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.99, Z:-0.25 [[ 9.94135711e-01 1.08063592e-01 4.05568533e-03 4.23827538e+01] [-1.08064050e-01 9.94143928e-01 -1.06547673e-04 -9.86153275e-01] [-4.04344887e-03 -3.32350936e-04 9.99991770e-01 -2.47861894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:-0.99, Z:-0.25 [[ 9.94027845e-01 1.08998016e-01 5.29864273e-03 4.24150124e+01] [-1.09049563e-01 9.93978989e-01 1.06752749e-02 -9.91598729e-01] [-4.10315575e-03 -1.11893352e-02 9.99928979e-01 -2.46164362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:-0.98, Z:-0.25 [[ 9.93825890e-01 1.10938154e-01 -1.68143566e-03 4.24468685e+01] [-1.10949942e-01 9.93766052e-01 -1.09153310e-02 -9.82942628e-01] [ 4.60026994e-04 1.10344938e-02 9.99939012e-01 -2.52152042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:-0.99, Z:-0.25 [[ 9.93625490e-01 1.12660176e-01 -4.00888511e-03 4.24794358e+01] [-1.12660651e-01 9.93633517e-01 1.07795853e-04 -9.86904142e-01] [ 3.99550691e-03 3.44534899e-04 9.99991959e-01 -2.49637759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:-0.99, Z:-0.25 [[ 9.93405820e-01 1.14600586e-01 -3.40340731e-03 4.25128273e+01] [-1.14600937e-01 9.93411605e-01 9.21553987e-05 -9.85993648e-01] [ 3.39154538e-03 2.98485958e-04 9.99994204e-01 -2.48845971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:-0.99, Z:-0.24 [[ 9.93161596e-01 1.16735202e-01 -1.71396749e-03 4.25443823e+01] [-1.16714554e-01 9.93122156e-01 9.27879131e-03 -9.89176244e-01] [ 2.78534067e-03 -9.01529424e-03 9.99955482e-01 -2.40843004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:-0.98, Z:-0.25 [[ 9.92863570e-01 1.19255717e-01 7.85935439e-05 4.25778842e+01] [-1.19250038e-01 9.92822299e-01 -9.12750044e-03 -9.77886265e-01] [-1.16653604e-03 9.05299039e-03 9.99958340e-01 -2.48267685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:-0.98, Z:-0.25 [[ 9.92778460e-01 1.19961385e-01 4.42180385e-04 4.26093311e+01] [-1.19961391e-01 9.92778558e-01 -1.19424205e-05 -9.80377528e-01] [-4.40419834e-04 -4.11883964e-05 9.99999902e-01 -2.45835160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.64, Y:-0.98, Z:-0.25 [[ 9.92761232e-01 1.20103996e-01 4.07173229e-04 4.26425968e+01] [-1.20104001e-01 9.92761315e-01 -1.09783514e-05 -9.78211831e-01] [-4.05544374e-04 -3.80042523e-05 9.99999917e-01 -2.45938297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.97, Z:-0.25 [[ 9.92845505e-01 1.19391512e-01 1.86282904e-03 4.26757685e+01] [-1.19391624e-01 9.92847238e-01 -5.13624076e-05 -9.73086151e-01] [-1.85563690e-03 -1.71411249e-04 9.99998264e-01 -2.47151363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:-0.97, Z:-0.25 [[ 9.92948629e-01 1.18521744e-01 2.36970823e-03 4.27091519e+01] [-1.18521922e-01 9.92951434e-01 -6.58285220e-05 -9.71862068e-01] [-2.36080729e-03 -2.15498032e-04 9.99997190e-01 -2.47236108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:-0.97, Z:-0.25 [[ 9.93405957e-01 1.14596515e-01 3.49901308e-03 4.27418857e+01] [-1.14596876e-01 9.93412073e-01 -9.79460001e-05 -9.68533592e-01] [-3.48718611e-03 -3.03675827e-04 9.99993874e-01 -2.46595697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:-0.97, Z:-0.25 [[ 9.93632461e-01 1.12591603e-01 4.20284305e-03 4.27737125e+01] [-1.12592102e-01 9.93641286e-01 -1.18427528e-04 -9.68389040e-01] [-4.18945232e-03 -3.55533498e-04 9.99991161e-01 -2.46481214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:-0.97, Z:-0.25 [[ 9.93801397e-01 1.11094838e-01 4.08900049e-03 4.28053367e+01] [-1.11095295e-01 9.93809751e-01 -1.15901632e-04 -9.69936271e-01] [-4.07656464e-03 -3.39085511e-04 9.99991633e-01 -2.46203608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:-0.97, Z:-0.25 [[ 9.94145080e-01 1.07983900e-01 3.87772084e-03 4.28381828e+01] [-1.07984285e-01 9.94152595e-01 -1.10585917e-04 -9.73872799e-01] [-3.86698773e-03 -3.08794467e-04 9.99992475e-01 -2.46444072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:-0.98, Z:-0.25 [[ 9.94293522e-01 1.06598072e-01 4.15253228e-03 4.28698754e+01] [-1.06598499e-01 9.94302140e-01 -1.19155818e-04 -9.75727808e-01] [-4.14157351e-03 -3.24177850e-04 9.99991371e-01 -2.47513750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:-0.98, Z:-0.25 [[ 9.94360914e-01 1.05974328e-01 3.97674262e-03 4.29022039e+01] [-1.05974712e-01 9.94368819e-01 -1.14772545e-04 -9.77128448e-01] [-3.96651180e-03 -3.07308820e-04 9.99992086e-01 -2.47949960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.98, Z:-0.25 [[ 9.94365175e-01 1.05950891e-01 3.50823495e-03 4.29352605e+01] [-1.05951187e-01 9.94371327e-01 -1.01843318e-04 -9.78712654e-01] [-3.49927863e-03 -2.70432210e-04 9.99993841e-01 -2.49317274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:-0.98, Z:-0.25 [[ 9.94334213e-01 1.06295926e-01 8.05453715e-04 4.29674518e+01] [-1.06295942e-01 9.94334537e-01 -2.33607333e-05 -9.81983691e-01] [-8.03373597e-04 -6.23880849e-05 9.99999675e-01 -2.49699426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.98, Z:-0.25 [[ 9.94247859e-01 1.07103645e-01 5.96600483e-05 4.29994102e+01] [-1.07103645e-01 9.94247861e-01 -1.61775082e-06 -9.84194440e-01] [-5.94901424e-05 -4.78136337e-06 9.99999998e-01 -2.49514999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:-0.99, Z:-0.25 [[ 9.94070286e-01 1.08738594e-01 -4.28695936e-04 4.30323484e+01] [-1.08738599e-01 9.94070378e-01 1.28939316e-05 -9.85928382e-01] [ 4.27556000e-04 3.37983212e-05 9.99999908e-01 -2.49266396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.99, Z:-0.25 [[ 9.93553391e-01 1.13357342e-01 -1.33160671e-03 4.30651721e+01] [-1.13357390e-01 9.93554277e-01 3.98202742e-05 -9.87937196e-01] [ 1.32753747e-03 1.11383893e-04 9.99999113e-01 -2.47603098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.99, Z:-0.25 [[ 9.93316010e-01 1.15419169e-01 -1.31148924e-03 4.30984621e+01] [-1.15419216e-01 9.93316869e-01 3.94654408e-05 -9.88677192e-01] [ 1.30727945e-03 1.12169406e-04 9.99999139e-01 -2.47423628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.99, Z:-0.25 [[ 9.93306709e-01 1.15499187e-01 -1.31148990e-03 4.31319272e+01] [-1.15499235e-01 9.93307568e-01 3.94429198e-05 -9.89794892e-01] [ 1.30726847e-03 1.12297164e-04 9.99999139e-01 -2.47465208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:-0.99, Z:-0.25 [[ 9.93178984e-01 1.16588404e-01 -1.62774926e-03 4.31653547e+01] [-1.16588478e-01 9.93180308e-01 4.93722666e-05 -9.89491873e-01] [ 1.62240475e-03 1.40741312e-04 9.99998674e-01 -2.47391648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:-0.99, Z:-0.25 [[ 9.93110237e-01 1.17182849e-01 -4.86003567e-04 4.31976924e+01] [-1.17182856e-01 9.93110355e-01 1.49755884e-05 -9.85702743e-01] [ 4.84410057e-04 4.20788756e-05 9.99999882e-01 -2.49514836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.23, Y:-0.98, Z:-0.25 [[ 9.93111207e-01 1.17168863e-01 1.26021537e-03 4.32296124e+01] [-1.17168909e-01 9.93112000e-01 -3.82688331e-05 -9.84464601e-01] [-1.25601892e-03 -1.09652852e-04 9.99999205e-01 -2.48949167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:-0.99, Z:-0.25 [[ 9.93169779e-01 1.16613200e-01 3.89240783e-03 4.32615771e+01] [-1.16626693e-01 9.93169864e-01 3.44020266e-03 -9.85455739e-01] [-3.46464911e-03 -3.87066397e-03 9.99986507e-01 -2.47195901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.045898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.29, Y:-0.98, Z:-0.25 [[ 9.93554305e-01 1.13336768e-01 2.14936240e-03 4.32946620e+01] [-1.13328606e-01 9.93551038e-01 -3.60028289e-03 -9.80885770e-01] [-2.54354567e-03 3.33349232e-03 9.99991209e-01 -2.49297551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.33, Y:-0.98, Z:-0.25 [[ 9.93782262e-01 1.11324342e-01 1.92520710e-03 4.33267364e+01] [-1.11324435e-01 9.93784115e-01 -5.92726802e-05 -9.83315377e-01] [-1.91983873e-03 -1.55418454e-04 9.99998145e-01 -2.47145377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.36, Y:-0.98, Z:-0.25 [[ 9.93986754e-01 1.09481463e-01 2.03522181e-03 4.33594802e+01] [-1.09481562e-01 9.93988825e-01 -6.30333732e-05 -9.83798419e-01] [-2.02988873e-03 -1.60164925e-04 9.99997927e-01 -2.47125003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.39, Y:-0.98, Z:-0.25 [[ 9.94217356e-01 1.07217112e-01 6.02831575e-03 4.33918040e+01] [-1.07217930e-01 9.94235525e-01 -1.88241850e-04 -9.83882966e-01] [-6.01374842e-03 -4.59190223e-04 9.99981812e-01 -2.47561157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.42, Y:-0.98, Z:-0.25 [[ 9.94268720e-01 1.06660577e-01 7.29619243e-03 4.34239749e+01] [-1.06661754e-01 9.94295337e-01 -2.28794006e-04 -9.84725666e-01] [-7.27897342e-03 -5.50741957e-04 9.99973356e-01 -2.47847372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:-0.99, Z:-0.25 [[ 9.94279703e-01 1.06572152e-01 7.08858898e-03 4.34563387e+01] [-1.06573252e-01 9.94304829e-01 -2.23414871e-04 -9.86052753e-01] [-7.07202805e-03 -5.33317106e-04 9.99974851e-01 -2.48350068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:-0.99, Z:-0.25 [[ 9.94242447e-01 1.06998044e-01 5.77711189e-03 4.34893037e+01] [-1.06998776e-01 9.94259135e-01 -1.83078889e-04 -9.87912927e-01] [-5.76353536e-03 -4.36119100e-04 9.99983296e-01 -2.48179491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:-0.99, Z:-0.25 [[ 9.94113864e-01 1.08259418e-01 4.18609204e-03 4.35215143e+01] [-1.08259811e-01 9.94122626e-01 -1.33323393e-04 -9.90545387e-01] [-4.17592232e-03 -3.20646898e-04 9.99991229e-01 -2.48671768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:-0.99, Z:-0.25 [[ 9.93970201e-01 1.09584705e-01 3.79886793e-03 4.35534368e+01] [-1.09585035e-01 9.93977417e-01 -1.21612005e-04 -9.91577706e-01] [-3.78931575e-03 -2.95420367e-04 9.99992777e-01 -2.48524642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:-0.99, Z:-0.25 [[ 9.93815293e-01 1.10983877e-01 3.70699200e-03 4.35859645e+01] [-1.10984200e-01 9.93822164e-01 -1.19336621e-04 -9.91719761e-01] [-3.69733525e-03 -2.92818982e-04 9.99993122e-01 -2.49346342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:-0.99, Z:-0.25 [[ 9.93326916e-01 1.15313135e-01 2.12567913e-03 4.36174475e+01] [-1.15313250e-01 9.93329175e-01 -6.87163481e-05 -9.93608247e-01] [-2.11942300e-03 -1.76861171e-04 9.99997738e-01 -2.50470752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:-1.00, Z:-0.25 [[ 9.93117549e-01 1.17119872e-01 6.84469545e-04 4.36500624e+01] [-1.17119885e-01 9.93117784e-01 -2.20897682e-05 -9.95812086e-01] [-6.82346028e-04 -5.82272578e-05 9.99999766e-01 -2.50078312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:-1.00, Z:-0.25 [[ 9.92948554e-01 1.18545681e-01 -2.99890011e-04 4.36827864e+01] [-1.18545684e-01 9.92948599e-01 1.00741217e-05 -9.97800358e-01] [ 2.98969610e-04 2.55475817e-05 9.99999955e-01 -2.50541755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:43.71, Y:-1.00, Z:-0.25 [[ 9.92840534e-01 1.19441293e-01 -1.20505777e-03 4.37149387e+01] [-1.19441332e-01 9.92841260e-01 3.99573781e-05 -9.99070270e-01] [ 1.20120363e-03 1.04262400e-04 9.99999273e-01 -2.50444520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:-1.00, Z:-0.25 [[ 9.92792003e-01 1.19797537e-01 -3.54816760e-03 4.37480599e+01] [-1.19797875e-01 9.92798295e-01 1.17844595e-04 -1.00011347e+00] [ 3.53673224e-03 3.08067767e-04 9.99993698e-01 -2.52090700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.78, Y:-1.00, Z:-0.25 [[ 9.92844648e-01 1.19312722e-01 -4.89692843e-03 4.37807775e+01] [-1.19313359e-01 9.92856634e-01 1.62820215e-04 -1.00196141e+00] [ 4.88137441e-03 4.22613801e-04 9.99987997e-01 -2.53030622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:-1.00, Z:-0.25 [[ 9.92879092e-01 1.19013014e-01 -5.19726370e-03 4.38130441e+01] [-1.19013722e-01 9.92892594e-01 1.73795562e-04 -1.00350270e+00] [ 5.18100857e-03 4.45987720e-04 9.99986479e-01 -2.53469399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:-1.00, Z:-0.25 [[ 9.92529095e-01 1.21976365e-01 -2.78595116e-03 4.38464048e+01] [-1.21976578e-01 9.92532975e-01 9.37859725e-05 -1.00202721e+00] [ 2.77658807e-03 2.46735483e-04 9.99996115e-01 -2.51966356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.585898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.88, Y:-1.00, Z:-0.25 [[ 9.92122422e-01 1.25261776e-01 -1.60863285e-03 4.38788688e+01] [-1.25261851e-01 9.92123715e-01 5.45090624e-05 -9.99826660e-01] [ 1.60279070e-03 1.47420665e-04 9.99998705e-01 -2.52554536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.91, Y:-1.00, Z:-0.25 [[ 9.91575822e-01 1.29523276e-01 -1.05327833e-03 4.39118000e+01] [-1.29523310e-01 9.91576377e-01 3.59702868e-05 -9.98322537e-01] [ 1.04906490e-03 1.00756830e-04 9.99999445e-01 -2.50145052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.94, Y:-0.99, Z:-0.25 [[ 9.90606581e-01 1.36735686e-01 -1.39754957e-03 4.39435530e+01] [-1.36735753e-01 9.90607557e-01 4.78708020e-05 -9.91382092e-01] [ 1.39096881e-03 1.43673861e-04 9.99999022e-01 -2.50243763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:-0.99, Z:-0.25 [[ 9.90250781e-01 1.39293366e-01 -8.65661255e-04 4.39767955e+01] [-1.39293392e-01 9.90251155e-01 2.98993391e-05 -9.87517914e-01] [ 8.61386837e-04 9.09730488e-05 9.99999625e-01 -2.51054274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.98, Z:-0.25 [[ 9.90087320e-01 1.40445917e-01 1.42948296e-03 4.40097476e+01] [-1.40445991e-01 9.90088340e-01 -4.90268514e-05 -9.77356088e-01] [-1.42220003e-03 -1.52224287e-04 9.99998977e-01 -2.51690966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.735898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:44.04, Y:-0.97, Z:-0.25 [[ 9.90276016e-01 1.39098222e-01 2.25776278e-03 4.40416444e+01] [-1.39098402e-01 9.90278561e-01 -7.79847332e-05 -9.72777533e-01] [-2.24666161e-03 -2.36824783e-04 9.99997448e-01 -2.54300434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:-0.97, Z:-0.25 [[ 9.90577332e-01 1.36932075e-01 2.48122260e-03 4.40738732e+01] [-1.36932284e-01 9.90580407e-01 -8.60858239e-05 -9.70401956e-01] [-2.46963840e-03 -2.54484813e-04 9.99996918e-01 -2.51107237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.11, Y:-0.96, Z:-0.25 [[ 9.91611628e-01 1.29233687e-01 2.24335381e-03 4.41068723e+01] [-1.29233838e-01 9.91614143e-01 -7.80396602e-05 -9.64055246e-01] [-2.23462672e-03 -2.12532189e-04 9.99997481e-01 -2.50572002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.14, Y:-0.96, Z:-0.25 [[ 9.92142080e-01 1.25105869e-01 1.61687477e-03 4.41395648e+01] [-1.25105942e-01 9.92143387e-01 -5.63453263e-05 -9.61696410e-01] [-1.61122075e-03 -1.46378072e-04 9.99998691e-01 -2.50681683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:-0.96, Z:-0.25 [[ 9.92612214e-01 1.21317354e-01 1.75872130e-03 4.41729083e+01] [-1.21317434e-01 9.92613760e-01 -6.14864045e-05 -9.59951905e-01] [-1.75319033e-03 -1.52331399e-04 9.99998452e-01 -2.51172863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:-0.96, Z:-0.25 [[ 9.93011977e-01 1.17991415e-01 2.28885878e-03 4.42051166e+01] [-1.17991541e-01 9.93014597e-01 -8.04968367e-05 -9.59017803e-01] [-2.28236811e-03 -1.90131651e-04 9.99997377e-01 -2.51250446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:-0.96, Z:-0.25 [[ 9.93560938e-01 1.13271783e-01 2.48289407e-03 4.42377479e+01] [-1.13271915e-01 9.93564022e-01 -8.77775112e-05 -9.57180253e-01] [-2.47685693e-03 -1.94029859e-04 9.99996914e-01 -2.50387121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.945898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.27, Y:-0.96, Z:-0.25 [[ 9.93656650e-01 1.12446762e-01 1.47909966e-03 4.42712643e+01] [-1.12446808e-01 9.93657744e-01 -5.24678657e-05 -9.55923714e-01] [-1.47561868e-03 -1.14184992e-04 9.99998905e-01 -2.51750311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.30, Y:-0.95, Z:-0.25 [[ 9.93528788e-01 1.13579881e-01 3.98736930e-04 4.43030717e+01] [-1.13579884e-01 9.93528867e-01 -1.40533341e-05 -9.54667384e-01] [-3.97752827e-04 -3.13261024e-05 9.99999920e-01 -2.49324915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:-0.95, Z:-0.25 [[ 9.92914165e-01 1.18830585e-01 -8.67900064e-04 4.43349868e+01] [-1.18830602e-01 9.92914542e-01 3.13301659e-05 -9.48667251e-01] [ 8.65473576e-04 7.20249219e-05 9.99999623e-01 -2.49738012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:-0.95, Z:-0.25 [[ 9.92479563e-01 1.22402501e-01 -1.39480707e-03 4.43679892e+01] [-1.22402550e-01 9.92480535e-01 5.06034784e-05 -9.46256088e-01] [ 1.39051286e-03 1.20505024e-04 9.99999026e-01 -2.50602631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:-0.94, Z:-0.25 [[ 9.91681231e-01 1.28691675e-01 -2.60565956e-03 4.44011726e+01] [-1.28691866e-01 9.91684625e-01 9.48029311e-05 -9.39942251e-01] [ 2.59619287e-03 2.41312904e-04 9.99996601e-01 -2.51152215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:-0.94, Z:-0.25 [[ 9.91434715e-01 1.30588308e-01 -1.97474598e-03 4.44330381e+01] [-1.30588421e-01 9.91436664e-01 7.22237861e-05 -9.37250807e-01] [ 1.96726715e-03 1.86273790e-04 9.99998048e-01 -2.50413922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.47, Y:-0.93, Z:-0.25 [[ 9.91273459e-01 1.31820901e-01 -4.24776497e-04 4.44660568e+01] [-1.31820906e-01 9.91273549e-01 1.57933042e-05 -9.34302427e-01] [ 4.23151593e-04 4.03389395e-05 9.99999910e-01 -2.49345202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:-0.93, Z:-0.25 [[ 9.91131683e-01 1.32874340e-01 1.54812993e-03 4.44990630e+01] [-1.32874412e-01 9.91132881e-01 -5.67764887e-05 -9.30790607e-01] [-1.54194662e-03 -1.49433878e-04 9.99998800e-01 -2.49153505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:-0.92, Z:-0.25 [[ 9.90837988e-01 1.35043523e-01 1.82463302e-03 4.45315063e+01] [-1.35043626e-01 9.90839651e-01 -6.72824316e-05 -9.23135773e-01] [-1.81700480e-03 -1.79739071e-04 9.99998333e-01 -2.50309244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:-0.92, Z:-0.25 [[ 9.90678405e-01 1.36217665e-01 1.02270775e-03 4.45642790e+01] [-1.36217697e-01 9.90678928e-01 -3.77861769e-05 -9.20182626e-01] [-1.01832216e-03 -1.01876945e-04 9.99999476e-01 -2.51011125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.60, Y:-0.92, Z:-0.25 [[ 9.90521092e-01 1.37360641e-01 1.41262249e-04 4.45970133e+01] [-1.37360641e-01 9.90521102e-01 -5.03863142e-06 -9.17391067e-01] [-1.40615348e-04 -1.44130024e-05 9.99999990e-01 -2.50603676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.63, Y:-0.91, Z:-0.25 [[ 9.90420561e-01 1.38082187e-01 6.49069998e-04 4.46294653e+01] [-1.38082201e-01 9.90420772e-01 -2.41404530e-05 -9.14341872e-01] [-6.46185775e-04 -6.57158127e-05 9.99999789e-01 -2.50643716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:-0.91, Z:-0.25 [[ 9.90560267e-01 1.37049508e-01 2.79102779e-03 4.46623066e+01] [-1.37049751e-01 9.90564160e-01 -1.05050330e-04 -9.07533222e-01] [-2.77908919e-03 -2.78450980e-04 9.99996100e-01 -2.49088215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:-0.91, Z:-0.25 [[ 9.90806827e-01 1.35236052e-01 3.61134095e-03 4.46946613e+01] [-1.35236444e-01 9.90813346e-01 -1.36645048e-04 -9.05680052e-01] [-3.59664414e-03 -3.52996061e-04 9.99993470e-01 -2.48740452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.73, Y:-0.90, Z:-0.25 [[ 9.91073722e-01 1.33260493e-01 3.81028162e-03 4.47275342e+01] [-1.33260912e-01 9.91080980e-01 -1.44871325e-04 -9.04052788e-01] [-3.79560326e-03 -3.64183439e-04 9.99992730e-01 -2.48978250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.90, Z:-0.25 [[ 9.91604017e-01 1.29290967e-01 2.30631914e-03 4.47605476e+01] [-1.29291110e-01 9.91606677e-01 -8.80229766e-05 -9.00312518e-01] [-2.29834203e-03 -2.10902623e-04 9.99997337e-01 -2.50120228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.90, Z:-0.25 [[ 9.91769584e-01 1.28021055e-01 1.92405089e-03 4.47928313e+01] [-1.28021151e-01 9.91771435e-01 -7.37087263e-05 -8.99358905e-01] [-1.91765498e-03 -1.73217136e-04 9.99998146e-01 -2.49788776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:-0.90, Z:-0.25 [[ 9.91764844e-01 1.28048033e-01 2.48916894e-03 4.48254229e+01] [-1.28048193e-01 9.91767942e-01 -9.57801462e-05 -8.98497656e-01] [-2.48094241e-03 -2.23742202e-04 9.99996897e-01 -2.49448246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:-0.89, Z:-0.25 [[ 9.91563846e-01 1.29569826e-01 3.57762125e-03 4.48574611e+01] [-1.29570163e-01 9.91570246e-01 -1.38414646e-04 -8.94396074e-01] [-3.56539715e-03 -3.26306011e-04 9.99993591e-01 -2.48516293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.89, Y:-0.89, Z:-0.25 [[ 9.91476801e-01 1.30225047e-01 3.89758596e-03 4.48896210e+01] [-1.30225449e-01 9.91484397e-01 -1.51477611e-04 -8.93016604e-01] [-3.88412185e-03 -3.57378346e-04 9.99992393e-01 -2.48414410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:-0.89, Z:-0.25 [[ 9.91425708e-01 1.30580811e-01 4.86995991e-03 4.49230380e+01] [-1.30581439e-01 9.91437568e-01 -1.90188603e-04 -8.91814189e-01] [-4.85309619e-03 -4.47368503e-04 9.99988124e-01 -2.48636247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.95, Y:-0.89, Z:-0.25 [[ 9.91417683e-01 1.30592483e-01 6.04815713e-03 4.49547836e+01] [-1.30593445e-01 9.91435977e-01 -2.37298350e-04 -8.91520474e-01] [-6.02734995e-03 -5.54587897e-04 9.99981682e-01 -2.48633939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:-0.89, Z:-0.25 [[ 9.91490128e-01 1.29936765e-01 7.98518289e-03 4.49869700e+01] [-1.29938410e-01 9.91522017e-01 -3.14672360e-04 -8.91517416e-01] [-7.95837215e-03 -7.25587430e-04 9.99968068e-01 -2.48885599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:-0.89, Z:-0.25 [[ 9.91518672e-01 1.29754888e-01 7.37514020e-03 4.50196420e+01] [-1.29756277e-01 9.91545876e-01 -2.91872485e-04 -8.92783749e-01] [-7.35066173e-03 -6.67573717e-04 9.99972761e-01 -2.49456336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.05, Y:-0.89, Z:-0.25 [[ 9.91546944e-01 1.29626534e-01 5.62314421e-03 4.50529794e+01] [-1.29627334e-01 9.91562759e-01 -2.23454231e-04 -8.94607443e-01] [-5.60466598e-03 -5.07347833e-04 9.99984165e-01 -2.50200942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.09, Y:-0.90, Z:-0.25 [[ 9.91686620e-01 1.28647463e-01 2.73472380e-03 4.50863815e+01] [-1.28647647e-01 9.91690360e-01 -1.09051600e-04 -8.96775033e-01] [-2.72602844e-03 -2.43670770e-04 9.99996255e-01 -2.51142942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.725898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:45.12, Y:-0.90, Z:-0.25 [[ 9.91706049e-01 1.28506119e-01 2.29983257e-03 4.51182865e+01] [-1.28506249e-01 9.91708695e-01 -9.20991033e-05 -8.97698543e-01] [-2.29259925e-03 -2.04207617e-04 9.99997351e-01 -2.54102548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.755898226999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:45.15, Y:-0.90, Z:-0.25 [[ 9.91696227e-01 1.28581898e-01 2.29981993e-03 4.51517520e+01] [-1.28582027e-01 9.91698873e-01 -9.24138272e-05 -8.99172900e-01] [-2.29261157e-03 -2.04069064e-04 9.99997351e-01 -2.54145421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.18, Y:-0.90, Z:-0.25 [[ 9.91627836e-01 1.29113821e-01 1.96384659e-03 4.51846424e+01] [-1.29113916e-01 9.91629765e-01 -7.91215519e-05 -9.01233521e-01] [-1.95762442e-03 -1.75100790e-04 9.99998069e-01 -2.51239618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:-0.90, Z:-0.25 [[ 9.91519532e-01 1.29943516e-01 1.92371309e-03 4.52174175e+01] [-1.29943607e-01 9.91521383e-01 -7.78500032e-05 -9.02704404e-01] [-1.91751876e-03 -1.72784419e-04 9.99998147e-01 -2.50950743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:-0.90, Z:-0.25 [[ 9.91134889e-01 1.32859431e-01 -6.23722854e-05 4.52505685e+01] [-1.32859432e-01 9.91134891e-01 2.78453125e-06 -9.04569577e-01] [ 6.21892995e-05 5.52690031e-06 9.99999998e-01 -2.52627681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:-0.91, Z:-0.25 [[ 9.90912736e-01 1.34489820e-01 -2.10654874e-03 4.52825145e+01] [-1.34489937e-01 9.90914956e-01 8.63011402e-05 -9.05173202e-01] [ 2.09901728e-03 1.97792709e-04 9.99997778e-01 -2.53694239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:-0.91, Z:-0.26 [[ 9.90684764e-01 1.36113868e-01 -4.08822054e-03 4.53156705e+01] [-1.36114322e-01 9.90693123e-01 1.68155283e-04 -9.05888132e-01] [ 4.07306024e-03 3.89876491e-04 9.99991629e-01 -2.55004045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:-0.91, Z:-0.25 [[ 9.90442985e-01 1.37850230e-01 -4.47286154e-03 4.53486079e+01] [-1.37850789e-01 9.90452990e-01 1.84758172e-04 -9.05798296e-01] [ 4.45562804e-03 4.33595055e-04 9.99989980e-01 -2.53749103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:-0.91, Z:-0.25 [[ 9.90375522e-01 1.38372589e-01 -3.05827587e-03 4.53805693e+01] [-1.38372851e-01 9.90380199e-01 1.26654967e-04 -9.06266893e-01] [ 3.04638144e-03 2.97746373e-04 9.99995315e-01 -2.52751028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:-0.91, Z:-0.25 [[ 9.90285620e-01 1.39034874e-01 -1.92223544e-03 4.54135260e+01] [-1.39034978e-01 9.90287468e-01 8.01173317e-05 -9.06248489e-01] [ 1.91470477e-03 1.87918922e-04 9.99998149e-01 -2.52658577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.45, Y:-0.91, Z:-0.25 [[ 9.90201397e-01 1.39629262e-01 -2.20522991e-03 4.54460111e+01] [-1.39629399e-01 9.90203829e-01 9.22468275e-05 -9.05778754e-01] [ 2.19650746e-03 2.16571990e-04 9.99997564e-01 -2.52512599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.48, Y:-0.90, Z:-0.26 [[ 9.90194069e-01 1.39647680e-01 -3.77230696e-03 4.54787352e+01] [-1.39648081e-01 9.90201186e-01 1.58336804e-04 -9.03550227e-01] [ 3.75745419e-03 3.70011263e-04 9.99992872e-01 -2.55352453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:-0.90, Z:-0.26 [[ 9.90294338e-01 1.38933540e-01 -3.82031060e-03 4.55110882e+01] [-1.38933943e-01 9.90301638e-01 1.60982437e-04 -9.02800748e-01] [ 3.80562570e-03 3.71350821e-04 9.99992690e-01 -2.56216836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:45.54, Y:-0.90, Z:-0.26 [[ 9.90460443e-01 1.37776506e-01 -2.39674111e-03 4.55445043e+01] [-1.37776660e-01 9.90463317e-01 1.01529676e-04 -9.01763145e-01] [ 2.38787255e-03 2.29653857e-04 9.99997123e-01 -2.59104405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.58, Y:-0.90, Z:-0.25 [[ 9.90804506e-01 1.35300139e-01 5.51507734e-04 4.55768474e+01] [-1.35300147e-01 9.90804658e-01 -2.31849830e-05 -8.99749519e-01] [-5.49573363e-04 -5.16472918e-05 9.99999848e-01 -2.53422558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:-0.90, Z:-0.25 [[ 9.90887584e-01 1.34687224e-01 1.07137679e-03 4.56099616e+01] [-1.34687253e-01 9.90888158e-01 -4.54265344e-05 -8.98917238e-01] [-1.06773295e-03 -9.92882074e-05 9.99999425e-01 -2.52816116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:-0.90, Z:-0.25 [[ 9.90921874e-01 1.34432311e-01 1.33955729e-03 4.56429501e+01] [-1.34432355e-01 9.90922771e-01 -5.70979547e-05 -8.98084816e-01] [-1.33507363e-03 -1.23500229e-04 9.99999101e-01 -2.53207813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:-0.89, Z:-0.26 [[ 9.90961472e-01 1.34144847e-01 7.21887182e-04 4.56755521e+01] [-1.34144860e-01 9.90961733e-01 -3.08008679e-05 -8.93350140e-01] [-7.19494350e-04 -6.63149816e-05 9.99999739e-01 -2.55489122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:-0.89, Z:-0.26 [[ 9.91069058e-01 1.33345706e-01 1.02238859e-03 4.57086298e+01] [-1.33345731e-01 9.91069581e-01 -4.38815452e-05 -8.91731907e-01] [-1.01910965e-03 -9.28415132e-05 9.99999476e-01 -2.56190028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.74, Y:-0.89, Z:-0.25 [[ 9.91336925e-01 1.31306750e-01 3.10453825e-03 4.57410710e+01] [-1.31306968e-01 9.91341748e-01 -1.34295977e-04 -8.88888304e-01] [-3.09529234e-03 -2.74514943e-04 9.99995172e-01 -2.54643064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:-0.89, Z:-0.25 [[ 9.91396608e-01 1.30823382e-01 4.24352849e-03 4.57742891e+01] [-1.30823782e-01 9.91405620e-01 -1.84421192e-04 -8.88455822e-01] [-4.23118460e-03 -3.72319900e-04 9.99990979e-01 -2.54328541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:-0.89, Z:-0.25 [[ 9.91414951e-01 1.30686887e-01 4.16316563e-03 4.58066935e+01] [-1.30687267e-01 9.91423625e-01 -1.81661548e-04 -8.87905781e-01] [-4.15120154e-03 -3.63970765e-04 9.99991317e-01 -2.54078612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.89, Z:-0.25 [[ 9.91439623e-01 1.30515399e-01 3.63386718e-03 4.58399331e+01] [-1.30515686e-01 9.91446232e-01 -1.58947897e-04 -8.86550131e-01] [-3.62352907e-03 -3.16689425e-04 9.99993385e-01 -2.54737582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:-0.88, Z:-0.26 [[ 9.91616770e-01 1.29165664e-01 3.52317534e-03 4.58721702e+01] [-1.29165924e-01 9.91622983e-01 -1.54591024e-04 -8.83008815e-01] [-3.51362949e-03 -3.01779145e-04 9.99993782e-01 -2.56300648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:-0.88, Z:-0.26 [[ 9.91821974e-01 1.27597819e-01 2.82275566e-03 4.59053963e+01] [-1.27597979e-01 9.91825963e-01 -1.24325313e-04 -8.83021217e-01] [-2.81554599e-03 -2.36869339e-04 9.99996008e-01 -2.56625119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:-0.88, Z:-0.26 [[ 9.92041401e-01 1.25902073e-01 1.58973034e-03 4.59372778e+01] [-1.25902121e-01 9.92042666e-01 -7.02124271e-05 -8.83256325e-01] [-1.58592022e-03 -1.30496788e-04 9.99998734e-01 -2.56711325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:-0.88, Z:-0.26 [[ 9.92320540e-01 1.23692861e-01 -1.51094519e-04 4.59681959e+01] [-1.23692861e-01 9.92320551e-01 6.90440458e-06 -8.82229210e-01] [ 1.50788222e-04 1.18379309e-05 9.99999989e-01 -2.55707623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:-0.88, Z:-0.26 [[ 9.92399495e-01 1.23056111e-01 6.60131690e-04 4.59997092e+01] [-1.23056118e-01 9.92399713e-01 -2.93371546e-05 -8.82352019e-01] [-6.58724616e-04 -5.21190661e-05 9.99999782e-01 -2.55184649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:-0.88, Z:-0.25 [[ 9.92405648e-01 1.22990454e-01 2.09239308e-03 4.60309843e+01] [-1.22990529e-01 9.92407840e-01 -9.31003561e-05 -8.83127533e-01] [-2.08795775e-03 -1.64951214e-04 9.99997807e-01 -2.54620230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:-0.88, Z:-0.25 [[ 9.92342149e-01 1.23478393e-01 3.18523996e-03 4.60630224e+01] [-1.23478569e-01 9.92347229e-01 -1.42092888e-04 -8.84833497e-01] [-3.17840945e-03 -2.52304111e-04 9.99994917e-01 -2.54284141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:-0.89, Z:-0.25 [[ 9.92269813e-01 1.24057285e-01 3.22619116e-03 4.60941624e+01] [-1.24057467e-01 9.92275024e-01 -1.44441631e-04 -8.86736130e-01] [-3.21918795e-03 -2.56908032e-04 9.99994785e-01 -2.54637757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:-0.89, Z:-0.26 [[ 9.92158047e-01 1.24953208e-01 3.01764689e-03 4.61258038e+01] [-1.24953370e-01 9.92162606e-01 -1.35576564e-04 -8.88503377e-01] [-3.01093713e-03 -2.42551770e-04 9.99995438e-01 -2.55025614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.685898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:46.16, Y:-0.89, Z:-0.26 [[ 9.92070053e-01 1.25660862e-01 2.52146244e-03 4.61569137e+01] [-1.25660976e-01 9.92073236e-01 -1.13647937e-04 -8.89579661e-01] [-2.51575650e-03 -2.04102717e-04 9.99996815e-01 -2.57885838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.89, Z:-0.26 [[ 9.92035064e-01 1.25945153e-01 2.06138544e-03 4.61883228e+01] [-1.25945230e-01 9.92037192e-01 -9.31878533e-05 -8.91997745e-01] [-2.05670758e-03 -1.67176044e-04 9.99997871e-01 -2.56060463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.89, Z:-0.26 [[ 9.92120855e-01 1.25284453e-01 1.23982094e-04 4.62202205e+01] [-1.25284454e-01 9.92120862e-01 -5.42596632e-06 -8.91976892e-01] [-1.23685011e-04 -1.01498146e-05 9.99999992e-01 -2.55940815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.89, Z:-0.26 [[ 9.92044628e-01 1.25885364e-01 -5.75010763e-04 4.62505241e+01] [-1.25885370e-01 9.92044794e-01 2.61646657e-05 -8.91168021e-01] [ 5.73730182e-04 4.64289263e-05 9.99999834e-01 -2.55939654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.28, Y:-0.89, Z:-0.26 [[ 9.91906865e-01 1.26965767e-01 -6.82269373e-04 4.62812005e+01] [-1.26965775e-01 9.91907098e-01 3.10273770e-05 -8.90004754e-01] [ 6.80687249e-04 5.58485917e-05 9.99999767e-01 -2.55328213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.89, Z:-0.25 [[ 9.91499850e-01 1.30104103e-01 9.84685465e-04 4.63111486e+01] [-1.30104122e-01 9.91500336e-01 -4.47869174e-05 -8.88397574e-01] [-9.82142931e-04 -8.37054164e-05 9.99999514e-01 -2.54553724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.865898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:46.34, Y:-0.89, Z:-0.26 [[ 9.91359809e-01 1.31154621e-01 2.04801057e-03 4.63403302e+01] [-1.31154706e-01 9.91361909e-01 -9.31001463e-05 -8.88442705e-01] [-2.04253018e-03 -1.76310481e-04 9.99997898e-01 -2.56953842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:-0.89, Z:-0.25 [[ 9.91346849e-01 1.31250925e-01 2.14951320e-03 4.63711382e+01] [-1.31251019e-01 9.91349162e-01 -9.77313795e-05 -8.89166159e-01] [-2.14374545e-03 -1.85240104e-04 9.99997685e-01 -2.54301278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:-0.89, Z:-0.26 [[ 9.91705646e-01 1.28519323e-01 1.64152483e-03 4.64011464e+01] [-1.28519374e-01 9.91706996e-01 -7.46389916e-05 -8.88342774e-01] [-1.63750421e-03 -1.36947834e-04 9.99998650e-01 -2.56340014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:-0.89, Z:-0.26 [[ 9.92002067e-01 1.26216894e-01 1.09264857e-03 4.64327472e+01] [-1.26216915e-01 9.92002665e-01 -4.96874140e-05 -8.89884004e-01] [-1.09018168e-03 -8.86207142e-05 9.99999402e-01 -2.56934692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:-0.89, Z:-0.26 [[ 9.92249357e-01 1.24260235e-01 7.79809529e-04 4.64629174e+01] [-1.24260246e-01 9.92249661e-01 -3.54540955e-05 -8.91855776e-01] [-7.78171275e-04 -6.17200202e-05 9.99999695e-01 -2.56917293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:-0.89, Z:-0.26 [[ 9.92439350e-01 1.22734749e-01 5.64222721e-04 4.64936792e+01] [-1.22734754e-01 9.92439509e-01 -2.57056272e-05 -8.92478250e-01] [-5.63111894e-04 -4.37384610e-05 9.99999840e-01 -2.56498671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:-0.89, Z:-0.26 [[ 9.92291195e-01 1.23926987e-01 5.34385749e-04 4.65247228e+01] [-1.23926992e-01 9.92291338e-01 -2.43462737e-05 -8.89324805e-01] [-5.33283510e-04 -4.20662251e-05 9.99999857e-01 -2.56974699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:-0.89, Z:-0.26 [[ 9.91965271e-01 1.26507096e-01 9.24807661e-04 4.65537599e+01] [-1.26507111e-01 9.91965699e-01 -4.21460072e-05 -8.88275432e-01] [-9.22709248e-04 -7.51873705e-05 9.99999571e-01 -2.57355138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:-0.88, Z:-0.26 [[ 9.91153966e-01 1.32710159e-01 1.35260376e-03 4.65839335e+01] [-1.32710198e-01 9.91154882e-01 -6.15747103e-05 -8.84155032e-01] [-1.34881141e-03 -1.18474294e-04 9.99999083e-01 -2.56483212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.135898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:46.61, Y:-0.88, Z:-0.26 [[ 9.90816434e-01 1.35208702e-01 1.18347609e-03 4.66137110e+01] [-1.35208733e-01 9.90817135e-01 -5.38526717e-05 -8.81842548e-01] [-1.17988973e-03 -1.06658190e-04 9.99999298e-01 -2.58127795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:-0.88, Z:-0.26 [[ 9.90529945e-01 1.37295503e-01 6.10525915e-04 4.66423951e+01] [-1.37295512e-01 9.90530132e-01 -2.77890823e-05 -8.80444753e-01] [-6.08559631e-04 -5.62965496e-05 9.99999813e-01 -2.56257295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:-0.88, Z:-0.26 [[ 9.90188269e-01 1.39739690e-01 -1.07740654e-04 4.66707879e+01] [-1.39739690e-01 9.90188274e-01 4.81815347e-06 -8.76286714e-01] [ 1.07356820e-04 1.02847666e-05 9.99999994e-01 -2.58051141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:-0.88, Z:-0.26 [[ 9.90219650e-01 1.39516299e-01 -4.98034657e-04 4.66999176e+01] [-1.39516305e-01 9.90219774e-01 2.25242635e-05 -8.75202441e-01] [ 4.96306267e-04 4.71799867e-05 9.99999876e-01 -2.58606976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.73, Y:-0.87, Z:-0.26 [[ 9.90327822e-01 1.38746105e-01 -5.67695574e-04 4.67291875e+01] [-1.38746113e-01 9.90327984e-01 2.56574001e-05 -8.74207237e-01] [ 5.65764678e-04 5.33563172e-05 9.99999839e-01 -2.58825414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:-0.87, Z:-0.26 [[ 9.90758877e-01 1.35629136e-01 1.25878031e-03 4.67586007e+01] [-1.35629172e-01 9.90759670e-01 -5.70199539e-05 -8.70329051e-01] [-1.25488233e-03 -1.14234305e-04 9.99999206e-01 -2.57969836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:-0.87, Z:-0.26 [[ 9.91054527e-01 1.33445789e-01 1.77370902e-03 4.67875868e+01] [-1.33445858e-01 9.91056102e-01 -8.02377660e-05 -8.69540943e-01] [-1.76855254e-03 -1.57174121e-04 9.99998424e-01 -2.57289018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.345898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:46.82, Y:-0.87, Z:-0.26 [[ 9.91320428e-01 1.31465428e-01 8.06326020e-04 4.68157200e+01] [-1.31465442e-01 9.91320753e-01 -3.64762968e-05 -8.69300162e-01] [-8.04123089e-04 -6.98443081e-05 9.99999674e-01 -2.59224128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:-0.87, Z:-0.26 [[ 9.91588800e-01 1.29423327e-01 -1.11996686e-03 4.68450136e+01] [-1.29423352e-01 9.91589428e-01 5.04474274e-05 -8.70191381e-01] [ 1.11707637e-03 9.49267610e-05 9.99999372e-01 -2.58238768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.87, Z:-0.26 [[ 9.92032667e-01 1.25960802e-01 -2.25046120e-03 4.68738526e+01] [-1.25960895e-01 9.92035202e-01 1.01323713e-04 -8.68730399e-01] [ 2.24529955e-03 1.82953673e-04 9.99997463e-01 -2.58222567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:-0.87, Z:-0.26 [[ 9.92069359e-01 1.25685676e-01 -1.22366874e-03 4.69028940e+01] [-1.25685703e-01 9.92070109e-01 5.50072372e-05 -8.67210109e-01] [ 1.22087880e-03 9.92266709e-05 9.99999250e-01 -2.57470181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.87, Z:-0.26 [[ 9.91954005e-01 1.26598535e-01 -2.49545604e-04 4.69307693e+01] [-1.26598536e-01 9.91954037e-01 1.11397695e-05 -8.65032906e-01] [ 2.48948048e-04 2.05419692e-05 9.99999969e-01 -2.56658329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:-0.86, Z:-0.26 [[ 9.91391323e-01 1.30932214e-01 -2.89100998e-05 4.69601682e+01] [-1.30932214e-01 9.91391323e-01 1.24047928e-06 -8.58294503e-01] [ 2.88236408e-05 2.55546298e-06 1.00000000e+00 -2.55719023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.525898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.85, Z:-0.26 [[ 9.90980029e-01 1.34005381e-01 -1.06727592e-03 4.69893841e+01] [-1.34005407e-01 9.90980600e-01 4.78084297e-05 -8.54262955e-01] [ 1.06405632e-03 9.56435452e-05 9.99999429e-01 -2.58147134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:-0.85, Z:-0.26 [[ 9.90558228e-01 1.37083192e-01 -1.61078186e-03 4.70174898e+01] [-1.37083254e-01 9.90559527e-01 7.20409958e-05 -8.50372145e-01] [ 1.60545093e-03 1.49450418e-04 9.99998700e-01 -2.57379111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:-0.84, Z:-0.26 [[ 9.90008262e-01 1.41002990e-01 -1.34060995e-03 4.70444796e+01] [-1.41003037e-01 9.90009162e-01 5.98179218e-05 -8.41540595e-01] [ 1.33565064e-03 1.29809838e-04 9.99999100e-01 -2.58340326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.07, Y:-0.84, Z:-0.26 [[ 9.90047816e-01 1.40727265e-01 -1.07675209e-03 4.70726463e+01] [-1.40727296e-01 9.90048396e-01 4.79671673e-05 -8.38229902e-01] [ 1.07278697e-03 1.04038621e-04 9.99999419e-01 -2.57771441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.10, Y:-0.84, Z:-0.26 [[ 9.90259986e-01 1.39227815e-01 -8.80266957e-04 4.71012033e+01] [-1.39227835e-01 9.90260374e-01 3.91341561e-05 -8.35469983e-01] [ 8.77142049e-04 8.38046733e-05 9.99999612e-01 -2.57596049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:-0.84, Z:-0.26 [[ 9.90268166e-01 1.39169628e-01 -8.80268608e-04 4.71296740e+01] [-1.39169648e-01 9.90268553e-01 3.90970271e-05 -8.36620179e-01] [ 8.77143439e-04 8.37901306e-05 9.99999612e-01 -2.57632496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:-0.83, Z:-0.26 [[ 9.90846609e-01 1.34989473e-01 -9.16334802e-04 4.71572694e+01] [-1.34989493e-01 9.90847029e-01 4.05972639e-05 -8.30153870e-01] [ 9.13427819e-04 8.34699091e-05 9.99999579e-01 -2.57583397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:-0.83, Z:-0.26 [[ 9.91150161e-01 1.32742399e-01 -9.02070351e-04 4.71853940e+01] [-1.32742417e-01 9.91150568e-01 3.99165302e-05 -8.27587635e-01] [ 8.99386157e-04 8.01797238e-05 9.99999592e-01 -2.58273672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.21, Y:-0.82, Z:-0.26 [[ 9.91372204e-01 1.31073386e-01 -9.59167829e-04 4.72126417e+01] [-1.31073406e-01 9.91372665e-01 4.23558826e-05 -8.24565650e-01] [ 9.56444495e-04 8.37309494e-05 9.99999539e-01 -2.58312104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.24, Y:-0.82, Z:-0.26 [[ 9.91465691e-01 1.30366469e-01 -6.06225174e-04 4.72404426e+01] [-1.30366477e-01 9.91465875e-01 2.67060446e-05 -8.20971023e-01] [ 6.04533145e-04 5.25533134e-05 9.99999816e-01 -2.57891213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.27, Y:-0.81, Z:-0.26 [[ 9.91252807e-01 1.31975546e-01 -5.71866079e-04 4.72692020e+01] [-1.31975554e-01 9.91252971e-01 2.51474251e-05 -8.13056278e-01] [ 5.70182795e-04 5.05448867e-05 9.99999836e-01 -2.57273726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.30, Y:-0.81, Z:-0.26 [[ 9.91024051e-01 1.33667575e-01 -2.07583152e-03 4.72966537e+01] [-1.33667675e-01 9.91026208e-01 9.13347319e-05 -8.09940120e-01] [ 2.06941193e-03 1.86956657e-04 9.99997841e-01 -2.56947109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:-0.81, Z:-0.26 [[ 9.90792997e-01 1.35337913e-01 -3.58980577e-03 4.73252630e+01] [-1.35338222e-01 9.90799445e-01 1.57780149e-04 -8.06521582e-01] [ 3.57813120e-03 3.29510465e-04 9.99993544e-01 -2.57743880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.80, Z:-0.26 [[ 9.90481638e-01 1.37592805e-01 -3.78747438e-03 4.73532084e+01] [-1.37593167e-01 9.90488815e-01 1.66146283e-04 -7.96417295e-01] [ 3.77431155e-03 3.56565753e-04 9.99992814e-01 -2.58575650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:-0.79, Z:-0.26 [[ 9.90531024e-01 1.37273912e-01 -2.04071754e-03 4.73808516e+01] [-1.37274016e-01 9.90533107e-01 8.93167145e-05 -7.91583829e-01] [ 2.03365914e-03 1.91666516e-04 9.99997914e-01 -2.58934202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:-0.79, Z:-0.26 [[ 9.90743867e-01 1.35744579e-01 -1.22326150e-05 4.74088682e+01] [-1.35744579e-01 9.90743867e-01 4.44132630e-07 -7.87296517e-01] [ 1.21796769e-05 1.22048950e-06 1.00000000e+00 -2.58650680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:-0.78, Z:-0.26 [[ 9.91720631e-01 1.28355387e-01 3.88388442e-03 4.74367867e+01] [-1.28355700e-01 9.91728181e-01 -1.69747581e-04 -7.81372564e-01] [-3.87354565e-03 -3.30176525e-04 9.99992443e-01 -2.56856022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:-0.78, Z:-0.26 [[ 9.92395540e-01 1.23040623e-01 3.47809093e-03 4.74639139e+01] [-1.23040842e-01 9.92401596e-01 -1.51762132e-04 -7.80350343e-01] [-3.47033590e-03 -2.77339173e-04 9.99993940e-01 -2.56919100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.49, Y:-0.78, Z:-0.26 [[ 9.92930305e-01 1.18691695e-01 1.30014098e-03 4.74922972e+01] [-1.18691722e-01 9.92931152e-01 -5.66888363e-05 -7.79496713e-01] [-1.29767897e-03 -9.80279086e-05 9.99999153e-01 -2.57178558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.52, Y:-0.78, Z:-0.26 [[ 9.93313739e-01 1.15442765e-01 -8.85306519e-04 4.75191176e+01] [-1.15442777e-01 9.93314131e-01 3.83574561e-05 -7.78832284e-01] [ 8.83815566e-04 6.41012547e-05 9.99999607e-01 -2.58276317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.55, Y:-0.78, Z:-0.26 [[ 9.93676275e-01 1.12260623e-01 -2.23909361e-03 4.75459746e+01] [-1.12260688e-01 9.93678785e-01 9.69925016e-05 -7.77817612e-01] [ 2.23582826e-03 1.54983040e-04 9.99997489e-01 -2.59540011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:-0.78, Z:-0.26 [[ 9.93700540e-01 1.12054347e-01 -1.74945182e-03 4.75739530e+01] [-1.12054387e-01 9.93702072e-01 7.56444979e-05 -7.78525341e-01] [ 1.74691019e-03 1.20865772e-04 9.99998467e-01 -2.59126336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.78, Z:-0.26 [[ 9.93541002e-01 1.13454589e-01 -2.08150317e-03 4.76009813e+01] [-1.13454649e-01 9.93543172e-01 8.96856810e-05 -7.78764340e-01] [ 2.07823852e-03 1.47049810e-04 9.99997830e-01 -2.57700074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.63, Y:-0.78, Z:-0.26 [[ 9.93440300e-01 1.14312655e-01 -2.99775540e-03 4.76287263e+01] [-1.14312784e-01 9.93444800e-01 1.29100562e-04 -7.79248828e-01] [ 2.99286234e-03 2.14428064e-04 9.99995498e-01 -2.57795032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.78, Z:-0.26 [[ 9.93343505e-01 1.15152803e-01 -2.91761407e-03 4.76569826e+01] [-1.15152929e-01 9.93347768e-01 1.25435425e-04 -7.79020675e-01] [ 2.91264967e-03 2.11371341e-04 9.99995736e-01 -2.58253904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:-0.78, Z:-0.26 [[ 9.93244951e-01 1.16026775e-01 -1.50142298e-03 4.76843033e+01] [-1.16026809e-01 9.93246080e-01 6.43660093e-05 -7.78743213e-01] [ 1.49875067e-03 1.10274104e-04 9.99998871e-01 -2.58532776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:-0.78, Z:-0.26 [[ 9.93147940e-01 1.16862549e-01 -5.60975573e-04 4.77123701e+01] [-1.16862554e-01 9.93148097e-01 2.39588301e-05 -7.78426365e-01] [ 5.59931713e-04 4.17623754e-05 9.99999842e-01 -2.58408828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.74, Y:-0.78, Z:-0.26 [[ 9.92886427e-01 1.19058845e-01 -1.23877244e-03 4.77400869e+01] [-1.19058871e-01 9.92887195e-01 5.29284503e-05 -7.75497872e-01] [ 1.23626289e-03 9.49349080e-05 9.99999231e-01 -2.59612446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.77, Y:-0.77, Z:-0.26 [[ 9.92800550e-01 1.19757560e-01 -2.27901582e-03 4.77673474e+01] [-1.19757650e-01 9.92803151e-01 9.72487234e-05 -7.73804847e-01] [ 2.27426035e-03 1.76380993e-04 9.99997398e-01 -2.60172980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.80, Y:-0.77, Z:-0.26 [[ 9.92795170e-01 1.19794918e-01 -2.63218319e-03 4.77956826e+01] [-1.19795039e-01 9.92798638e-01 1.12159457e-04 -7.71428347e-01] [ 2.62666402e-03 2.03971121e-04 9.99996530e-01 -2.60478914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:-0.77, Z:-0.26 [[ 9.92845481e-01 1.19394142e-01 -1.70001263e-03 4.78229445e+01] [-1.19394193e-01 9.92846928e-01 7.22496433e-05 -7.67244056e-01] [ 1.69647850e-03 1.31238904e-04 9.99998552e-01 -2.59166591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.455898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:47.85, Y:-0.77, Z:-0.26 [[ 9.92999964e-01 1.18104550e-01 -1.54461400e-03 4.78504586e+01] [-1.18104591e-01 9.93001159e-01 6.53769395e-05 -7.66660820e-01] [ 1.54152481e-03 1.17506706e-04 9.99998805e-01 -2.61800948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.88, Y:-0.77, Z:-0.26 [[ 9.93201718e-01 1.16395123e-01 -1.58814525e-03 4.78775963e+01] [-1.16395164e-01 9.93202981e-01 6.71547686e-05 -7.66596002e-01] [ 1.58516709e-03 1.18154195e-04 9.99998737e-01 -2.59906724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:-0.76, Z:-0.26 [[ 9.93800351e-01 1.11169312e-01 -1.49883651e-03 4.79042875e+01] [-1.11169342e-01 9.93801476e-01 6.32514218e-05 -7.63583624e-01] [ 1.49657755e-03 1.03765384e-04 9.99998875e-01 -2.59991953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:-0.76, Z:-0.26 [[ 9.94028315e-01 1.09116084e-01 -1.17822379e-03 4.79319043e+01] [-1.09116101e-01 9.94029011e-01 4.96293297e-05 -7.62976739e-01] [ 1.17660399e-03 7.92302281e-05 9.99999305e-01 -2.59868853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.96, Y:-0.76, Z:-0.26 [[ 9.94186719e-01 1.07658197e-01 -1.57507759e-03 4.79589296e+01] [-1.07642461e-01 9.94157824e-01 7.95750837e-03 -7.63377404e-01] [ 2.42256671e-03 -7.74170391e-03 9.99967098e-01 -2.56377731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:-0.75, Z:-0.26 [[ 9.94183429e-01 1.07696026e-01 -9.35336139e-04 4.79887282e+01] [-1.07700052e-01 9.94152596e-01 -7.83041023e-03 -7.54955642e-01] [ 8.65627898e-05 7.88559984e-03 9.99968904e-01 -2.57261554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:-0.76, Z:-0.26 [[ 9.94103405e-01 1.08435835e-01 3.00369399e-04 4.80159246e+01] [-1.08435836e-01 9.94103450e-01 -1.27125692e-05 -7.56161909e-01] [-2.99976754e-04 -1.99331985e-05 9.99999955e-01 -2.58629163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:-0.75, Z:-0.26 [[ 9.93971951e-01 1.09633915e-01 4.07028459e-04 4.80438448e+01] [-1.09633917e-01 9.93972034e-01 -1.71499046e-05 -7.53908062e-01] [-4.06455116e-04 -2.75776002e-05 9.99999917e-01 -2.58456892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:-0.75, Z:-0.26 [[ 9.93789719e-01 1.11267702e-01 -1.22222621e-03 4.80714442e+01] [-1.11267723e-01 9.93790466e-01 5.10123871e-05 -7.49134685e-01] [ 1.22031279e-03 8.52987420e-05 9.99999252e-01 -2.59454662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:-0.75, Z:-0.26 [[ 9.93770001e-01 1.11412507e-01 -2.90500976e-03 4.80990816e+01] [-1.11412626e-01 9.93774226e-01 1.21206791e-04 -7.46816792e-01] [ 2.90042778e-03 2.03203093e-04 9.99995773e-01 -2.59900547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:-0.74, Z:-0.26 [[ 9.93795079e-01 1.11143225e-01 -4.30398396e-03 4.81258341e+01] [-1.11143486e-01 9.93804354e-01 1.79253809e-04 -7.43682060e-01] [ 4.29724084e-03 3.00218225e-04 9.99990722e-01 -2.59815502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:-0.74, Z:-0.26 [[ 9.93882774e-01 1.10337620e-01 -4.75828837e-03 4.81537502e+01] [-1.10337931e-01 9.93894110e-01 1.97855375e-04 -7.39976790e-01] [ 4.75106568e-03 3.28374644e-04 9.99988660e-01 -2.60164474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:-0.73, Z:-0.26 [[ 9.94152131e-01 1.07913896e-01 -4.01644171e-03 4.81821285e+01] [-1.07914100e-01 9.94160208e-01 1.66699447e-04 -7.33783188e-01] [ 4.01097571e-03 2.67706081e-04 9.99991920e-01 -2.59738813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:-0.73, Z:-0.26 [[ 9.94275073e-01 1.06794001e-01 -3.48155740e-03 4.82090251e+01] [-1.06794149e-01 9.94281142e-01 1.44176826e-04 -7.31968492e-01] [ 3.47704409e-03 2.28458534e-04 9.99993929e-01 -2.59452677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.875898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.24, Y:-0.73, Z:-0.26 [[ 9.94396653e-01 1.05690436e-01 -2.19724052e-03 4.82374376e+01] [-1.05690492e-01 9.94399071e-01 9.08081722e-05 -7.28353976e-01] [ 2.19453149e-03 1.41928090e-04 9.99997582e-01 -2.59538040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:-0.73, Z:-0.26 [[ 9.94457900e-01 1.05132417e-01 -8.12118205e-04 4.82641167e+01] [-1.05132425e-01 9.94458230e-01 3.34230175e-05 -7.27532338e-01] [ 8.11131476e-04 5.21421720e-05 9.99999670e-01 -2.58743252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:-0.73, Z:-0.26 [[ 9.94573082e-01 1.04037242e-01 7.98606384e-04 4.82917236e+01] [-1.04037249e-01 9.94573401e-01 -3.30057792e-05 -7.27143230e-01] [-7.97706498e-04 -5.02581519e-05 9.99999681e-01 -2.58901956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.965898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:48.32, Y:-0.73, Z:-0.26 [[ 9.94732193e-01 1.02490387e-01 1.89326617e-03 4.83201869e+01] [-1.02490423e-01 9.94733988e-01 -7.79843172e-05 -7.26668844e-01] [-1.89128885e-03 -1.16468140e-04 9.99998205e-01 -2.59753310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:-0.73, Z:-0.26 [[ 9.94865259e-01 1.01193723e-01 1.71637361e-03 4.83472788e+01] [-1.01193752e-01 9.94866735e-01 -7.05547280e-05 -7.29180926e-01] [-1.71470270e-03 -1.03493837e-04 9.99998525e-01 -2.57927165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:-0.73, Z:-0.26 [[ 9.94893816e-01 1.00927101e-01 1.20058016e-04 4.83747187e+01] [-1.00927101e-01 9.94893824e-01 -5.00545964e-06 -7.33386081e-01] [-1.19950165e-04 -7.13720664e-06 9.99999993e-01 -2.58941597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:-0.74, Z:-0.26 [[ 9.94877824e-01 1.01069843e-01 -1.73272751e-03 4.84026279e+01] [-1.01069872e-01 9.94879327e-01 7.07189820e-05 -7.37383527e-01] [ 1.73100233e-03 1.04769801e-04 9.99998496e-01 -2.59878047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:-0.74, Z:-0.26 [[ 9.94788409e-01 1.01923480e-01 -2.76137728e-03 4.84297843e+01] [-1.01923559e-01 9.94792227e-01 1.12512725e-04 -7.39923956e-01] [ 2.75846434e-03 1.69523045e-04 9.99996181e-01 -2.60432405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:-0.74, Z:-0.26 [[ 9.94281761e-01 1.06774875e-01 -1.70459349e-03 4.84572178e+01] [-1.06774912e-01 9.94283216e-01 6.93066463e-05 -7.42508072e-01] [ 1.70224890e-03 1.13097486e-04 9.99998545e-01 -2.58717084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:-0.74, Z:-0.26 [[ 9.93869021e-01 1.10559982e-01 -9.27325291e-04 4.84849674e+01] [-1.10559994e-01 9.93869451e-01 3.75934794e-05 -7.44706352e-01] [ 9.25796612e-04 6.51620843e-05 9.99999569e-01 -2.56931744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:-0.75, Z:-0.26 [[ 9.93411736e-01 1.14598813e-01 -4.84662655e-04 4.85116138e+01] [-1.14598817e-01 9.93411854e-01 1.95484632e-05 -7.46896718e-01] [ 4.83709857e-04 3.61220942e-05 9.99999882e-01 -2.56724569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:-0.75, Z:-0.26 [[ 9.92556865e-01 1.21777199e-01 -1.08797779e-03 4.85391959e+01] [-1.21777223e-01 9.92557457e-01 4.39535432e-05 -7.49671575e-01] [ 1.08523301e-03 8.88645235e-05 9.99999407e-01 -2.59091538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:-0.75, Z:-0.26 [[ 9.92262116e-01 1.24146099e-01 -1.90782192e-03 4.85663358e+01] [-1.24146179e-01 9.92263937e-01 7.69701047e-05 -7.51207530e-01] [ 1.90261843e-03 1.60474283e-04 9.99998177e-01 -2.60459110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:-0.75, Z:-0.26 [[ 9.92113579e-01 1.25306029e-01 -3.00742297e-03 4.85947124e+01] [-1.25306235e-01 9.92118104e-01 1.20715585e-04 -7.52736180e-01] [ 2.99884517e-03 2.57085277e-04 9.99995470e-01 -2.61531631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:-0.76, Z:-0.26 [[ 9.92368987e-01 1.23155619e-01 -6.04045096e-03 4.86228408e+01] [-1.23156414e-01 9.92387243e-01 2.41590776e-04 -7.56608556e-01] [ 6.02421973e-03 5.04173086e-04 9.99981727e-01 -2.60741367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:-0.76, Z:-0.26 [[ 9.92723496e-01 1.20249347e-01 -6.33679319e-03 4.86510640e+01] [-1.20250170e-01 9.92743589e-01 2.52259830e-04 -7.59237354e-01] [ 6.32114490e-03 5.11576201e-04 9.99979891e-01 -2.59620768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:-0.76, Z:-0.26 [[ 9.93086806e-01 1.17297564e-01 -4.45833637e-03 4.86787737e+01] [-1.17297944e-01 9.93096753e-01 1.77238909e-04 -7.61461007e-01] [ 4.44834907e-03 3.46940065e-04 9.99990046e-01 -2.58605859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:-0.77, Z:-0.26 [[ 9.93609773e-01 1.12868333e-01 5.98734387e-04 4.87059479e+01] [-1.12868339e-01 9.93609952e-01 -2.38706467e-05 -7.65375599e-01] [-5.97602686e-04 -4.38600481e-05 9.99999820e-01 -2.58460539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:-0.77, Z:-0.26 [[ 9.93758342e-01 1.11534169e-01 2.11833859e-03 4.87334624e+01] [-1.11534242e-01 9.93760588e-01 -8.39335306e-05 -7.67914337e-01] [-2.11448286e-03 -1.52857642e-04 9.99997753e-01 -2.59329294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:-0.77, Z:-0.26 [[ 9.93762898e-01 1.11492133e-01 2.19229544e-03 4.87618051e+01] [-1.11492212e-01 9.93765304e-01 -8.65674106e-05 -7.70603789e-01] [-2.18827873e-03 -1.58396388e-04 9.99997593e-01 -2.59324612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:-0.77, Z:-0.26 [[ 9.93412856e-01 1.14588211e-01 -6.63279978e-04 4.87891941e+01] [-1.14588219e-01 9.93413076e-01 2.59969701e-05 -7.72015749e-01] [ 6.61889949e-04 5.01783471e-05 9.99999780e-01 -2.59538858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:-0.77, Z:-0.26 [[ 9.93122498e-01 1.17060729e-01 -2.11895120e-03 4.88170909e+01] [-1.17060816e-01 9.93124745e-01 8.31556649e-05 -7.72075647e-01] [ 2.11411713e-03 1.65462396e-04 9.99997752e-01 -2.59280291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:-0.77, Z:-0.26 [[ 9.92822548e-01 1.19570904e-01 -2.48739020e-03 4.88436790e+01] [-1.19571033e-01 9.92825644e-01 9.74085310e-05 -7.71685284e-01] [ 2.48119200e-03 2.00710429e-04 9.99996902e-01 -2.59250484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.87, Y:-0.77, Z:-0.26 [[ 9.92843736e-01 1.19394843e-01 -2.48741212e-03 4.88721204e+01] [-1.19394973e-01 9.92846832e-01 9.68476888e-05 -7.72626303e-01] [ 2.48118236e-03 2.00829882e-04 9.99996902e-01 -2.59286727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.90, Y:-0.77, Z:-0.26 [[ 9.92407376e-01 1.22981557e-01 -1.77130990e-03 4.88996015e+01] [-1.22981628e-01 9.92408945e-01 6.88764320e-05 -7.70287356e-01] [ 1.76633432e-03 1.49485097e-04 9.99998429e-01 -2.59240067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:-0.77, Z:-0.26 [[ 9.92270562e-01 1.24081095e-01 -1.73618917e-03 4.89273786e+01] [-1.24081165e-01 9.92272069e-01 6.73999858e-05 -7.69114485e-01] [ 1.73113508e-03 1.48549353e-04 9.99998491e-01 -2.59839126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.77, Z:-0.26 [[ 9.92149807e-01 1.25015441e-01 -3.14635218e-03 4.89545897e+01] [-1.25015679e-01 9.92154759e-01 1.21737302e-04 -7.67556431e-01] [ 3.13688733e-03 2.72561715e-04 9.99995043e-01 -2.60315870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.98, Y:-0.77, Z:-0.26 [[ 9.92048855e-01 1.25772957e-01 -4.49804823e-03 4.89823414e+01] [-1.25773455e-01 9.92058974e-01 1.73180866e-04 -7.65245278e-01] [ 4.48411058e-03 3.93931186e-04 9.99989869e-01 -2.60976796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.76, Z:-0.26 [[ 9.92062749e-01 1.25664234e-01 -4.47236377e-03 4.90105589e+01] [-1.25664728e-01 9.92072753e-01 1.71341100e-04 -7.58548976e-01] [ 4.45844169e-03 3.92037256e-04 9.99989984e-01 -2.60328268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.745898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.04, Y:-0.76, Z:-0.26 [[ 9.92159450e-01 1.24939015e-01 -3.14133961e-03 4.90377118e+01] [-1.24939256e-01 9.92164385e-01 1.20153471e-04 -7.55413003e-01] [ 3.13173714e-03 2.73265232e-04 9.99995059e-01 -2.61368909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:-0.75, Z:-0.26 [[ 9.92468788e-01 1.22451667e-01 -3.36076053e-03 4.90656693e+01] [-1.22451932e-01 9.92474437e-01 1.27786448e-04 -7.48547427e-01] [ 3.35111658e-03 2.84707559e-04 9.99994344e-01 -2.59681608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.09, Y:-0.75, Z:-0.26 [[ 9.92703255e-01 1.20518129e-01 -3.95320830e-03 4.90934877e+01] [-1.20518483e-01 9.92711072e-01 1.49602225e-04 -7.45832443e-01] [ 3.94242343e-03 3.27924050e-04 9.99992175e-01 -2.60200264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:-0.74, Z:-0.26 [[ 9.92915231e-01 1.18745718e-01 -4.33573697e-03 4.91207696e+01] [-1.18746127e-01 9.92924635e-01 1.63881078e-04 -7.43294572e-01] [ 4.32452023e-03 3.52131954e-04 9.99990587e-01 -2.60803824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:-0.74, Z:-0.26 [[ 9.93383449e-01 1.14790698e-01 -3.52404984e-03 4.91490769e+01] [-1.14790946e-01 9.93389662e-01 1.32379469e-04 -7.38390842e-01] [ 3.51595062e-03 2.73025442e-04 9.99993782e-01 -2.61403002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:-0.74, Z:-0.26 [[ 9.93647920e-01 1.12507677e-01 -2.41533114e-03 4.91770040e+01] [-1.12507789e-01 9.93650839e-01 9.01992715e-05 -7.36753290e-01] [ 2.41014392e-03 1.82117247e-04 9.99997079e-01 -2.60706373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.925898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:49.20, Y:-0.74, Z:-0.26 [[ 9.93890521e-01 1.10358721e-01 -1.60783862e-03 4.92035960e+01] [-1.10358768e-01 9.93891814e-01 5.98319356e-05 -7.35113074e-01] [ 1.60462062e-03 1.17972696e-04 9.99998706e-01 -2.62285004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:-0.73, Z:-0.26 [[ 9.94186372e-01 1.07668608e-01 -9.63672891e-04 4.92315529e+01] [-1.07668624e-01 9.94186837e-01 3.55555916e-05 -7.33709172e-01] [ 9.61899124e-04 6.84084498e-05 9.99999535e-01 -2.60823582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:-0.73, Z:-0.26 [[ 9.94304240e-01 1.06574868e-01 -9.36257852e-04 4.92591288e+01] [-1.06574883e-01 9.94304678e-01 3.46101777e-05 -7.33321111e-01] [ 9.34614138e-04 6.53685245e-05 9.99999561e-01 -2.61139280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:-0.73, Z:-0.26 [[ 9.94372159e-01 1.05942390e-01 -4.69203496e-04 4.92863923e+01] [-1.05942394e-01 9.94372269e-01 1.72463070e-05 -7.33380456e-01] [ 4.68390060e-04 3.25592940e-05 9.99999890e-01 -2.61591440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.31, Y:-0.73, Z:-0.26 [[ 9.94434574e-01 1.05354319e-01 -5.88422099e-04 4.93146973e+01] [-1.05354325e-01 9.94434747e-01 2.16217888e-05 -7.33542508e-01] [ 5.87425329e-04 4.04913587e-05 9.99999827e-01 -2.61912977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:-0.73, Z:-0.26 [[ 9.94411460e-01 1.05555083e-01 -1.99319833e-03 4.93413455e+01] [-1.05555147e-01 9.94413448e-01 7.32799884e-05 -7.33756006e-01] [ 1.98979830e-03 1.37521884e-04 9.99998011e-01 -2.62400748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.73, Z:-0.26 [[ 9.94356862e-01 1.06057936e-01 -2.47914302e-03 4.93686806e+01] [-1.06058037e-01 9.94359937e-01 9.09654617e-05 -7.34391498e-01] [ 2.47480810e-03 1.72480911e-04 9.99996923e-01 -2.63356123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:-0.74, Z:-0.26 [[ 9.94332898e-01 1.06280059e-01 -2.57618826e-03 4.93963855e+01] [-1.06280169e-01 9.94336219e-01 9.43625779e-05 -7.35125619e-01] [ 2.57162615e-03 1.79969908e-04 9.99996677e-01 -2.62710824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.165898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:49.42, Y:-0.74, Z:-0.26 [[ 9.94302456e-01 1.06588494e-01 -1.23282957e-03 4.94247007e+01] [-1.06588520e-01 9.94303216e-01 4.50150760e-05 -7.36345115e-01] [ 1.23060449e-03 8.66468781e-05 9.99999239e-01 -2.63771444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.45, Y:-0.74, Z:-0.26 [[ 9.94296746e-01 1.06648474e-01 -2.89836817e-04 4.94520007e+01] [-1.06648475e-01 9.94296788e-01 1.04710005e-05 -7.38104706e-01] [ 2.89300532e-04 2.04993729e-05 9.99999958e-01 -2.62058222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:-0.74, Z:-0.26 [[ 9.94272656e-01 1.06873220e-01 3.04371086e-05 4.94784307e+01] [-1.06873220e-01 9.94272656e-01 -1.21647070e-06 -7.40292825e-01] [-3.03927930e-05 -2.04340824e-06 1.00000000e+00 -2.62151145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.51, Y:-0.74, Z:-0.26 [[ 9.94287325e-01 1.06736642e-01 7.22186293e-05 4.95051214e+01] [-1.06736642e-01 9.94287327e-01 -2.73068521e-06 -7.42349924e-01] [-7.20975321e-05 -4.99328827e-06 9.99999997e-01 -2.62301258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:-0.74, Z:-0.26 [[ 9.94359753e-01 1.06059798e-01 1.85313143e-05 4.95329811e+01] [-1.06059798e-01 9.94359753e-01 -7.64423273e-07 -7.44913871e-01] [-1.85078677e-05 -1.20531572e-06 1.00000000e+00 -2.63452245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:-0.75, Z:-0.26 [[ 9.94444559e-01 1.05261616e-01 1.09345732e-04 4.95613310e+01] [-1.05261617e-01 9.94444565e-01 -4.04930429e-06 -7.46201589e-01] [-1.09164505e-04 -7.48309986e-06 9.99999994e-01 -2.62537701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:-0.75, Z:-0.26 [[ 9.94589123e-01 1.03886838e-01 2.53977054e-05 4.95890370e+01] [-1.03886838e-01 9.94589124e-01 -1.01001932e-06 -7.47813361e-01] [-2.53652093e-05 -1.63393307e-06 1.00000000e+00 -2.61952232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:-0.75, Z:-0.26 [[ 9.94918836e-01 1.00673958e-01 -1.12412283e-03 4.96156985e+01] [-1.00673977e-01 9.94919469e-01 4.02810960e-05 -7.51993936e-01] [ 1.12246694e-03 7.30934943e-05 9.99999367e-01 -2.61351165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.64, Y:-0.75, Z:-0.26 [[ 9.95005404e-01 9.98116591e-02 -1.37060818e-03 4.96432342e+01] [-9.98116857e-02 9.95006344e-01 4.91275169e-05 -7.54549952e-01] [ 1.36866733e-03 8.79205681e-05 9.99999060e-01 -2.61848653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.435898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.67, Y:-0.76, Z:-0.26 [[ 9.95053584e-01 9.93176360e-02 -2.09088894e-03 4.96701886e+01] [-9.93176972e-02 9.95055772e-01 7.48023832e-05 -7.56870277e-01] [ 2.08798030e-03 1.33229895e-04 9.99997811e-01 -2.61663760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.70, Y:-0.76, Z:-0.26 [[ 9.95092331e-01 9.89032955e-02 -3.06438017e-03 4.96972285e+01] [-9.89034256e-02 9.95097031e-01 1.09423206e-04 -7.61352615e-01] [ 3.06017793e-03 1.94191503e-04 9.99995299e-01 -2.61682867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.72, Y:-0.76, Z:-0.26 [[ 9.95117614e-01 9.86534909e-02 -2.90232596e-03 4.97248139e+01] [-9.86536071e-02 9.95121829e-01 1.03439050e-04 -7.64378860e-01] [ 2.89837254e-03 1.83390904e-04 9.99995783e-01 -2.61761541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.75, Y:-0.77, Z:-0.26 [[ 9.95114807e-01 9.87016773e-02 -2.12111987e-03 4.97527704e+01] [-9.87017399e-02 9.95117059e-01 7.54183930e-05 -7.67055333e-01] [ 2.11820649e-03 1.34308262e-04 9.99997748e-01 -2.61274672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.78, Y:-0.77, Z:-0.26 [[ 9.95059377e-01 9.92753191e-02 -1.11679981e-03 4.97799771e+01] [-9.92753370e-02 9.95060001e-01 3.95569932e-05 -7.68995849e-01] [ 1.11520985e-03 7.15091201e-05 9.99999376e-01 -2.60371094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.81, Y:-0.77, Z:-0.26 [[ 9.94708492e-01 1.02724018e-01 -1.67104079e-03 4.98078938e+01] [-1.02724063e-01 9.94709889e-01 5.91387801e-05 -7.70355729e-01] [ 1.66827577e-03 1.12830252e-04 9.99998602e-01 -2.60564035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:-0.77, Z:-0.26 [[ 9.94507886e-01 1.04614754e-01 -3.13339896e-03 4.98363401e+01] [-1.04614922e-01 9.94512798e-01 1.10744402e-04 -7.71332499e-01] [ 3.12779086e-03 2.17664106e-04 9.99995085e-01 -2.61918260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.86, Y:-0.77, Z:-0.26 [[ 9.94239749e-01 1.07072934e-01 -4.76542191e-03 4.98638349e+01] [-1.07073351e-01 9.94251110e-01 1.68127632e-04 -7.72167223e-01] [ 4.75602795e-03 3.43090519e-04 9.99988631e-01 -2.62607666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.89, Y:-0.77, Z:-0.26 [[ 9.93724858e-01 1.11755625e-01 -4.64614469e-03 4.98920985e+01] [-1.11756078e-01 9.93735655e-01 1.62822946e-04 -7.70753801e-01] [ 4.63523602e-03 3.57433701e-04 9.99989193e-01 -2.63353370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.92, Y:-0.77, Z:-0.26 [[ 9.93514112e-01 1.13633709e-01 -4.13396728e-03 4.99193632e+01] [-1.13634086e-01 9.93522659e-01 1.44364328e-04 -7.69860060e-01] [ 4.12359482e-03 3.26331596e-04 9.99991445e-01 -2.62798063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:-0.77, Z:-0.26 [[ 9.93353503e-01 1.15044428e-01 -3.68751578e-03 4.99468730e+01] [-1.15044740e-01 9.93360303e-01 1.27991664e-04 -7.69394693e-01] [ 3.67775652e-03 2.97088329e-04 9.99993193e-01 -2.61788639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:-0.77, Z:-0.26 [[ 9.93139547e-01 1.16887724e-01 -3.33182637e-03 4.99748715e+01] [-1.16887992e-01 9.93145097e-01 1.14991753e-04 -7.69661366e-01] [ 3.32242815e-03 2.75247635e-04 9.99994443e-01 -2.61588621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.00, Y:-0.77, Z:-0.26 [[ 9.93180753e-01 1.16551668e-01 -2.77488679e-03 5.00032178e+01] [-1.16551854e-01 9.93184603e-01 9.51955147e-05 -7.70444869e-01] [ 2.76707004e-03 2.28871847e-04 9.99996145e-01 -2.61113755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.03, Y:-0.77, Z:-0.26 [[ 9.93345749e-01 1.15159859e-01 -1.55885534e-03 5.00302547e+01] [-1.15159916e-01 9.93346964e-01 5.33796371e-05 -7.71141787e-01] [ 1.55463141e-03 1.26493215e-04 9.99998784e-01 -2.60848899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:-0.77, Z:-0.26 [[ 9.93859201e-01 1.10651446e-01 3.81451539e-04 5.00581248e+01] [-1.10651449e-01 9.93859274e-01 -1.31535146e-05 -7.73624912e-01] [-3.80564605e-04 -2.91354240e-05 9.99999927e-01 -2.59858651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.08, Y:-0.78, Z:-0.26 [[ 9.94107291e-01 1.08399935e-01 3.83982484e-04 5.00848747e+01] [-1.08399938e-01 9.94107365e-01 -1.32221039e-05 -7.76488574e-01] [-3.83153090e-04 -2.84794873e-05 9.99999926e-01 -2.59736731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:-0.78, Z:-0.26 [[ 9.94331153e-01 1.06325086e-01 -7.31488759e-04 5.01127671e+01] [-1.06325096e-01 9.94331420e-01 2.48440093e-05 -7.79866254e-01] [ 7.29983798e-04 5.30724402e-05 9.99999732e-01 -2.59960569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:-0.79, Z:-0.26 [[ 9.94485157e-01 1.04868610e-01 -1.35899947e-03 5.01409928e+01] [-1.04868644e-01 9.94486081e-01 4.61321226e-05 -7.85798276e-01] [ 1.35634387e-03 9.66387208e-05 9.99999075e-01 -2.60578401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:-0.79, Z:-0.26 [[ 9.94453172e-01 1.05176657e-01 -8.71442433e-04 5.01682493e+01] [-1.05176671e-01 9.94453552e-01 2.93623955e-05 -7.87902281e-01] [ 8.69697262e-04 6.24558870e-05 9.99999620e-01 -2.59578571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:-0.79, Z:-0.26 [[ 9.94350514e-01 1.06141896e-01 -9.76860965e-04 5.01964409e+01] [-1.06141914e-01 9.94350991e-01 3.29375979e-05 -7.89810352e-01] [ 9.74838728e-04 7.09343755e-05 9.99999522e-01 -2.58749100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:-0.79, Z:-0.26 [[ 9.94088731e-01 1.08501673e-01 -3.87070793e-03 5.02230771e+01] [-1.08501984e-01 9.94096224e-01 1.30203082e-04 -7.92918733e-01] [ 3.86198339e-03 2.90546074e-04 9.99992500e-01 -2.59340093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.25, Y:-0.80, Z:-0.26 [[ 9.94028268e-01 1.09021353e-01 -4.70597866e-03 5.02510943e+01] [-1.09021820e-01 9.94039344e-01 1.58077907e-04 -7.95505781e-01] [ 4.69516181e-03 3.55920449e-04 9.99988914e-01 -2.60066315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.28, Y:-0.80, Z:-0.26 [[ 9.94037859e-01 1.08954603e-01 -4.19863801e-03 5.02783544e+01] [-1.08954976e-01 9.94046676e-01 1.40667194e-04 -7.98359692e-01] [ 4.18896849e-03 3.17633985e-04 9.99991176e-01 -2.59776694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.125898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:50.31, Y:-0.80, Z:-0.26 [[ 9.94271230e-01 1.06878652e-01 -1.29438760e-03 5.03062057e+01] [-1.06878686e-01 9.94272068e-01 4.32157958e-05 -8.01838662e-01] [ 1.29159228e-03 9.53742234e-05 9.99999161e-01 -2.61854809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:-0.80, Z:-0.26 [[ 9.94528637e-01 1.04455177e-01 -1.38040300e-03 5.03334597e+01] [-1.04455213e-01 9.94529590e-01 4.59647896e-05 -8.03638621e-01] [ 1.37765289e-03 9.84769900e-05 9.99999046e-01 -2.59207993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.185898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.36, Y:-0.81, Z:-0.26 [[ 9.95317696e-01 9.66377352e-02 -1.95778958e-03 5.03615895e+01] [-9.66377933e-02 9.95319613e-01 6.51100957e-05 -8.08496809e-01] [ 1.95491846e-03 1.24391234e-04 9.99998081e-01 -2.60836341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.39, Y:-0.81, Z:-0.26 [[ 9.95844442e-01 9.10606535e-02 -1.34372436e-03 5.03886884e+01] [-9.10606760e-02 9.95845345e-01 4.45344030e-05 -8.13024611e-01] [ 1.34219698e-03 7.80111105e-05 9.99999096e-01 -2.60388765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:-0.82, Z:-0.26 [[ 9.96440139e-01 8.43032978e-02 -5.22091514e-05 5.04160777e+01] [-8.43032978e-02 9.96440141e-01 1.65830583e-06 -8.18418076e-01] [ 5.21630948e-05 2.74900116e-06 9.99999999e-01 -2.59661299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.44, Y:-0.82, Z:-0.26 [[ 9.97011761e-01 7.72436178e-02 9.85691073e-04 5.04435718e+01] [-7.72436231e-02 9.97012247e-01 -3.27096442e-05 -8.24242256e-01] [-9.85272683e-04 -4.35264498e-05 9.99999514e-01 -2.58831392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.47, Y:-0.83, Z:-0.26 [[ 9.97911369e-01 6.45950368e-02 6.17085524e-04 5.04700603e+01] [-6.45950364e-02 9.97911560e-01 -2.04670425e-05 -8.34218868e-01] [-6.17118847e-04 -1.94363675e-05 9.99999809e-01 -2.58458903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:-0.84, Z:-0.26 [[ 9.98163861e-01 6.05692054e-02 -5.27823632e-04 5.04988605e+01] [-6.05692047e-02 9.98164000e-01 1.73389486e-05 -8.39835817e-01] [ 5.27904754e-04 1.46627457e-05 9.99999861e-01 -2.59030851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:-0.85, Z:-0.26 [[ 9.98297028e-01 5.83168561e-02 -1.47938930e-03 5.05265625e+01] [-5.83168481e-02 9.98298123e-01 4.86051815e-05 -8.45257437e-01] [ 1.47970606e-03 3.77509128e-05 9.99998905e-01 -2.59033817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:-0.85, Z:-0.26 [[ 9.98312642e-01 5.80488074e-02 -1.48494624e-03 5.05550794e+01] [-5.80487991e-02 9.98313746e-01 4.87330199e-05 -8.49896609e-01] [ 1.48527114e-03 3.75485563e-05 9.99998896e-01 -2.58928948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:-0.86, Z:-0.26 [[ 9.98077130e-01 6.19842191e-02 3.18369792e-07 5.05830429e+01] [-6.19842191e-02 9.98077130e-01 -8.62223291e-08 -8.55423991e-01] [-3.23102027e-07 6.63226335e-08 1.00000000e+00 -2.56392278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:-0.86, Z:-0.26 [[ 9.97870993e-01 6.52187188e-02 1.42043584e-05 5.06122266e+01] [-6.52187188e-02 9.97870993e-01 -5.26947446e-07 -8.58303101e-01] [-1.42084841e-05 -4.00564486e-07 1.00000000e+00 -2.55519903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.64, Y:-0.86, Z:-0.26 [[ 9.97874945e-01 6.51582172e-02 1.42038823e-05 5.06407031e+01] [-6.51582172e-02 9.97874945e-01 -5.41555821e-07 -8.59107339e-01] [-1.42089851e-05 -3.85094661e-07 1.00000000e+00 -2.55556176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:-0.86, Z:-0.26 [[ 9.97642664e-01 6.86227183e-02 -1.92404415e-04 5.06685866e+01] [-6.86227184e-02 9.97642683e-01 6.20133335e-06 -8.62626207e-01] [ 1.92376409e-04 7.01659927e-06 9.99999981e-01 -2.55862990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.70, Y:-0.87, Z:-0.26 [[ 9.97380396e-01 7.23272500e-02 -1.05560222e-03 5.06963025e+01] [-7.23272542e-02 9.97380954e-01 3.42738113e-05 -8.70347979e-01] [ 1.05531648e-03 4.21647823e-05 9.99999442e-01 -2.57896994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:-0.87, Z:-0.26 [[ 9.97370751e-01 7.24346688e-02 -2.19185674e-03 5.07242279e+01] [-7.24346872e-02 9.97373155e-01 7.11047168e-05 -8.74654570e-01] [ 2.19124952e-03 8.78486926e-05 9.99997595e-01 -2.58654665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:-0.88, Z:-0.26 [[ 9.97418608e-01 7.17532029e-02 -2.75647175e-03 5.07512321e+01] [-7.17532300e-02 9.97422411e-01 8.91954415e-05 -8.79014764e-01] [ 2.75576676e-03 1.08820559e-04 9.99996197e-01 -2.59344861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.78, Y:-0.89, Z:-0.26 [[ 9.97510176e-01 7.04247464e-02 -3.71547813e-03 5.07790439e+01] [-7.04247869e-02 9.97517085e-01 1.20081954e-04 -8.88287187e-01] [ 3.71470966e-03 1.41878785e-04 9.99993090e-01 -2.58523737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.81, Y:-0.89, Z:-0.26 [[ 9.97482308e-01 7.07935759e-02 -4.16116012e-03 5.08073103e+01] [-7.07936313e-02 9.97490974e-01 1.34169914e-04 -8.92670371e-01] [ 4.16021803e-03 1.60751520e-04 9.99991333e-01 -2.58548180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:-0.90, Z:-0.26 [[ 9.97361044e-01 7.24585372e-02 -4.55059119e-03 5.08344834e+01] [-7.24586226e-02 9.97371409e-01 1.46332910e-04 -8.95831753e-01] [ 4.54923261e-03 1.83782826e-04 9.99989635e-01 -2.59048525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.725898227 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:50.86, Y:-0.90, Z:-0.26 [[ 9.96750387e-01 8.03732114e-02 -5.36775096e-03 5.08627968e+01] [-8.03734465e-02 9.96764806e-01 1.72246094e-04 -8.95236996e-01] [ 5.36422922e-03 2.59738284e-04 9.99985579e-01 -2.61031946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:-0.89, Z:-0.26 [[ 9.96301523e-01 8.57056808e-02 -6.14908198e-03 5.08900984e+01] [-8.57060938e-02 9.96320444e-01 1.96790921e-04 -8.92932287e-01] [ 6.14332219e-03 3.30950703e-04 9.99981075e-01 -2.59072224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.92, Y:-0.89, Z:-0.26 [[ 9.95806974e-01 9.11760369e-02 -7.44322171e-03 5.09185434e+01] [-9.11767981e-02 9.95834693e-01 2.37704521e-04 -8.90312035e-01] [ 7.43389136e-03 4.41941303e-04 9.99972271e-01 -2.59046235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:-0.88, Z:-0.26 [[ 9.94956629e-01 9.99411873e-02 -8.54778922e-03 5.09461390e+01] [-9.99425192e-02 9.94993175e-01 2.72258040e-04 -8.82471876e-01] [ 8.53220173e-03 5.83402646e-04 9.99963430e-01 -2.59453485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.845898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:50.97, Y:-0.88, Z:-0.26 [[ 9.94705612e-01 1.02476723e-01 -7.69847199e-03 5.09736789e+01] [-1.02477884e-01 9.94735253e-01 2.44586973e-04 -8.77689862e-01] [ 7.68300595e-03 5.45631083e-04 9.99970336e-01 -2.61012765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.875898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:51.00, Y:-0.87, Z:-0.26 [[ 9.94624340e-01 1.03352181e-01 -6.38352477e-03 5.10020853e+01] [-1.03353000e-01 9.94644719e-01 2.02364885e-04 -8.72563835e-01] [ 6.37025405e-03 4.58479396e-04 9.99979605e-01 -2.60836229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.86, Z:-0.26 [[ 9.94981836e-01 9.99881594e-02 -3.67607442e-03 5.10306782e+01] [-9.99884092e-02 9.94988595e-01 1.16239840e-04 -8.62385304e-01] [ 3.66927474e-03 2.51908305e-04 9.99993236e-01 -2.58911242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.935898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.06, Y:-0.86, Z:-0.26 [[ 9.95333683e-01 9.64663059e-02 -2.26063972e-03 5.10590774e+01] [-9.64663917e-02 9.95336240e-01 7.13283637e-05 -8.58462256e-01] [ 2.25697742e-03 1.47080233e-04 9.99997442e-01 -2.58919196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.86, Z:-0.26 [[ 9.95652631e-01 9.31405556e-02 -8.21767460e-04 5.10875606e+01] [-9.31405659e-02 9.95652969e-01 2.58068079e-05 -8.55488270e-01] [ 8.20598872e-04 5.08452700e-05 9.99999662e-01 -2.58839634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.85, Z:-0.26 [[ 9.96196905e-01 8.71245442e-02 -1.02034254e-03 5.11142960e+01] [-8.71245571e-02 9.96197425e-01 3.18986259e-05 -8.50777473e-01] [ 1.01924176e-03 5.71195792e-05 9.99999479e-01 -2.58612297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:-0.85, Z:-0.26 [[ 9.96423760e-01 8.44535708e-02 -2.69910181e-03 5.11423788e+01] [-8.44536510e-02 9.96427405e-01 8.44714836e-05 -8.50056933e-01] [ 2.69659293e-03 1.43779609e-04 9.99996354e-01 -2.59106071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.85, Z:-0.26 [[ 9.96824543e-01 7.95755487e-02 -2.92603467e-03 5.11697504e+01] [-7.95756227e-02 9.96828828e-01 9.13215409e-05 -8.49613029e-01] [ 2.92402267e-03 1.41809477e-04 9.99995715e-01 -2.60494495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.20, Y:-0.85, Z:-0.26 [[ 9.96992265e-01 7.74773262e-02 -1.92042522e-03 5.11968283e+01] [-7.74773546e-02 9.96994110e-01 5.97426018e-05 -8.50793015e-01] [ 1.91928133e-03 8.92265536e-05 9.99998154e-01 -2.60352174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:51.23, Y:-0.85, Z:-0.26 [[ 9.97088049e-01 7.62505339e-02 -1.13108904e-03 5.12251513e+01] [-7.62505430e-02 9.97088689e-01 3.50737108e-05 -8.52645754e-01] [ 1.13047048e-03 5.12745760e-05 9.99999360e-01 -2.62238202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:-0.85, Z:-0.26 [[ 9.97097442e-01 7.61332394e-02 -6.48569809e-04 5.12523367e+01] [-7.61332425e-02 9.97097653e-01 1.99650811e-05 -8.54576626e-01] [ 6.48207440e-04 2.94705913e-05 9.99999789e-01 -2.59982811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:-0.86, Z:-0.26 [[ 9.96901757e-01 7.86561664e-02 -3.05862308e-04 5.12803453e+01] [-7.86561672e-02 9.96901804e-01 9.36458823e-06 -8.56829181e-01] [ 3.05651270e-04 1.47223824e-05 9.99999953e-01 -2.58469051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:-0.86, Z:-0.26 [[ 9.96743236e-01 8.06339292e-02 -1.04484700e-03 5.13083007e+01] [-8.06339398e-02 9.96743782e-01 3.21355633e-05 -8.58022328e-01] [ 1.04403597e-03 5.22192249e-05 9.99999454e-01 -2.58741667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.34, Y:-0.86, Z:-0.26 [[ 9.96410487e-01 8.46232767e-02 -2.24568862e-03 5.13354000e+01] [-8.46233356e-02 9.96413010e-01 6.89710442e-05 -8.59508813e-01] [ 2.24346991e-03 1.21314190e-04 9.99997476e-01 -2.60287396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:-0.86, Z:-0.26 [[ 9.96213955e-01 8.68969718e-02 -2.58303022e-03 5.13636029e+01] [-8.68970577e-02 9.96217293e-01 7.91779984e-05 -8.60686479e-01] [ 2.58013970e-03 1.45579499e-04 9.99996661e-01 -2.61021266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.39, Y:-0.86, Z:-0.26 [[ 9.95914893e-01 9.01545078e-02 -5.06851297e-03 5.13915617e+01] [-9.01548819e-02 9.95927745e-01 1.55077166e-04 -8.60982812e-01] [ 5.06185360e-03 3.02507529e-04 9.99987143e-01 -2.60393402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:-0.86, Z:-0.26 [[ 9.95812086e-01 9.12133579e-02 -6.19782522e-03 5.14184140e+01] [-9.12139410e-02 9.95831302e-01 1.89105649e-04 -8.62163372e-01] [ 6.18923732e-03 3.77014373e-04 9.99980775e-01 -2.60802844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.45, Y:-0.86, Z:-0.26 [[ 9.95750190e-01 9.18329076e-02 -6.94809608e-03 5.14467380e+01] [-9.18336587e-02 9.95774339e-01 2.11528252e-04 -8.63927996e-01] [ 6.93816104e-03 4.27439788e-04 9.99975839e-01 -2.60674904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.47, Y:-0.87, Z:-0.26 [[ 9.95756834e-01 9.18451978e-02 -5.72601312e-03 5.14746850e+01] [-9.18457106e-02 9.95773235e-01 1.73890421e-04 -8.67625488e-01] [ 5.71778160e-03 3.52757169e-04 9.99983591e-01 -2.60135043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.50, Y:-0.87, Z:-0.26 [[ 9.95824625e-01 9.11616234e-02 -4.78279903e-03 5.15013779e+01] [-9.11619753e-02 9.95836067e-01 1.44813682e-04 -8.68502662e-01] [ 4.77608523e-03 2.91800377e-04 9.99988552e-01 -2.58577824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:-0.87, Z:-0.26 [[ 9.95863323e-01 9.07352342e-02 -4.83318783e-03 5.15281105e+01] [-9.07355918e-02 9.95875008e-01 1.45681637e-04 -8.69355015e-01] [ 4.82646942e-03 2.93463159e-04 9.99988309e-01 -2.58341506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:-0.87, Z:-0.26 [[ 9.95909963e-01 9.01312803e-02 -6.30063239e-03 5.15556310e+01] [-9.01318782e-02 9.95929821e-01 1.89568172e-04 -8.70730690e-01] [ 6.29207371e-03 3.79095000e-04 9.99980133e-01 -2.58862751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.87, Z:-0.26 [[ 9.95978127e-01 8.92637367e-02 -7.71723387e-03 5.15827332e+01] [-8.92646128e-02 9.96007919e-01 2.31540181e-04 -8.74724363e-01] [ 7.70709419e-03 4.58266938e-04 9.99970195e-01 -2.60380267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:-0.88, Z:-0.26 [[ 9.96030233e-01 8.87911861e-02 -6.31672423e-03 5.16103002e+01] [-8.87917663e-02 9.96050193e-01 1.89070291e-04 -8.75789573e-01] [ 6.30856217e-03 3.72553376e-04 9.99980031e-01 -2.59679765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:-0.88, Z:-0.26 [[ 9.96121160e-01 8.79178261e-02 -3.61813552e-03 5.16380608e+01] [-8.79180118e-02 9.96127708e-01 1.07987167e-04 -8.76317777e-01] [ 3.61361904e-03 2.10530980e-04 9.99993449e-01 -2.57109393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.67, Y:-0.88, Z:-0.26 [[ 9.96202248e-01 8.70064516e-02 -3.31027683e-03 5.16651839e+01] [-8.70066030e-02 9.96207730e-01 9.84928350e-05 -8.78373605e-01] [ 3.30629288e-03 1.89897158e-04 9.99994516e-01 -2.57104358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:-0.88, Z:-0.26 [[ 9.96341694e-01 8.53999437e-02 -3.17464294e-03 5.16924404e+01] [-8.54000757e-02 9.96346736e-01 9.41898765e-05 -8.80996262e-01] [ 3.17108894e-03 1.77269447e-04 9.99994956e-01 -2.58398638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.72, Y:-0.88, Z:-0.26 [[ 9.96550425e-01 8.29126202e-02 -3.57033505e-03 5.17205070e+01] [-8.29127721e-02 9.96556803e-01 1.05699303e-04 -8.83102274e-01] [ 3.56680549e-03 1.90691691e-04 9.99993621e-01 -2.59050310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.75, Y:-0.89, Z:-0.26 [[ 9.96982045e-01 7.75859952e-02 -2.68606522e-03 5.17489067e+01] [-7.75860625e-02 9.96985655e-01 7.93026111e-05 -8.85085045e-01] [ 2.68412126e-03 1.29337945e-04 9.99996389e-01 -2.58908298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.78, Y:-0.89, Z:-0.26 [[ 9.97169218e-01 7.51790778e-02 -1.28693939e-03 5.17754424e+01] [-7.51790915e-02 9.97170047e-01 3.77722887e-05 -8.86713235e-01] [ 1.28613710e-03 5.90855706e-05 9.99999171e-01 -2.58388794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:-0.89, Z:-0.26 [[ 9.97454914e-01 7.12942890e-02 9.04628003e-04 5.18036288e+01] [-7.12942941e-02 9.97455324e-01 -2.66708945e-05 -8.89830578e-01] [-9.04227501e-04 -3.78918001e-05 9.99999590e-01 -2.58041760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:-0.89, Z:-0.26 [[ 9.97578113e-01 6.95384182e-02 1.52206678e-03 5.18316241e+01] [-6.95384308e-02 9.97579272e-01 -4.47070812e-05 -8.90929397e-01] [-1.52149113e-03 -6.12433299e-05 9.99998841e-01 -2.57087166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:-0.89, Z:-0.26 [[ 9.97624166e-01 6.88832171e-02 1.06135188e-03 5.18603278e+01] [-6.88832229e-02 9.97624729e-01 -3.11323001e-05 -8.91656587e-01] [-1.06097538e-03 -4.20510035e-05 9.99999436e-01 -2.56227375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:-0.89, Z:-0.26 [[ 9.97590842e-01 6.93716317e-02 -2.98962299e-04 5.18882268e+01] [-6.93716322e-02 9.97590886e-01 8.65936981e-06 -8.93146320e-01] [ 2.98842779e-04 1.21009946e-05 9.99999955e-01 -2.56497725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.92, Y:-0.90, Z:-0.26 [[ 9.97333534e-01 7.29681478e-02 -1.21335703e-03 5.19163744e+01] [-7.29681588e-02 9.97334270e-01 3.52727032e-05 -8.96080485e-01] [ 1.21269633e-03 5.33577789e-05 9.99999263e-01 -2.57655218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:-0.90, Z:-0.26 [[ 9.97139258e-01 7.55850518e-02 -4.46425598e-04 5.19431035e+01] [-7.55850536e-02 9.97139358e-01 1.28696176e-05 -8.97315802e-01] [ 4.46121285e-04 2.09103018e-05 9.99999900e-01 -2.57520501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:-0.90, Z:-0.26 [[ 9.96931419e-01 7.82784981e-02 4.72777708e-04 5.19715785e+01] [-7.82785003e-02 9.96931530e-01 -1.37968552e-05 -8.97709755e-01] [-4.72407001e-04 -2.32538116e-05 9.99999888e-01 -2.57032139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:-0.90, Z:-0.26 [[ 9.96608806e-01 8.22760580e-02 -1.23990178e-03 5.19999369e+01] [-8.22760770e-02 9.96609575e-01 3.57621383e-05 -8.98818446e-01] [ 1.23864035e-03 6.63733920e-05 9.99999231e-01 -2.57473261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.03, Y:-0.90, Z:-0.26 [[ 9.96515946e-01 8.33605468e-02 -2.64373488e-03 5.20283606e+01] [-8.33606372e-02 9.96519442e-01 7.61637047e-05 -9.00892112e-01] [ 2.64088225e-03 1.44485078e-04 9.99996502e-01 -2.57948433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:-0.90, Z:-0.26 [[ 9.96347976e-01 8.53291295e-02 -3.10651108e-03 5.20549684e+01] [-8.53292647e-02 9.96352803e-01 8.92307995e-05 -9.04485278e-01] [ 3.10279501e-03 1.76171380e-04 9.99995171e-01 -2.58675334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.08, Y:-0.91, Z:-0.26 [[ 9.96236368e-01 8.66321126e-02 -2.82403334e-03 5.20819049e+01] [-8.66322302e-02 9.96240358e-01 8.08902099e-05 -9.05651297e-01] [ 2.82042368e-03 1.64066538e-04 9.99996009e-01 -2.58553050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.11, Y:-0.91, Z:-0.26 [[ 9.96110103e-01 8.80521362e-02 -3.38876928e-03 5.21096474e+01] [-8.80523143e-02 9.96115847e-01 9.68657880e-05 -9.05684867e-01] [ 3.38413603e-03 2.01899988e-04 9.99994253e-01 -2.58184910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:-0.91, Z:-0.26 [[ 9.95978870e-01 8.94842586e-02 -4.31959459e-03 5.21381513e+01] [-8.94845628e-02 9.95988202e-01 1.23178147e-04 -9.05318151e-01] [ 4.31328776e-03 2.63854202e-04 9.99990663e-01 -2.58518606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.17, Y:-0.91, Z:-0.26 [[ 9.95783709e-01 9.14899985e-02 -6.66223974e-03 5.21651114e+01] [-9.14907704e-02 9.95805906e-01 1.89455732e-04 -9.05875536e-01] [ 6.65163098e-03 4.20876515e-04 9.99977789e-01 -2.59853792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.19, Y:-0.91, Z:-0.26 [[ 9.95755777e-01 9.17862508e-02 -6.76138383e-03 5.21934635e+01] [-9.17870558e-02 9.95778640e-01 1.91809865e-04 -9.07604270e-01] [ 6.75044710e-03 4.29611733e-04 9.99977123e-01 -2.60133538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.22, Y:-0.91, Z:-0.26 [[ 9.95759195e-01 9.17877399e-02 -6.21574382e-03 5.22207207e+01] [-9.17884236e-02 9.95778517e-01 1.75795534e-04 -9.09576215e-01] [ 6.20564004e-03 3.95483307e-04 9.99980667e-01 -2.60280722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.25, Y:-0.91, Z:-0.26 [[ 9.95750507e-01 9.19455625e-02 -5.19056297e-03 5.22487374e+01] [-9.19460432e-02 9.95763980e-01 1.46430855e-04 -9.11031825e-01] [ 5.18203931e-03 3.31443130e-04 9.99986518e-01 -2.59396610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.28, Y:-0.91, Z:-0.26 [[ 9.95733095e-01 9.21432492e-02 -5.02239643e-03 5.22769982e+01] [-9.21437037e-02 9.95745709e-01 1.41305495e-04 -9.11330083e-01] [ 5.01405004e-03 3.22079650e-04 9.99987378e-01 -2.58983220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:-0.92, Z:-0.26 [[ 9.95705791e-01 9.25269183e-02 2.95768305e-03 5.23033356e+01] [-9.25740320e-02 9.95252701e-01 3.00351560e-02 -9.24205811e-01] [-1.64581621e-04 -3.01799834e-02 9.99544467e-01 -2.64856295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:-0.89, Z:-0.25 [[ 9.95568056e-01 9.39186739e-02 -4.85066032e-03 5.23333439e+01] [-9.40241952e-02 9.95089601e-01 -3.09214602e-02 -8.93851079e-01] [ 1.92273910e-03 3.12404975e-02 9.99510047e-01 -2.54251850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.345898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:52.36, Y:-0.91, Z:-0.26 [[ 9.95581546e-01 9.38591066e-02 -2.80243067e-03 5.23608126e+01] [-9.38592567e-02 9.95585473e-01 7.82002959e-05 -9.08016848e-01] [ 2.79739907e-03 1.85179288e-04 9.99996070e-01 -2.60186769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.375898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:52.39, Y:-0.91, Z:-0.26 [[ 9.95592272e-01 9.37452613e-02 -2.80244028e-03 5.23892821e+01] [-9.37454119e-02 9.95596199e-01 7.78551581e-05 -9.08656854e-01] [ 2.79739744e-03 1.85203925e-04 9.99996070e-01 -2.60202152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:-0.91, Z:-0.26 [[ 9.95885938e-01 9.05775179e-02 -2.62908883e-03 5.24172865e+01] [-9.05776399e-02 9.95889394e-01 7.28691297e-05 -9.10083574e-01] [ 2.62488199e-03 1.65567320e-04 9.99996541e-01 -2.58525098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.435898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:-0.91, Z:-0.26 [[ 9.96144039e-01 8.76646924e-02 -3.45777075e-03 5.24455962e+01] [-8.76648868e-02 9.96150018e-01 9.55982834e-05 -9.10785357e-01] [ 3.45283899e-03 2.07895422e-04 9.99994017e-01 -2.58436122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.465898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:52.47, Y:-0.91, Z:-0.26 [[ 9.96336505e-01 8.54203692e-02 -4.11464429e-03 5.24727382e+01] [-8.54206268e-02 9.96344972e-01 1.13413232e-04 -9.11837599e-01] [ 4.10929295e-03 2.38477751e-04 9.99991528e-01 -2.59598745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:-0.91, Z:-0.26 [[ 9.96459565e-01 8.39671024e-02 -4.22620801e-03 5.25011101e+01] [-8.39673624e-02 9.96468499e-01 1.16201004e-04 -9.13106788e-01] [ 4.22104022e-03 2.39073937e-04 9.99991063e-01 -2.58167918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.53, Y:-0.91, Z:-0.26 [[ 9.96433999e-01 8.43177605e-02 -3.13069522e-03 5.25286656e+01] [-8.43179056e-02 9.96438901e-01 8.58436320e-05 -9.14797934e-01] [ 3.12678465e-03 1.78436150e-04 9.99995096e-01 -2.57821971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.56, Y:-0.92, Z:-0.26 [[ 9.96412644e-01 8.46176376e-02 -1.30310218e-03 5.25555800e+01] [-8.46176632e-02 9.96413493e-01 3.55935906e-05 -9.15941655e-01] [ 1.30144044e-03 7.47995578e-05 9.99999150e-01 -2.57369225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.58, Y:-0.92, Z:-0.26 [[ 9.96409803e-01 8.46611036e-02 -5.34788581e-05 5.25835035e+01] [-8.46611037e-02 9.96409804e-01 1.41850981e-06 -9.16980765e-01] [ 5.34069511e-05 3.11416206e-06 9.99999999e-01 -2.56716301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.61, Y:-0.92, Z:-0.26 [[ 9.96406827e-01 8.46944517e-02 -5.34715688e-04 5.26100414e+01] [-8.46944561e-02 9.96406970e-01 1.44916237e-05 -9.20687500e-01] [ 5.34021798e-04 3.08479016e-05 9.99999857e-01 -2.57631275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:-0.93, Z:-0.26 [[ 9.96421903e-01 8.44638936e-02 -3.04015406e-03 5.26380871e+01] [-8.44446376e-02 9.96410193e-01 5.98589732e-03 -9.26516072e-01] [ 3.53483269e-03 -5.70775449e-03 9.99977463e-01 -2.55152576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:-0.92, Z:-0.26 [[ 9.96389941e-01 8.48424846e-02 -2.97301435e-03 5.26663970e+01] [-8.48586300e-02 9.96376082e-01 -5.80652257e-03 -9.24525145e-01] [ 2.46960059e-03 6.03784660e-03 9.99978723e-01 -2.57209230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.705898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.69, Y:-0.93, Z:-0.26 [[ 9.96283766e-01 8.60460400e-02 -3.83874895e-03 5.26942619e+01] [-8.60462776e-02 9.96291136e-01 1.03537104e-04 -9.29686730e-01] [ 3.83342051e-03 2.27157722e-04 9.99992627e-01 -2.58656655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:-0.93, Z:-0.26 [[ 9.95844105e-01 9.09433472e-02 -4.88128779e-03 5.27221624e+01] [-9.09437916e-02 9.95856018e-01 1.31313861e-04 -9.31071503e-01] [ 4.87300195e-03 3.13154686e-04 9.99988078e-01 -2.56287361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:-0.93, Z:-0.26 [[ 9.95556449e-01 9.40260994e-02 -5.14294747e-03 5.27495710e+01] [-9.40266359e-02 9.95569672e-01 1.37918054e-04 -9.32229870e-01] [ 5.13313043e-03 3.46268842e-04 9.99986765e-01 -2.56117655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:-0.93, Z:-0.26 [[ 9.95166133e-01 9.80636667e-02 -5.28054088e-03 5.27775587e+01] [-9.80642908e-02 9.95180072e-01 1.41240013e-04 -9.33059623e-01] [ 5.26893956e-03 3.77275218e-04 9.99986048e-01 -2.57092633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:-0.93, Z:-0.26 [[ 9.95097867e-01 9.87395522e-02 -5.54407213e-03 5.28042437e+01] [-9.87402545e-02 9.95113230e-01 1.47566368e-04 -9.32723639e-01] [ 5.53155016e-03 4.00580115e-04 9.99984621e-01 -2.57679409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.83, Y:-0.93, Z:-0.26 [[ 9.95100076e-01 9.86862306e-02 -6.07177746e-03 5.28326492e+01] [-9.86870743e-02 9.95118503e-01 1.61218351e-04 -9.32539147e-01] [ 6.05804813e-03 4.38777560e-04 9.99981554e-01 -2.57985023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:-0.93, Z:-0.26 [[ 9.95185369e-01 9.77895004e-02 -6.57989594e-03 5.28608593e+01] [-9.77904748e-02 9.95207010e-01 1.74244349e-04 -9.32631835e-01] [ 6.56539783e-03 4.70045722e-04 9.99978337e-01 -2.58319749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:-0.93, Z:-0.26 [[ 9.95376412e-01 9.59040931e-02 -5.31061658e-03 5.28881291e+01] [-9.59047035e-02 9.95390510e-01 1.40178312e-04 -9.31978563e-01] [ 5.29958102e-03 3.69782923e-04 9.99985889e-01 -2.56955762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:-0.93, Z:-0.26 [[ 9.95414361e-01 9.55841877e-02 -3.73003562e-03 5.29152057e+01] [-9.55844878e-02 9.95421316e-01 9.81397471e-05 -9.31382913e-01] [ 3.72233757e-03 2.58843831e-04 9.99993039e-01 -2.56702970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:-0.93, Z:-0.26 [[ 9.95401830e-01 9.57436074e-02 -2.89097191e-03 5.29431564e+01] [-9.57437889e-02 9.95406008e-01 7.58532553e-05 -9.30688335e-01] [ 2.88495327e-03 2.01288135e-04 9.99995818e-01 -2.56445373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.97, Y:-0.93, Z:-0.26 [[ 9.95166350e-01 9.80969185e-02 -4.57489168e-03 5.29709214e+01] [-9.80973993e-02 9.95176811e-01 1.19725860e-04 -9.27807548e-01] [ 4.56457086e-03 3.29637829e-04 9.99989528e-01 -2.57076467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:-0.93, Z:-0.26 [[ 9.95033365e-01 9.93530793e-02 -6.12931964e-03 5.29975825e+01] [-9.93539692e-02 9.95052141e-01 1.59897101e-04 -9.25649062e-01] [ 6.11487890e-03 4.49869284e-04 9.99981203e-01 -2.57121718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.065898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.03, Y:-0.92, Z:-0.26 [[ 9.94897738e-01 1.00674770e-01 -6.56362226e-03 5.30251557e+01] [-1.00675822e-01 9.94919268e-01 1.70764344e-04 -9.23441946e-01] [ 6.54746592e-03 4.90905008e-04 9.99978445e-01 -2.59548258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:-0.92, Z:-0.26 [[ 9.94694349e-01 1.02738563e-01 -5.28587825e-03 5.30524902e+01] [-1.02739276e-01 9.94708310e-01 1.37066099e-04 -9.17038395e-01] [ 5.27198900e-03 4.06728432e-04 9.99986020e-01 -2.57095471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:-0.91, Z:-0.26 [[ 9.94641390e-01 1.03290501e-01 -4.42456102e-03 5.30810492e+01] [-1.03291008e-01 9.94651172e-01 1.14414499e-04 -9.13888149e-01] [ 4.41271274e-03 3.43215971e-04 9.99990205e-01 -2.57147094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:-0.91, Z:-0.26 [[ 9.94669831e-01 1.03038927e-01 -3.86098052e-03 5.31086183e+01] [-1.03039312e-01 9.94677279e-01 9.95115349e-05 -9.10490588e-01] [ 3.85068316e-03 2.98851657e-04 9.99992541e-01 -2.57460677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.185898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:-0.90, Z:-0.26 [[ 9.94934975e-01 1.00388572e-01 -5.15079093e-03 5.31369975e+01] [-1.00389224e-01 9.94948233e-01 1.32412908e-04 -9.04294514e-01] [ 5.13806308e-03 3.85341672e-04 9.99986726e-01 -2.58997936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:-0.90, Z:-0.26 [[ 9.95226538e-01 9.74295161e-02 -5.62384787e-03 5.31649725e+01] [-9.74302489e-02 9.95242345e-01 1.44169821e-04 -9.01792099e-01] [ 5.61113794e-03 4.04451266e-04 9.99984176e-01 -2.59973449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.19, Y:-0.90, Z:-0.26 [[ 9.95544940e-01 9.41193801e-02 -5.64042871e-03 5.31920109e+01] [-9.41200670e-02 9.95560843e-01 1.44115039e-04 -8.99252917e-01] [ 5.62895398e-03 3.87404531e-04 9.99984082e-01 -2.60209470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.22, Y:-0.90, Z:-0.26 [[ 9.95840338e-01 9.09569006e-02 -5.37249298e-03 5.32197369e+01] [-9.09574801e-02 9.95854768e-01 1.36891587e-04 -8.96746094e-01] [ 5.36267398e-03 3.52346259e-04 9.99985559e-01 -2.59615020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.25, Y:-0.89, Z:-0.26 [[ 9.96327042e-01 8.55090041e-02 -4.54273697e-03 5.32470307e+01] [-8.55093637e-02 9.96337360e-01 1.15360995e-04 -8.93357017e-01] [ 4.53596297e-03 2.73509269e-04 9.99989675e-01 -2.58461033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:-0.89, Z:-0.26 [[ 9.96562097e-01 8.27383693e-02 -4.28358848e-03 5.32749831e+01] [-8.27386648e-02 9.96571273e-01 1.08475478e-04 -8.93002319e-01] [ 4.27787631e-03 2.46315841e-04 9.99990820e-01 -2.58707523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:-0.89, Z:-0.26 [[ 9.96833630e-01 7.93989411e-02 -4.30373597e-03 5.33028283e+01] [-7.93992098e-02 9.96842893e-01 1.08674631e-04 -8.92667977e-01] [ 4.29877727e-03 2.33382709e-04 9.99990733e-01 -2.58799242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.33, Y:-0.89, Z:-0.26 [[ 9.97141573e-01 7.54696342e-02 -3.60808239e-03 5.33302095e+01] [-7.54697984e-02 9.97148084e-01 9.07927903e-05 -8.93050549e-01] [ 3.60464454e-03 1.81767985e-04 9.99993487e-01 -2.59268688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.36, Y:-0.90, Z:-0.26 [[ 9.97710148e-01 6.75647115e-02 -3.07728801e-03 5.33585821e+01] [-6.75647941e-02 9.97714885e-01 7.72180361e-05 -8.96829312e-01] [ 3.07547327e-03 1.30875113e-04 9.99995262e-01 -2.57610573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.39, Y:-0.90, Z:-0.26 [[ 9.97989001e-01 6.33134132e-02 -3.06048463e-03 5.33853439e+01] [-6.33134757e-02 9.97993686e-01 7.65373681e-05 -9.01447639e-01] [ 3.05919018e-03 1.17386468e-04 9.99995314e-01 -2.57452259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:-0.91, Z:-0.26 [[ 9.98403502e-01 5.62908756e-02 -4.66748761e-03 5.34126508e+01] [-5.62909458e-02 9.98414401e-01 1.16419878e-04 -9.10403909e-01] [ 4.66664022e-03 1.46503279e-04 9.99989100e-01 -2.56666843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.44, Y:-0.91, Z:-0.26 [[ 9.98460164e-01 5.52372523e-02 -5.11338801e-03 5.34402197e+01] [-5.52373247e-02 9.98473245e-01 1.27177043e-04 -9.14372419e-01] [ 5.11260603e-03 1.55468663e-04 9.99986918e-01 -2.55649555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:-0.92, Z:-0.26 [[ 9.98422166e-01 5.59650454e-02 -4.59267914e-03 5.34680396e+01] [-5.59651132e-02 9.98432718e-01 1.13865103e-04 -9.18006980e-01] [ 4.59185358e-03 1.43344365e-04 9.99989447e-01 -2.55402631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.49, Y:-0.93, Z:-0.25 [[ 9.98145991e-01 6.08225151e-02 -2.28082569e-03 5.34946839e+01] [-6.08225450e-02 9.98148594e-01 5.63162994e-05 -9.25643748e-01] [ 2.28002826e-03 8.25137350e-05 9.99997397e-01 -2.54158676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:-0.93, Z:-0.25 [[ 9.97979094e-01 6.35027263e-02 -2.26521790e-03 5.35222245e+01] [-6.35027630e-02 9.97981661e-01 5.58083759e-05 -9.30038715e-01] [ 2.26418991e-03 8.81520033e-05 9.99997433e-01 -2.53914649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.55, Y:-0.94, Z:-0.25 [[ 9.97666831e-01 6.81665461e-02 -3.77037150e-03 5.35498816e+01] [-6.81666819e-02 9.97673942e-01 9.26331415e-05 -9.35400517e-01] [ 3.76791588e-03 1.64596702e-04 9.99992888e-01 -2.54420999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.58, Y:-0.94, Z:-0.25 [[ 9.97546727e-01 6.98250805e-02 -4.99863886e-03 5.35770082e+01] [-6.98253426e-02 9.97559225e-01 1.22267269e-04 -9.37346072e-01] [ 4.99497562e-03 2.27064357e-04 9.99987499e-01 -2.54079763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:-0.94, Z:-0.25 [[ 9.97436013e-01 7.13710473e-02 -5.25107104e-03 5.36048053e+01] [-7.13713598e-02 9.97449805e-01 1.28089135e-04 -9.38546363e-01] [ 5.24682164e-03 2.47015364e-04 9.99986205e-01 -2.53816760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:-0.94, Z:-0.25 [[ 9.97357518e-01 7.25074686e-02 -4.54410419e-03 5.36323234e+01] [-7.25077160e-02 9.97367845e-01 1.10504982e-04 -9.39489654e-01] [ 4.54015584e-03 2.19269641e-04 9.99989669e-01 -2.53215368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:-0.94, Z:-0.25 [[ 9.97386533e-01 7.22061625e-02 -2.52477186e-03 5.36599093e+01] [-7.22062384e-02 9.97389721e-01 6.11888466e-05 -9.41239467e-01] [ 2.52259972e-03 1.21275347e-04 9.99996811e-01 -2.52917836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.785898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.69, Y:-0.94, Z:-0.25 [[ 9.97551027e-01 6.98927799e-02 -2.63583300e-03 5.36864639e+01] [-6.98928552e-02 9.97554502e-01 6.36447514e-05 -9.42154655e-01] [ 2.63383539e-03 1.20737007e-04 9.99996524e-01 -2.54138592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:-0.94, Z:-0.25 [[ 9.97780797e-01 6.65324185e-02 -2.63020520e-03 5.37144796e+01] [-6.65324822e-02 9.97784258e-01 6.33586750e-05 -9.42897718e-01] [ 2.62859275e-03 1.11776012e-04 9.99996539e-01 -2.54278024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.74, Y:-0.94, Z:-0.25 [[ 9.98061445e-01 6.21810601e-02 -2.62045474e-03 5.37425005e+01] [-6.21811087e-02 9.98064881e-01 6.29683779e-05 -9.44621834e-01] [ 2.61929929e-03 1.00096471e-04 9.99996565e-01 -2.54459011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.77, Y:-0.95, Z:-0.25 [[ 9.98647079e-01 5.19608212e-02 -2.02105780e-03 5.37696823e+01] [-5.19608294e-02 9.98649122e-01 4.84712284e-05 -9.51441291e-01] [ 2.02084620e-03 5.66101890e-05 9.99997956e-01 -2.54783495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.80, Y:-0.96, Z:-0.25 [[ 9.98917850e-01 4.64898342e-02 -1.35053010e-03 5.37979714e+01] [-4.64898330e-02 9.98918763e-01 3.23172791e-05 -9.56064716e-01] [ 1.35057228e-03 3.05036117e-05 9.99999088e-01 -2.54705692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.935898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.83, Y:-0.96, Z:-0.25 [[ 9.99289121e-01 3.76986510e-02 2.51855799e-04 5.38262145e+01] [-3.76986507e-02 9.99289153e-01 -6.04504034e-06 -9.63245886e-01] [-2.51904658e-04 -3.45388074e-06 9.99999968e-01 -2.52984682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.85, Y:-0.97, Z:-0.25 [[ 9.99361372e-01 3.57326999e-02 1.49832961e-04 5.38547675e+01] [-3.57326998e-02 9.99361383e-01 -3.59965557e-06 -9.66596536e-01] [-1.49865901e-04 -1.75657949e-06 9.99999989e-01 -2.52083335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.88, Y:-0.97, Z:-0.25 [[ 9.99365876e-01 3.56037263e-02 -4.68704721e-04 5.38828793e+01] [-3.56037250e-02 9.99365986e-01 1.11183470e-05 -9.69944606e-01] [ 4.68803410e-04 5.57633744e-06 9.99999890e-01 -2.51338412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:-0.98, Z:-0.25 [[ 9.99245182e-01 3.88013033e-02 -1.87730931e-03 5.39112811e+01] [-3.88012880e-02 9.99246945e-01 4.45456928e-05 -9.75711216e-01] [ 1.87762403e-03 2.83299505e-05 9.99998237e-01 -2.50944659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:-0.98, Z:-0.25 [[ 9.99114619e-01 4.19998274e-02 -2.44778908e-03 5.39392442e+01] [-4.19998115e-02 9.99117617e-01 5.79221446e-05 -9.78244823e-01] [ 2.44806192e-03 4.49358187e-05 9.99997002e-01 -2.51077360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:-0.98, Z:-0.25 [[ 9.98936489e-01 4.59903539e-02 -3.28308961e-03 5.39675869e+01] [-4.59903473e-02 9.98941881e-01 7.75453399e-05 -9.80109730e-01] [ 3.28318204e-03 7.35275617e-05 9.99994608e-01 -2.51262303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:-0.98, Z:-0.25 [[ 9.98715248e-01 5.05079071e-02 -4.09941365e-03 5.39955804e+01] [-5.05079360e-02 9.98723655e-01 9.65555656e-05 -9.81052913e-01] [ 4.09905821e-03 1.10621407e-04 9.99991593e-01 -2.52033375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:-0.98, Z:-0.25 [[ 9.98265154e-01 5.85761581e-02 -5.95958950e-03 5.40238360e+01] [-5.85763647e-02 9.98282921e-01 1.40034696e-04 -9.81612744e-01] [ 5.95755911e-03 2.09299331e-04 9.99982232e-01 -2.51628398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:-0.98, Z:-0.25 [[ 9.98052557e-01 6.20896754e-02 -5.99710496e-03 5.40527979e+01] [-6.20899495e-02 9.98070548e-01 1.40643465e-04 -9.82158889e-01] [ 5.99426634e-03 2.31990374e-04 9.99982007e-01 -2.51218447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.205898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:54.08, Y:-0.98, Z:-0.25 [[ 9.97758889e-01 6.68414009e-02 -3.07031342e-03 5.40815743e+01] [-6.68414957e-02 9.97763604e-01 7.18497979e-05 -9.83076152e-01] [ 3.06824952e-03 1.33535567e-04 9.99995284e-01 -2.52627240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:-0.98, Z:-0.25 [[ 9.97668883e-01 6.82020968e-02 -2.29661380e-03 5.41096090e+01] [-6.82021537e-02 9.97671521e-01 5.35996615e-05 -9.83522707e-01] [ 2.29492180e-03 1.03159293e-04 9.99997361e-01 -2.49804348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:-0.98, Z:-0.25 [[ 9.97607190e-01 6.91024629e-02 -2.17800081e-03 5.41375488e+01] [-6.91025166e-02 9.97609563e-01 5.06936959e-05 -9.84355054e-01] [ 2.17629749e-03 9.99329414e-05 9.99997627e-01 -2.50372975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:-0.99, Z:-0.25 [[ 9.97555308e-01 6.98078110e-02 -3.20574459e-03 5.41665557e+01] [-6.98079313e-02 9.97560448e-01 7.44895756e-05 -9.85040080e-01] [ 3.20312396e-03 1.49478927e-04 9.99994859e-01 -2.50482088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:-0.99, Z:-0.25 [[ 9.97557730e-01 6.97731931e-02 -3.20574703e-03 5.41958774e+01] [-6.97733135e-02 9.97562870e-01 7.43845652e-05 -9.85637647e-01] [ 3.20312426e-03 1.49472695e-04 9.99994859e-01 -2.50497753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:-0.99, Z:-0.25 [[ 9.97411560e-01 7.17689710e-02 -4.40402975e-03 5.42246461e+01] [-7.17692187e-02 9.97421259e-01 1.01975047e-04 -9.86911999e-01] [ 4.39999154e-03 2.14362684e-04 9.99990297e-01 -2.50200718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:-0.99, Z:-0.25 [[ 9.97284214e-01 7.35250595e-02 -4.27341305e-03 5.42530151e+01] [-7.35253097e-02 9.97293347e-01 9.87404632e-05 -9.87281749e-01] [ 4.26910630e-03 2.15731713e-04 9.99990864e-01 -2.48689203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:-0.99, Z:-0.25 [[ 9.97096276e-01 7.60526570e-02 -3.87429660e-03 5.42806162e+01] [-7.60528826e-02 9.97103782e-01 8.92735972e-05 -9.87029452e-01] [ 3.86986529e-03 2.05637053e-04 9.99992491e-01 -2.47790293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:-0.99, Z:-0.25 [[ 9.96686061e-01 8.11947406e-02 -4.93042723e-03 5.43076898e+01] [-8.11951713e-02 9.96698215e-01 1.13070317e-04 -9.85373107e-01] [ 4.92332873e-03 2.87631274e-04 9.99987839e-01 -2.48056514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:-0.99, Z:-0.25 [[ 9.96476549e-01 8.36554856e-02 -6.02060785e-03 5.43352334e+01] [-8.36561750e-02 9.96494669e-01 1.37682031e-04 -9.85105130e-01] [ 6.01102148e-03 3.66464108e-04 9.99981866e-01 -2.48655038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:-0.98, Z:-0.25 [[ 9.96338648e-01 8.51969028e-02 -7.12650625e-03 5.43618271e+01] [-8.51979121e-02 9.96364035e-01 1.62395212e-04 -9.82365917e-01] [ 7.11443009e-03 4.45362827e-04 9.99974593e-01 -2.48615448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:-0.98, Z:-0.25 [[ 9.96476602e-01 8.36087164e-02 -6.63050255e-03 5.43888510e+01] [-8.36095586e-02 9.96498580e-01 1.50556029e-04 -9.80206316e-01] [ 6.61987417e-03 4.04347831e-04 9.99978007e-01 -2.47635026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.42, Y:-0.98, Z:-0.25 [[ 9.96728435e-01 8.06623456e-02 -5.10020846e-03 5.44160817e+01] [-8.06628076e-02 9.96741440e-01 1.15389227e-04 -9.77856850e-01] [ 5.09289669e-03 2.96385410e-04 9.99986987e-01 -2.46484661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:-0.98, Z:-0.25 [[ 9.97006429e-01 7.72376707e-02 -3.53881002e-03 5.44441770e+01] [-7.72378725e-02 9.97012690e-01 7.98136751e-05 -9.76943301e-01] [ 3.53440312e-03 1.93755410e-04 9.99993735e-01 -2.46540151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.47, Y:-0.98, Z:-0.25 [[ 9.97595564e-01 6.92117104e-02 -3.58199602e-03 5.44712190e+01] [-6.92118664e-02 9.97601980e-01 8.05426594e-05 -9.78517331e-01] [ 3.57898082e-03 1.67567630e-04 9.99993581e-01 -2.47726983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:-0.98, Z:-0.25 [[ 9.97863085e-01 6.52304729e-02 -3.77470583e-03 5.44989343e+01] [-6.52306184e-02 9.97870212e-01 8.46685025e-05 -9.80074046e-01] [ 3.77218947e-03 1.61738823e-04 9.99992872e-01 -2.48081357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:-0.98, Z:-0.25 [[ 9.98082660e-01 6.17617553e-02 -4.06061477e-03 5.45277941e+01] [-6.17618958e-02 9.98090908e-01 9.09044830e-05 -9.80510101e-01] [ 4.05847710e-03 1.60061078e-04 9.99991752e-01 -2.46948385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.56, Y:-0.98, Z:-0.25 [[ 9.98286495e-01 5.83519491e-02 -4.37316599e-03 5.45564333e+01] [-5.83520803e-02 9.98296061e-01 9.76974795e-05 -9.80618613e-01] [ 4.37141522e-03 1.57653258e-04 9.99990433e-01 -2.45994986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.745898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:54.59, Y:-0.98, Z:-0.25 [[ 9.98262306e-01 5.88017756e-02 -3.83656866e-03 5.45850366e+01] [-5.88018806e-02 9.98269669e-01 8.55264496e-05 -9.82443862e-01] [ 3.83495923e-03 1.40219621e-04 9.99992637e-01 -2.48025574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.775898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:54.61, Y:-0.98, Z:-0.25 [[ 9.97895912e-01 6.48235026e-02 -1.28952094e-03 5.46142622e+01] [-6.48235196e-02 9.97896743e-01 2.86670975e-05 -9.83953990e-01] [ 1.28866705e-03 5.49845064e-05 9.99999168e-01 -2.46611794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.64, Y:-0.98, Z:-0.24 [[ 9.97528287e-01 7.02556131e-02 -1.21022738e-03 5.46421429e+01] [-7.02556321e-02 9.97529020e-01 2.68248939e-05 -9.84020752e-01] [ 1.20912153e-03 5.82666989e-05 9.99999267e-01 -2.43274190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.835898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:54.67, Y:-0.98, Z:-0.25 [[ 9.97151026e-01 7.53720505e-02 -2.98093835e-03 5.46706772e+01] [-7.53721891e-02 9.97155469e-01 6.59853578e-05 -9.83599376e-01] [ 2.97743243e-03 1.58882482e-04 9.99995555e-01 -2.45118026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:-0.98, Z:-0.25 [[ 9.96320983e-01 8.52089635e-02 -9.16140537e-03 5.46991016e+01] [-8.52106924e-02 9.96362934e-01 2.02162890e-04 -9.81002538e-01] [ 9.14531083e-03 5.79230565e-04 9.99958013e-01 -2.47026085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:-0.98, Z:-0.25 [[ 9.95992931e-01 8.88731435e-02 -9.98224807e-03 5.47261654e+01] [-8.88753877e-02 9.96042729e-01 2.19427349e-04 -9.79208579e-01] [ 9.96224680e-03 6.68628079e-04 9.99950152e-01 -2.48779387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:-0.98, Z:-0.25 [[ 9.95773522e-01 9.14126128e-02 -8.87844013e-03 5.47537236e+01] [-9.14144940e-02 9.95812910e-01 1.94556998e-04 -9.76971194e-01] [ 8.85905027e-03 6.17883404e-04 9.99960567e-01 -2.49163778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.955898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:54.78, Y:-0.97, Z:-0.25 [[ 9.95615328e-01 9.34020167e-02 -5.11679796e-03 5.47804121e+01] [-9.34026699e-02 9.95628409e-01 1.11698196e-04 -9.73626743e-01] [ 5.10486225e-03 3.66714154e-04 9.99986903e-01 -2.50528551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.81, Y:-0.97, Z:-0.25 [[ 9.95527384e-01 9.43801463e-02 -4.19709990e-03 5.48079346e+01] [-9.43805956e-02 9.95536185e-01 9.13215323e-05 -9.72653152e-01] [ 4.18698376e-03 3.05211702e-04 9.99991188e-01 -2.47159795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:-0.97, Z:-0.25 [[ 9.95481434e-01 9.48977185e-02 -3.33736382e-03 5.48356434e+01] [-9.48980063e-02 9.95486998e-01 7.23693849e-05 -9.71316897e-01] [ 3.32916998e-03 2.44666794e-04 9.99994428e-01 -2.46635959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:-0.97, Z:-0.25 [[ 9.95422957e-01 9.55524701e-02 -1.69149435e-03 5.48628929e+01] [-9.55525452e-02 9.95424387e-01 3.65148671e-05 -9.68508034e-01] [ 1.68724381e-03 1.25278853e-04 9.99998569e-01 -2.47185752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.89, Y:-0.97, Z:-0.25 [[ 9.95393406e-01 9.58605280e-02 -1.65149348e-03 5.48902533e+01] [-9.58606003e-02 9.95394768e-01 3.55185317e-05 -9.68225954e-01] [ 1.64729280e-03 1.22958244e-04 9.99998636e-01 -2.46297275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.92, Y:-0.97, Z:-0.25 [[ 9.95409826e-01 9.56861731e-02 -1.85340322e-03 5.49181170e+01] [-9.56862641e-02 9.95411542e-01 3.97389054e-05 -9.66779339e-01] [ 1.84870142e-03 1.37788733e-04 9.99998282e-01 -2.45693103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:-0.97, Z:-0.24 [[ 9.95495283e-01 9.47905758e-02 -1.97182259e-03 5.49450736e+01] [-9.47906773e-02 9.95497225e-01 4.21111555e-05 -9.65323914e-01] [ 1.96693566e-03 1.44988942e-04 9.99998055e-01 -2.44789056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:-0.96, Z:-0.24 [[ 9.95593767e-01 9.37491591e-02 -2.03621400e-03 5.49727161e+01] [-9.37492655e-02 9.95595838e-01 4.33510138e-05 -9.63729471e-01] [ 2.03131031e-03 1.47733568e-04 9.99997926e-01 -2.44510452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:-0.96, Z:-0.24 [[ 9.95681393e-01 9.28083091e-02 -2.27644274e-03 5.49999471e+01] [-9.28084402e-02 9.95683982e-01 4.81902851e-05 -9.62279721e-01] [ 2.27109003e-03 1.63290930e-04 9.99997408e-01 -2.44572721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:-0.96, Z:-0.24 [[ 9.95719523e-01 9.23224261e-02 -4.38182960e-03 5.50278235e+01] [-9.23229083e-02 9.95729116e-01 9.25291873e-05 -9.60102394e-01] [ 4.37165783e-03 3.12410134e-04 9.99990395e-01 -2.43286002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.06, Y:-0.96, Z:-0.24 [[ 9.95734180e-01 9.21223765e-02 -5.18762260e-03 5.50553831e+01] [-9.21230516e-02 9.95747624e-01 1.09182739e-04 -9.58989278e-01] [ 5.17562105e-03 3.69182640e-04 9.99986538e-01 -2.43549666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:-0.96, Z:-0.24 [[ 9.95786846e-01 9.15554884e-02 -5.11371868e-03 5.50828539e+01] [-9.15561391e-02 9.95799911e-01 1.07197201e-04 -9.57035926e-01] [ 5.10205510e-03 3.61446776e-04 9.99986919e-01 -2.43157619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:-0.95, Z:-0.24 [[ 9.95836307e-01 9.10887400e-02 -3.59054558e-03 5.51102966e+01] [-9.10890588e-02 9.95842747e-01 7.49625981e-05 -9.52354521e-01] [ 3.58244703e-03 2.52408941e-04 9.99993551e-01 -2.42435819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:-0.95, Z:-0.24 [[ 9.95824218e-01 9.12149766e-02 -3.73569618e-03 5.51380011e+01] [-9.12153236e-02 9.95831190e-01 7.77360680e-05 -9.51219464e-01] [ 3.72721346e-03 2.63341276e-04 9.99993019e-01 -2.42389392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:55.17, Y:-0.95, Z:-0.25 [[ 9.95849544e-01 9.09036873e-02 -4.49494095e-03 5.51656043e+01] [-9.09041880e-02 9.95859639e-01 9.32176152e-05 -9.50939124e-01] [ 4.48480410e-03 3.15778238e-04 9.99989893e-01 -2.45243380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:-0.95, Z:-0.24 [[ 9.95859993e-01 9.07017824e-02 -6.00507241e-03 5.51940073e+01] [-9.07026750e-02 9.95878009e-01 1.24108076e-04 -9.50878437e-01] [ 5.99157638e-03 4.21081863e-04 9.99981962e-01 -2.43684102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.435898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.22, Y:-0.95, Z:-0.25 [[ 9.95982156e-01 8.92898930e-02 -6.84549353e-03 5.52210009e+01] [-8.92910236e-02 9.96005569e-01 1.40894341e-04 -9.50566209e-01] [ 6.83073011e-03 4.70912874e-04 9.99976559e-01 -2.45724617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.25, Y:-0.95, Z:-0.25 [[ 9.96010110e-01 8.90134479e-02 -6.36131842e-03 5.52489724e+01] [-8.90144216e-02 9.96030329e-01 1.30472837e-04 -9.51210240e-01] [ 6.34767991e-03 4.36296814e-04 9.99979758e-01 -2.46138169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.28, Y:-0.95, Z:-0.25 [[ 9.96005358e-01 8.91321290e-02 -5.36569738e-03 5.52755612e+01] [-8.91328258e-02 9.96019742e-01 1.09590711e-04 -9.51409440e-01] [ 5.35410857e-03 3.69106835e-04 9.99985599e-01 -2.46192408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.525898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:55.30, Y:-0.95, Z:-0.25 [[ 9.95944275e-01 8.97961515e-02 -5.62603268e-03 5.53037293e+01] [-8.97969304e-02 9.95960089e-01 1.14514688e-04 -9.50556849e-01] [ 5.61358699e-03 3.91150217e-04 9.99984167e-01 -2.48015601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.33, Y:-0.95, Z:-0.25 [[ 9.95681205e-01 9.25612844e-02 -7.16571960e-03 5.53308414e+01] [-9.25626235e-02 9.95706854e-01 1.45263074e-04 -9.46232005e-01] [ 7.14840186e-03 5.18642093e-04 9.99974315e-01 -2.47092841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:-0.94, Z:-0.25 [[ 9.95567799e-01 9.37395843e-02 -7.59261872e-03 5.53578812e+01] [-9.37411264e-02 9.95596594e-01 1.53297680e-04 -9.44949377e-01] [ 7.57355540e-03 5.59122397e-04 9.99971164e-01 -2.47031483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.615898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:-0.94, Z:-0.25 [[ 9.95487516e-01 9.46245923e-02 -7.12691778e-03 5.53858083e+01] [-9.46259771e-02 9.95512885e-01 1.43398434e-04 -9.43851189e-01] [ 7.10850750e-03 5.31640208e-04 9.99974593e-01 -2.47147219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.94, Z:-0.25 [[ 9.95481086e-01 9.47667913e-02 -6.05502177e-03 5.54138273e+01] [-9.47677962e-02 9.95499397e-01 1.21396638e-04 -9.39730320e-01] [ 6.03927489e-03 4.52973012e-04 9.99981661e-01 -2.46060873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:-0.94, Z:-0.25 [[ 9.95613458e-01 9.34042108e-02 -5.43104707e-03 5.54409239e+01] [-9.34050015e-02 9.95628191e-01 1.08431055e-04 -9.37541903e-01] [ 5.41743148e-03 3.99331542e-04 9.99985246e-01 -2.45235669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.94, Z:-0.24 [[ 9.96103159e-01 8.80680665e-02 -4.74478913e-03 5.54687458e+01] [-8.80686113e-02 9.96114406e-01 9.43907023e-05 -9.36662686e-01] [ 4.73466561e-03 3.23844113e-04 9.99988739e-01 -2.43690606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:-0.94, Z:-0.24 [[ 9.96370521e-01 8.49688111e-02 -5.10737680e-03 5.54959374e+01] [-8.49694041e-02 9.96383556e-01 1.01175725e-04 -9.38046149e-01] [ 5.09750304e-03 3.33162254e-04 9.99986952e-01 -2.43106625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:-0.94, Z:-0.24 [[ 9.96647855e-01 8.16508821e-02 -5.11724523e-03 5.55228174e+01] [-8.16514359e-02 9.96660942e-01 1.00953089e-04 -9.39867713e-01] [ 5.10840136e-03 3.17215741e-04 9.99986902e-01 -2.43044361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.55, Y:-0.94, Z:-0.24 [[ 9.97125771e-01 7.56029915e-02 -4.93801065e-03 5.55510669e+01] [-7.56034350e-02 9.97137960e-01 9.70673350e-05 -9.42921108e-01] [ 4.93121644e-03 2.76542225e-04 9.99987803e-01 -2.42666261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.58, Y:-0.95, Z:-0.24 [[ 9.97315473e-01 7.30953446e-02 -4.34946126e-03 5.55788794e+01] [-7.30956663e-02 9.97324930e-01 8.51747157e-05 -9.45112657e-01] [ 4.34405202e-03 2.32980707e-04 9.99990537e-01 -2.42505574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.61, Y:-0.95, Z:-0.24 [[ 9.97451978e-01 7.12648523e-02 -3.29737268e-03 5.56057666e+01] [-7.12650282e-02 9.97457413e-01 6.42757979e-05 -9.47573444e-01] [ 3.29356943e-03 1.70875335e-04 9.99994562e-01 -2.42331731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:-0.95, Z:-0.24 [[ 9.97522786e-01 7.03134242e-02 -2.07691476e-03 5.56334865e+01] [-7.03134922e-02 9.97524943e-01 4.03293461e-05 -9.51132973e-01] [ 2.07460997e-03 1.05805688e-04 9.99997842e-01 -2.42588910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.66, Y:-0.95, Z:-0.24 [[ 9.97478503e-01 7.09282254e-02 -2.41298642e-03 5.56607912e+01] [-7.09283196e-02 9.97481414e-01 4.65982815e-05 -9.53048119e-01] [ 2.41021424e-03 1.24668288e-04 9.99997088e-01 -2.42748550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:-0.96, Z:-0.24 [[ 9.97370251e-01 7.24146738e-02 -2.94912233e-03 5.56886368e+01] [-7.24148216e-02 9.97374599e-01 5.67664059e-05 -9.55926438e-01] [ 2.94549042e-03 1.56943043e-04 9.99995650e-01 -2.43365284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:-0.96, Z:-0.24 [[ 9.97242457e-01 7.41369332e-02 -3.34615086e-03 5.57155947e+01] [-7.41371341e-02 9.97248054e-01 6.41265167e-05 -9.59077941e-01] [ 3.34169657e-03 1.84124350e-04 9.99994400e-01 -2.43046457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.74, Y:-0.96, Z:-0.24 [[ 9.96784825e-01 7.99831242e-02 -4.76585880e-03 5.57430497e+01] [-7.99835999e-02 9.96796175e-01 9.10096678e-05 -9.63179975e-01] [ 4.75786907e-03 2.90473488e-04 9.99988639e-01 -2.42501219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.77, Y:-0.96, Z:-0.24 [[ 9.96502817e-01 8.34268901e-02 -4.69987299e-03 5.57703565e+01] [-8.34273927e-02 9.96513854e-01 8.93429085e-05 -9.63454583e-01] [ 4.69094215e-03 3.03067689e-04 9.99988952e-01 -2.42509921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.065898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:55.80, Y:-0.96, Z:-0.24 [[ 9.95902844e-01 9.03432513e-02 -3.95250664e-03 5.57974602e+01] [-9.03436622e-02 9.95910647e-01 7.48182372e-05 -9.63574498e-01] [ 3.94310276e-03 2.82572229e-04 9.99992186e-01 -2.44635683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.83, Y:-0.96, Z:-0.24 [[ 9.95653101e-01 9.30543528e-02 -3.97370857e-03 5.58250820e+01] [-9.30547907e-02 9.95660987e-01 7.49566746e-05 -9.63916668e-01] [ 3.96344164e-03 2.95141774e-04 9.99992102e-01 -2.42802773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:-0.96, Z:-0.24 [[ 9.95441097e-01 9.52685002e-02 -4.57550495e-03 5.58528733e+01] [-9.52691054e-02 9.95451551e-01 8.59898911e-05 -9.64558093e-01] [ 4.56288562e-03 3.50306392e-04 9.99989529e-01 -2.42525966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.155898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.88, Y:-0.96, Z:-0.24 [[ 9.95339480e-01 9.62750202e-02 -5.51722606e-03 5.58810280e+01] [-9.62759177e-02 9.95354679e-01 1.03304503e-04 -9.63543025e-01] [ 5.50154241e-03 4.28352951e-04 9.99984775e-01 -2.43958800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.185898226999996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.91, Y:-0.96, Z:-0.24 [[ 9.95345148e-01 9.62164087e-02 -5.51723201e-03 5.59095128e+01] [-9.62173070e-02 9.95360346e-01 1.02986026e-04 -9.63952673e-01] [ 5.50154291e-03 4.28346565e-04 9.99984775e-01 -2.43974020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:-0.96, Z:-0.24 [[ 9.95456961e-01 9.51030391e-02 -4.56626528e-03 5.59370565e+01] [-9.51036443e-02 9.95467372e-01 8.48971587e-05 -9.63228869e-01] [ 4.55364208e-03 3.49757002e-04 9.99989571e-01 -2.41827950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.96, Y:-0.96, Z:-0.24 [[ 9.95697953e-01 9.25969374e-02 -3.37545056e-03 5.59649889e+01] [-9.25972547e-02 9.95703643e-01 6.24982815e-05 -9.63813990e-01] [ 3.36673557e-03 2.50328044e-04 9.99994301e-01 -2.42307748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.99, Y:-0.97, Z:-0.24 [[ 9.96409339e-01 8.45756664e-02 -3.92240172e-03 5.59916503e+01] [-8.45760348e-02 9.96417026e-01 7.21559231e-05 -9.68303661e-01] [ 3.91445049e-03 2.59844349e-04 9.99992305e-01 -2.44119264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.305898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:56.02, Y:-0.97, Z:-0.25 [[ 9.96783104e-01 7.99747195e-02 -5.24288687e-03 5.60196888e+01] [-7.99753161e-02 9.96796840e-01 9.60994126e-05 -9.71820012e-01] [ 5.23377859e-03 3.23511264e-04 9.99986251e-01 -2.47018001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.05, Y:-0.97, Z:-0.25 [[ 9.97096727e-01 7.59358881e-02 -5.64428168e-03 5.60463401e+01] [-7.59365178e-02 9.97112649e-01 1.02964410e-04 -9.74149839e-01] [ 5.63580335e-03 3.25941620e-04 9.99984066e-01 -2.45470094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.365898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:-0.98, Z:-0.25 [[ 9.97521280e-01 7.01337503e-02 -5.70554611e-03 5.60739856e+01] [-7.01343010e-02 9.97537553e-01 1.03755890e-04 -9.79030470e-01] [ 5.69877330e-03 2.96655780e-04 9.99983718e-01 -2.45756439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:-0.98, Z:-0.25 [[ 9.97639373e-01 6.84292670e-02 -5.75477845e-03 5.61019121e+01] [-6.84298014e-02 9.97655928e-01 1.04225084e-04 -9.81622465e-01] [ 5.74842089e-03 2.89819299e-04 9.99983436e-01 -2.45560923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:-0.98, Z:-0.25 [[ 9.97698989e-01 6.75891816e-02 -5.33202368e-03 5.61293515e+01] [-6.75896308e-02 9.97713202e-01 9.61095630e-05 -9.84126756e-01] [ 5.32632638e-03 2.64501098e-04 9.99985780e-01 -2.45259891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:-0.99, Z:-0.24 [[ 9.97718537e-01 6.73512154e-02 -4.64044971e-03 5.61565180e+01] [-6.73515548e-02 9.97729303e-01 8.32623623e-05 -9.86517378e-01] [ 4.63552048e-03 2.29469101e-04 9.99989230e-01 -2.44906085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.18, Y:-0.99, Z:-0.24 [[ 9.97679820e-01 6.80133454e-02 -3.02666991e-03 5.61848187e+01] [-6.80134935e-02 9.97684400e-01 5.40807746e-05 -9.92180480e-01] [ 3.02333957e-03 1.51899097e-04 9.99995418e-01 -2.44428480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.21, Y:-1.00, Z:-0.24 [[ 9.97656697e-01 6.83762960e-02 -2.40762624e-03 5.62131360e+01] [-6.83763911e-02 9.97659595e-01 4.29056617e-05 -9.95801912e-01] [ 2.40492515e-03 1.21819673e-04 9.99997101e-01 -2.43943038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:-1.00, Z:-0.24 [[ 9.97612598e-01 6.90414775e-02 -1.54220236e-03 5.62407194e+01] [-6.90415175e-02 9.97613787e-01 2.73732843e-05 -9.99453445e-01] [ 1.54041223e-03 7.91680578e-05 9.99998810e-01 -2.43866709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.27, Y:-1.00, Z:-0.24 [[ 9.97313878e-01 7.32313381e-02 -1.48320529e-03 5.62695351e+01] [-7.32313797e-02 9.97314977e-01 2.62604712e-05 -1.00359829e+00] [ 1.48114594e-03 8.24272372e-05 9.99998900e-01 -2.43481840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.30, Y:-1.00, Z:-0.24 [[ 9.97077787e-01 7.63450545e-02 -2.70551532e-03 5.62972233e+01] [-7.63452052e-02 9.97081445e-01 4.77150908e-05 -1.00445193e+00] [ 2.70126193e-03 1.58977465e-04 9.99996339e-01 -2.43036433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:-1.01, Z:-0.24 [[ 9.96795374e-01 7.98940236e-02 -3.99094567e-03 5.63249338e+01] [-7.98943807e-02 9.96803332e-01 7.01169921e-05 -1.00556791e+00] [ 3.98378987e-03 2.48961839e-04 9.99992034e-01 -2.42709745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.35, Y:-1.01, Z:-0.24 [[ 9.96135520e-01 8.76679615e-02 -5.32490463e-03 5.63517517e+01] [-8.76687101e-02 9.96149682e-01 9.31151774e-05 -1.00752018e+00] [ 5.31256527e-03 3.74072185e-04 9.99985818e-01 -2.42431606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.38, Y:-1.01, Z:-0.24 [[ 9.95830213e-01 9.10855272e-02 -5.06097135e-03 5.63801516e+01] [-9.10862492e-02 9.95843003e-01 8.81431729e-05 -1.00823622e+00] [ 5.04796148e-03 3.73209263e-04 9.99987189e-01 -2.42431463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.725898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:56.41, Y:-1.01, Z:-0.24 [[ 9.95558813e-01 9.40203776e-02 -4.77684223e-03 5.64066272e+01] [-9.40210563e-02 9.95570206e-01 8.27903058e-05 -1.00938068e+00] [ 4.76346578e-03 3.66701134e-04 9.99988587e-01 -2.44851043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.43, Y:-1.01, Z:-0.24 [[ 9.95219531e-01 9.75903799e-02 -3.76868374e-03 5.64341372e+01] [-9.75908288e-02 9.95226620e-01 6.50434766e-05 -1.00998794e+00] [ 3.75704200e-03 3.03056432e-04 9.99992896e-01 -2.44258136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.46, Y:-1.01, Z:-0.24 [[ 9.95186469e-01 9.78984687e-02 -4.44759613e-03 5.64609467e+01] [-9.78990986e-02 9.95196343e-01 7.63938181e-05 -1.01035711e+00] [ 4.43371024e-03 3.59389558e-04 9.99990106e-01 -2.44984794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:-1.01, Z:-0.25 [[ 9.95246366e-01 9.72250523e-02 -5.65337710e-03 5.64894095e+01] [-9.72260612e-02 9.95262319e-01 9.67342822e-05 -1.00964640e+00] [ 5.63599819e-03 4.53381145e-04 9.99984015e-01 -2.46103098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.845898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:56.52, Y:-1.01, Z:-0.25 [[ 9.95633556e-01 9.31292971e-02 -6.38399343e-03 5.65177316e+01] [-9.31305028e-02 9.95653905e-01 1.08802192e-04 -1.00768298e+00] [ 6.36638066e-03 4.86217405e-04 9.99979616e-01 -2.49197968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:-1.01, Z:-0.25 [[ 9.95955764e-01 8.96715515e-02 -5.57938205e-03 5.65456277e+01] [-8.96724207e-02 9.95971309e-01 9.46786659e-05 -1.00610715e+00] [ 5.56539442e-03 4.06020931e-04 9.99984431e-01 -2.46283784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.57, Y:-1.01, Z:-0.24 [[ 9.96307410e-01 8.57369645e-02 -4.55177721e-03 5.65728381e+01] [-8.57375040e-02 9.96317758e-01 7.68429345e-05 -1.00540199e+00] [ 4.54160474e-03 3.13698831e-04 9.99989638e-01 -2.44861509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.935898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:-1.01, Z:-0.24 [[ 9.96650024e-01 8.17065650e-02 -3.57321182e-03 5.66003343e+01] [-8.17068726e-02 9.96656402e-01 6.00627887e-05 -1.00543204e+00] [ 3.56617196e-03 2.32094383e-04 9.99993614e-01 -2.43972528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:-1.00, Z:-0.24 [[ 9.97283170e-01 7.35770367e-02 -3.56342088e-03 5.66286931e+01] [-7.35772918e-02 9.97289516e-01 5.96419497e-05 -1.00491047e+00] [ 3.55815056e-03 2.02706945e-04 9.99993649e-01 -2.43016329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.66, Y:-1.00, Z:-0.24 [[ 9.97588761e-01 6.92682096e-02 -4.31033360e-03 5.66553790e+01] [-6.92685442e-02 9.97598047e-01 7.17855611e-05 -1.00479532e+00] [ 4.30495284e-03 2.26958064e-04 9.99990708e-01 -2.42902992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:-1.00, Z:-0.24 [[ 9.97873405e-01 6.50044934e-02 -4.80445294e-03 5.66828070e+01] [-6.50048611e-02 9.97884944e-01 7.97473164e-05 -1.00457668e+00] [ 4.79947519e-03 2.32735070e-04 9.99988455e-01 -2.42484329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:-1.01, Z:-0.24 [[ 9.98274099e-01 5.86292172e-02 -3.38214031e-03 5.67104448e+01] [-5.86293636e-02 9.98279818e-01 5.59306042e-05 -1.00517026e+00] [ 3.37960158e-03 1.42458660e-04 9.99994279e-01 -2.39889589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:-1.01, Z:-0.24 [[ 9.98410252e-01 5.63052857e-02 -2.58507586e-03 5.67389176e+01] [-5.63053638e-02 9.98413594e-01 4.26221253e-05 -1.00659149e+00] [ 2.58337473e-03 1.02999270e-04 9.99996658e-01 -2.39047142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.115898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:-1.01, Z:-0.24 [[ 9.98646170e-01 5.19729221e-02 -2.15447932e-03 5.67677576e+01] [-5.19729665e-02 9.98648491e-01 3.54112590e-05 -1.00920296e+00] [ 2.15340795e-03 7.66113633e-05 9.99997678e-01 -2.39402644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.145898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:-1.01, Z:-0.24 [[ 9.98731624e-01 5.03242724e-02 -1.61561943e-03 5.67955898e+01] [-5.03242955e-02 9.98732930e-01 2.64305086e-05 -1.00995900e+00] [ 1.61490243e-03 5.49079249e-05 9.99998695e-01 -2.39891707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:-1.01, Z:-0.24 [[ 9.98795429e-01 4.90548079e-02 -1.14752256e-03 5.68241297e+01] [-4.90548188e-02 9.98796088e-01 1.87172270e-05 -1.01067006e+00] [ 1.14705921e-03 3.75968304e-05 9.99999341e-01 -2.39623622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:-1.01, Z:-0.24 [[ 9.98849056e-01 4.79561912e-02 -8.75409349e-04 5.68534014e+01] [-4.79561972e-02 9.98849440e-01 1.42285395e-05 -1.01148532e+00] [ 8.75084485e-04 2.77691401e-05 9.99999617e-01 -2.39555554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:-1.01, Z:-0.24 [[ 9.98863974e-01 4.76492763e-02 -5.55035092e-04 5.68808767e+01] [-4.76492787e-02 9.98864128e-01 8.97121605e-06 -1.01143401e+00] [ 5.54832115e-04 1.74859973e-05 9.99999846e-01 -2.39567282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.91, Y:-1.01, Z:-0.24 [[ 9.98878587e-01 4.73423176e-02 -5.23665236e-04 5.69098854e+01] [-4.73423196e-02 9.98878724e-01 8.44354457e-06 -1.01069508e+00] [ 5.23477799e-04 1.63574511e-05 9.99999863e-01 -2.40662231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:-1.01, Z:-0.24 [[ 9.98932121e-01 4.62001437e-02 -4.04529431e-04 5.69384195e+01] [-4.62001449e-02 9.98932203e-01 6.49540166e-06 -1.00738603e+00] [ 4.04397565e-04 1.22008530e-05 9.99999918e-01 -2.40574175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.97, Y:-1.01, Z:-0.24 [[ 9.98966769e-01 4.54458096e-02 -2.70293051e-04 5.69666747e+01] [-4.54458101e-02 9.98966805e-01 4.30756724e-06 -1.00703472e+00] [ 2.70209547e-04 7.98057015e-06 9.99999963e-01 -2.40626438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.99, Y:-1.01, Z:-0.24 [[ 9.99006264e-01 4.45650060e-02 -6.66249354e-04 5.69944715e+01] [-4.45650088e-02 9.99006486e-01 1.06172822e-05 -1.00800478e+00] [ 6.66060586e-04 1.90846769e-05 9.99999778e-01 -2.40088170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:-1.01, Z:-0.24 [[ 9.99115577e-01 4.20420960e-02 -7.25547278e-04 5.70236594e+01] [-4.20420987e-02 9.99115840e-01 1.15402191e-05 -1.01006074e+00] [ 7.25390953e-04 1.89735177e-05 9.99999737e-01 -2.39693018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:-1.01, Z:-0.24 [[ 9.99156114e-01 4.10676315e-02 7.13190652e-04 5.70516259e+01] [-4.10676338e-02 9.99156369e-01 -1.13586128e-05 -1.01044095e+00] [-7.13055453e-04 -1.79400251e-05 9.99999746e-01 -2.38772061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:-1.01, Z:-0.24 [[ 9.99174842e-01 4.05723478e-02 1.87603180e-03 5.70793691e+01] [-4.05723635e-02 9.99176602e-01 -2.96994685e-05 -1.00989402e+00] [-1.87569206e-03 -4.64400824e-05 9.99998240e-01 -2.38487770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:-1.01, Z:-0.24 [[ 9.99108684e-01 4.22086116e-02 -5.19447103e-04 5.71081789e+01] [-4.22086131e-02 9.99108819e-01 8.16193162e-06 -1.00831587e+00] [ 5.19328686e-04 1.37704851e-05 9.99999865e-01 -2.38948091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:-1.01, Z:-0.24 [[ 9.99038518e-01 4.37712857e-02 -2.47271936e-03 5.71366405e+01] [-4.37713236e-02 9.99041576e-01 3.88262328e-05 -1.00785100e+00] [ 2.47204892e-03 6.94452972e-05 9.99996942e-01 -2.39458168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.16, Y:-1.01, Z:-0.24 [[ 9.98939348e-01 4.58588963e-02 -4.14005172e-03 5.71647814e+01] [-4.58590213e-02 9.98947920e-01 6.47603465e-05 -1.00790962e+00] [ 4.13866589e-03 1.25167062e-04 9.99991428e-01 -2.40144626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.19, Y:-1.01, Z:-0.24 [[ 9.98830573e-01 4.80199682e-02 -5.61862657e-03 5.71933291e+01] [-4.80202342e-02 9.98846359e-01 8.76302538e-05 -1.00832443e+00] [ 5.61635269e-03 1.82279987e-04 9.99984212e-01 -2.41289712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:-1.01, Z:-0.24 [[ 9.98648053e-01 5.17189525e-02 -5.21687849e-03 5.72206117e+01] [-5.17192353e-02 9.98661662e-01 8.07798716e-05 -1.00732306e+00] [ 5.21407439e-03 1.89142304e-04 9.99986389e-01 -2.40535911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:-1.01, Z:-0.24 [[ 9.98540838e-01 5.38724096e-02 -3.73619848e-03 5.72484379e+01] [-5.38725705e-02 9.98547817e-01 5.76375208e-05 -1.00608591e+00] [ 3.73387791e-03 1.43725198e-04 9.99993019e-01 -2.39940762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.28, Y:-1.00, Z:-0.24 [[ 9.98277619e-01 5.86537437e-02 -1.23861306e-03 5.72765383e+01] [-5.86537652e-02 9.98278386e-01 1.89910496e-05 -1.00295997e+00] [ 1.23759455e-03 5.36909801e-05 9.99999233e-01 -2.39445560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:-1.00, Z:-0.24 [[ 9.98139527e-01 6.09589375e-02 -1.22194406e-03 5.73046067e+01] [-6.09589603e-02 9.98140273e-01 1.86688333e-05 -1.00176668e+00] [ 1.22080961e-03 5.58543390e-05 9.99999253e-01 -2.39739383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:-1.00, Z:-0.24 [[ 9.97989705e-01 6.33554778e-02 -1.62267081e-03 5.73335224e+01] [-6.33555212e-02 9.97991021e-01 2.47297205e-05 -1.00025404e+00] [ 1.62097766e-03 7.81251482e-05 9.99998683e-01 -2.41014666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:-1.00, Z:-0.24 [[ 9.97835296e-01 6.57211654e-02 -2.33466659e-03 5.73609710e+01] [-6.57212619e-02 9.97838020e-01 3.54462642e-05 -9.98679339e-01] [ 2.33194866e-03 1.18067701e-04 9.99997274e-01 -2.41945203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:-0.99, Z:-0.24 [[ 9.97617564e-01 6.89026472e-02 -3.40903256e-03 5.73892427e+01] [-6.89028723e-02 9.97623372e-01 5.15162661e-05 -9.94140960e-01] [ 3.40448016e-03 1.83498603e-04 9.99994188e-01 -2.42571214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:-0.99, Z:-0.24 [[ 9.97605704e-01 6.90409494e-02 -4.02586071e-03 5.74164453e+01] [-6.90412658e-02 9.97613803e-01 6.04981664e-05 -9.92194548e-01] [ 4.02043106e-03 2.17597203e-04 9.99991894e-01 -2.42299251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:-0.99, Z:-0.24 [[ 9.97645264e-01 6.84516646e-02 -4.27736575e-03 5.74432291e+01] [-6.84520178e-02 9.97654408e-01 6.39205753e-05 -9.90585202e-01] [ 4.27170827e-03 2.29024258e-04 9.99990850e-01 -2.41919309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.865898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.47, Y:-0.99, Z:-0.24 [[ 9.97821048e-01 6.58690605e-02 -3.79771654e-03 5.74707735e+01] [-6.58693214e-02 9.97828256e-01 5.64864102e-05 -9.88984868e-01] [ 3.79318958e-03 1.93789682e-04 9.99992787e-01 -2.41237898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:-0.99, Z:-0.24 [[ 9.97969348e-01 6.36035168e-02 -3.43133319e-03 5.74981575e+01] [-6.36037174e-02 9.97975232e-01 5.07442315e-05 -9.89666363e-01] [ 3.42761305e-03 1.67604359e-04 9.99994112e-01 -2.41331960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:-0.99, Z:-0.24 [[ 9.98325903e-01 5.77448438e-02 -3.30525234e-03 5.75255368e+01] [-5.77449985e-02 9.98331364e-01 4.86845537e-05 -9.91392122e-01] [ 3.30254836e-03 1.42258740e-04 9.99994536e-01 -2.41255489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:-0.99, Z:-0.24 [[ 9.98474052e-01 5.51554488e-02 -2.72826469e-03 5.75538666e+01] [-5.51555449e-02 9.98477774e-01 4.00619876e-05 -9.92653190e-01] [ 2.72632129e-03 1.10478070e-04 9.99996277e-01 -2.40770259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.58, Y:-0.99, Z:-0.24 [[ 9.98605015e-01 5.27884892e-02 -1.18287712e-03 5.75829456e+01] [-5.27885057e-02 9.98605715e-01 1.73007636e-05 -9.93359484e-01] [ 1.18214114e-03 4.51656864e-05 9.99999300e-01 -2.40137055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.61, Y:-0.99, Z:-0.24 [[ 9.98705652e-01 5.08621900e-02 2.41223408e-04 5.76121520e+01] [-5.08621907e-02 9.98705681e-01 -3.54737413e-06 -9.94575832e-01] [-2.41091616e-04 -8.72636839e-06 9.99999971e-01 -2.38873146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:-1.00, Z:-0.24 [[ 9.98804579e-01 4.88764063e-02 7.14045314e-04 5.76408880e+01] [-4.88764113e-02 9.98804834e-01 -1.04150785e-05 -9.99151567e-01] [-7.13700963e-04 -2.44973444e-05 9.99999745e-01 -2.39217980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:-1.00, Z:-0.24 [[ 9.98799488e-01 4.89846154e-02 -3.00044800e-04 5.76686270e+01] [-4.89846163e-02 9.98799533e-01 4.31007415e-06 -1.00209383e+00] [ 2.99895734e-04 1.03926795e-05 9.99999955e-01 -2.39970383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:-1.00, Z:-0.24 [[ 9.98801257e-01 4.89485394e-02 -3.00044722e-04 5.76979514e+01] [-4.89485403e-02 9.98801302e-01 4.31540968e-06 -1.00243520e+00] [ 2.99896292e-04 1.03765146e-05 9.99999955e-01 -2.39986049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:-1.01, Z:-0.24 [[ 9.98673217e-01 5.14687948e-02 -1.66396606e-03 5.77265680e+01] [-5.14688263e-02 9.98674601e-01 2.39319140e-05 -1.00755837e+00] [ 1.66299239e-03 6.17422186e-05 9.99998615e-01 -2.40821929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:-1.01, Z:-0.24 [[ 9.98565172e-01 5.35315271e-02 -1.40434232e-03 5.77554992e+01] [-5.35315516e-02 9.98566158e-01 2.01252380e-05 -1.00974776e+00] [ 1.40340605e-03 5.50802616e-05 9.99999014e-01 -2.40048623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:-1.01, Z:-0.24 [[ 9.98428394e-01 5.60377240e-02 -7.18047936e-04 5.77829612e+01] [-5.60377311e-02 9.98428652e-01 1.02277265e-05 -1.01192614e+00] [ 7.17492771e-04 3.00261246e-05 9.99999742e-01 -2.39602704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.81, Y:-1.02, Z:-0.24 [[ 9.98029722e-01 6.27419021e-02 -3.57554864e-04 5.78105939e+01] [-6.27419043e-02 9.98029786e-01 5.04430537e-06 -1.01604175e+00] [ 3.57166893e-04 1.73993064e-05 9.99999936e-01 -2.39319584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.84, Y:-1.02, Z:-0.24 [[ 9.97784668e-01 6.65261350e-02 -1.74229294e-04 5.78381821e+01] [-6.65261356e-02 9.97784683e-01 2.43434512e-06 -1.01729212e+00] [ 1.74005268e-04 9.16184940e-06 9.99999985e-01 -2.39547807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:-1.02, Z:-0.24 [[ 9.97537070e-01 7.01401729e-02 -3.88298476e-04 5.78666594e+01] [-7.01401761e-02 9.97537145e-01 5.45227047e-06 -1.01814089e+00] [ 3.87724577e-04 2.17964816e-05 9.99999925e-01 -2.40315432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:-1.02, Z:-0.24 [[ 9.97084936e-01 7.62909222e-02 -1.15112829e-03 5.78958770e+01] [-7.62909542e-02 9.97085598e-01 1.61580162e-05 -1.02133674e+00] [ 1.14900615e-03 7.17097612e-05 9.99999337e-01 -2.42069075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:-1.02, Z:-0.24 [[ 9.96945932e-01 7.80763225e-02 -1.70217034e-03 5.79242840e+01] [-7.80763952e-02 9.96947379e-01 2.37687683e-05 -1.02384449e+00] [ 1.69883003e-03 1.09203147e-04 9.99998551e-01 -2.42324234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:-1.03, Z:-0.24 [[ 9.96900055e-01 7.86216109e-02 -2.98721945e-03 5.79507861e+01] [-7.86218380e-02 9.96904511e-01 4.14846905e-05 -1.02720072e+00] [ 2.98123414e-03 1.93504593e-04 9.99995537e-01 -2.41592281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:-1.03, Z:-0.24 [[ 9.96948423e-01 7.79920526e-02 -3.32904449e-03 5.79786108e+01] [-7.79923320e-02 9.96953958e-01 4.60079735e-05 -1.02826478e+00] [ 3.32249234e-03 2.13772367e-04 9.99994458e-01 -2.41835141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.435898226999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.01, Y:-1.03, Z:-0.24 [[ 9.97038317e-01 7.68329958e-02 -3.35926473e-03 5.80062851e+01] [-7.68332746e-02 9.97043954e-01 4.61764305e-05 -1.02996977e+00] [ 3.35288246e-03 2.12063639e-04 9.99994357e-01 -2.43034443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:-1.03, Z:-0.24 [[ 9.97300403e-01 7.34047400e-02 -1.91072655e-03 5.80343248e+01] [-7.34048241e-02 9.97302227e-01 2.61379771e-05 -1.03393489e+00] [ 1.90749049e-03 1.14189131e-04 9.99998174e-01 -2.42515928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:-1.04, Z:-0.24 [[ 9.97487236e-01 7.08272171e-02 -1.64874708e-03 5.80631801e+01] [-7.08272763e-02 9.97488595e-01 2.24775168e-05 -1.03565485e+00] [ 1.64619843e-03 9.43552293e-05 9.99998641e-01 -2.42174988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.525898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.09, Y:-1.04, Z:-0.24 [[ 9.97789162e-01 6.64445225e-02 -1.38357651e-03 5.80921599e+01] [-6.64445601e-02 9.97790118e-01 1.87921594e-05 -1.03886373e+00] [ 1.38176761e-03 7.31805198e-05 9.99999043e-01 -2.41989441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:-1.04, Z:-0.24 [[ 9.97876921e-01 6.51052891e-02 -1.71816269e-03 5.81205253e+01] [-6.51053453e-02 9.97878396e-01 2.32579377e-05 -1.04065260e+00] [ 1.71603164e-03 8.86530157e-05 9.99998524e-01 -2.40693451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:-1.04, Z:-0.24 [[ 9.97896757e-01 6.47962659e-02 -1.87250766e-03 5.81486328e+01] [-6.47963324e-02 9.97898509e-01 2.52169063e-05 -1.04278165e+00] [ 1.87020657e-03 9.61677598e-05 9.99998247e-01 -2.40571440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.615898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:-1.04, Z:-0.24 [[ 9.97842520e-01 6.56213986e-02 -2.03392287e-03 5.81777267e+01] [-6.56214789e-02 9.97844587e-01 2.73043500e-05 -1.04474914e+00] [ 2.03133068e-03 1.06223586e-04 9.99997931e-01 -2.39665033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:-1.05, Z:-0.24 [[ 9.97483147e-01 7.08810266e-02 -1.80293070e-03 5.82057225e+01] [-7.08810985e-02 9.97484771e-01 2.40855651e-05 -1.04738977e+00] [ 1.80010312e-03 1.03768763e-04 9.99998374e-01 -2.38086497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:-1.05, Z:-0.24 [[ 9.97207943e-01 7.46705428e-02 -7.92696955e-04 5.82336538e+01] [-7.46705579e-02 9.97208257e-01 1.05260418e-05 -1.04852447e+00] [ 7.91269934e-04 4.86944714e-05 9.99999686e-01 -2.38339298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:-1.05, Z:-0.24 [[ 9.96954968e-01 7.79779290e-02 4.83359932e-04 5.82613983e+01] [-7.79779350e-02 9.96955085e-01 -6.44044342e-06 -1.04909899e+00] [-4.82390354e-04 -3.12705773e-05 9.99999883e-01 -2.39138883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:-1.05, Z:-0.24 [[ 9.96627521e-01 8.20291295e-02 2.19240460e-03 5.82902277e+01] [-8.20292633e-02 9.96629921e-01 -2.89962084e-05 -1.05099869e+00] [-2.18739456e-03 -1.50942915e-04 9.99997596e-01 -2.39719793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:-1.05, Z:-0.24 [[ 9.96571833e-01 8.27066931e-02 2.04583475e-03 5.83182335e+01] [-8.27068112e-02 9.96573922e-01 -2.69474454e-05 -1.05329598e+00] [-2.04105430e-03 -1.42349404e-04 9.99997907e-01 -2.39845611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.35, Y:-1.06, Z:-0.24 [[ 9.96576046e-01 8.26633861e-02 1.71747884e-03 5.83467907e+01] [-8.26634694e-02 9.96577518e-01 -2.25411104e-05 -1.05658086e+00] [-1.71346413e-03 -1.19508829e-04 9.99998525e-01 -2.40123835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.38, Y:-1.06, Z:-0.24 [[ 9.96779400e-01 8.01894632e-02 6.91207964e-04 5.83753101e+01] [-8.01894762e-02 9.96779639e-01 -9.05424866e-06 -1.06445690e+00] [-6.89708080e-04 -4.64025160e-05 9.99999761e-01 -2.40403394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:-1.07, Z:-0.24 [[ 9.96926264e-01 7.83450141e-02 2.87547745e-04 5.84030616e+01] [-7.83450162e-02 9.96926305e-01 -3.77064885e-06 -1.06936762e+00] [-2.86959323e-04 -1.87688739e-05 9.99999959e-01 -2.39993092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:-1.07, Z:-0.24 [[ 9.97076791e-01 7.64056289e-02 2.30311080e-04 5.84317530e+01] [-7.64056303e-02 9.97076817e-01 -3.00903080e-06 -1.07478854e+00] [-2.29867745e-04 -1.45968284e-05 9.99999973e-01 -2.40629342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:-1.08, Z:-0.24 [[ 9.97330175e-01 7.30239229e-02 1.71709953e-04 5.84607853e+01] [-7.30239236e-02 9.97330189e-01 -2.24219912e-06 -1.08439710e+00] [-1.71415254e-04 -1.03027217e-05 9.99999985e-01 -2.39885290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:-1.09, Z:-0.24 [[ 9.97379454e-01 7.23479468e-02 1.74042410e-05 5.84899554e+01] [-7.23479468e-02 9.97379454e-01 -2.49660846e-07 -1.08861077e+00] [-1.73766948e-05 -1.01015450e-06 1.00000000e+00 -2.39667505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:-1.09, Z:-0.24 [[ 9.97344820e-01 7.28229265e-02 -3.63290718e-04 5.85188511e+01] [-7.28229296e-02 9.97344886e-01 4.63963362e-06 -1.09201723e+00] [ 3.62664011e-04 2.18285798e-05 9.99999934e-01 -2.39671312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.005898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:-1.10, Z:-0.24 [[ 9.97087272e-01 7.62548537e-02 -1.47279847e-03 5.85470303e+01] [-7.62549088e-02 9.97088355e-01 1.87714327e-05 -1.09743472e+00] [ 1.46994161e-03 9.35913561e-05 9.99998915e-01 -2.39709215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.58, Y:-1.10, Z:-0.24 [[ 9.96902333e-01 7.86189680e-02 -2.19003516e-03 5.85754772e+01] [-7.86190957e-02 9.96904728e-01 2.78330711e-05 -1.09989821e+00] [ 2.18544462e-03 1.44431730e-04 9.99997601e-01 -2.39442617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:-1.10, Z:-0.24 [[ 9.96677118e-01 8.13803511e-02 -3.45847094e-03 5.86040403e+01] [-8.13806868e-02 9.96683090e-01 4.38017446e-05 -1.10215033e+00] [ 3.45056411e-03 2.37796544e-04 9.99994019e-01 -2.39376076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.095898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.63, Y:-1.11, Z:-0.24 [[ 9.96232105e-01 8.65680780e-02 -5.24992356e-03 5.86319348e+01] [-8.65689246e-02 9.96245862e-01 6.61865182e-05 -1.10588585e+00] [ 5.23594426e-03 3.88543103e-04 9.99986217e-01 -2.41847465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:-1.11, Z:-0.24 [[ 9.96088723e-01 8.82192006e-02 -4.96281267e-03 5.86604686e+01] [-8.82199786e-02 9.96101015e-01 6.23448236e-05 -1.10766765e+00] [ 4.94896275e-03 3.75718252e-04 9.99987683e-01 -2.40331539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:-1.11, Z:-0.24 [[ 9.96054749e-01 8.86536379e-02 -3.93323488e-03 5.86897380e+01] [-8.86541306e-02 9.96062469e-01 4.92261587e-05 -1.10968417e+00] [ 3.92211172e-03 2.99665570e-04 9.99992264e-01 -2.40661775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.185898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:-1.11, Z:-0.24 [[ 9.96039765e-01 8.89040493e-02 -9.25612174e-04 5.87176263e+01] [-8.89040768e-02 9.96040192e-01 1.15075851e-05 -1.11287028e+00] [ 9.22969999e-04 7.08286834e-05 9.99999572e-01 -2.39456803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:-1.11, Z:-0.24 [[ 9.95966434e-01 8.97248120e-02 5.66564177e-04 5.87463890e+01] [-8.97248224e-02 9.95966594e-01 -7.06073305e-06 -1.11464926e+00] [-5.64912517e-04 -4.38026171e-05 9.99999839e-01 -2.38764950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:-1.12, Z:-0.24 [[ 9.95855852e-01 9.09352511e-02 1.37893638e-03 5.87753512e+01] [-9.09353141e-02 9.95856801e-01 -1.70841695e-05 -1.11586324e+00] [-1.37477673e-03 -1.08380643e-04 9.99999049e-01 -2.37904788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.80, Y:-1.12, Z:-0.24 [[ 9.95634600e-01 9.33332069e-02 8.10305576e-04 5.88040950e+01] [-9.33332295e-02 9.95634927e-01 -1.00146324e-05 -1.11813935e+00] [-8.07703231e-04 -6.56575218e-05 9.99999672e-01 -2.38564287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:-1.12, Z:-0.24 [[ 9.95559132e-01 9.41380555e-02 -2.03268619e-04 5.88326868e+01] [-9.41380569e-02 9.95559153e-01 2.47274500e-06 -1.11955314e+00] [ 2.02598713e-04 1.66735489e-05 9.99999979e-01 -2.39646520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:-1.12, Z:-0.24 [[ 9.95522529e-01 9.45170005e-02 -1.19608855e-03 5.88604473e+01] [-9.45170507e-02 9.95523243e-01 1.45970705e-05 -1.12165557e+00] [ 1.19211362e-03 9.85190495e-05 9.99999285e-01 -2.40928441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.365898226999995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:58.89, Y:-1.13, Z:-0.24 [[ 9.95585886e-01 9.38415365e-02 -1.58439557e-03 5.88895435e+01] [-9.38416239e-02 9.95587138e-01 1.92760956e-05 -1.12527900e+00] [ 1.57921275e-03 1.29491245e-04 9.99998745e-01 -2.41808587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.395898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:-1.13, Z:-0.24 [[ 9.95560790e-01 9.41130631e-02 -1.20203754e-03 5.89173185e+01] [-9.41131137e-02 9.95561511e-01 1.45405448e-05 -1.12776812e+00] [ 1.19807076e-03 9.86514992e-05 9.99999277e-01 -2.40342918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.95, Y:-1.13, Z:-0.24 [[ 9.95538661e-01 9.43434213e-02 -1.44664186e-03 5.89464672e+01] [-9.43434948e-02 9.95539705e-01 1.74470351e-05 -1.13048728e+00] [ 1.44183542e-03 1.19112051e-04 9.99998953e-01 -2.39859198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:-1.13, Z:-0.24 [[ 9.95456928e-01 9.51778745e-02 -2.58383697e-03 5.89740062e+01] [-9.51781124e-02 9.95460258e-01 3.10283377e-05 -1.13298007e+00] [ 2.57506023e-03 2.15037352e-04 9.99996661e-01 -2.40569756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:-1.13, Z:-0.24 [[ 9.95317664e-01 9.66130160e-02 -2.94489811e-03 5.90025087e+01] [-9.66133316e-02 9.95321990e-01 3.52367328e-05 -1.13325108e+00] [ 2.93452617e-03 2.49444675e-04 9.99995663e-01 -2.41425025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:-1.13, Z:-0.24 [[ 9.95135730e-01 9.84712973e-02 -2.87783688e-03 5.90309078e+01] [-9.84716068e-02 9.95139860e-01 3.42986523e-05 -1.13244336e+00] [ 2.86722762e-03 2.49253407e-04 9.99995858e-01 -2.41654548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:-1.13, Z:-0.24 [[ 9.94757736e-01 1.02216356e-01 -2.97704623e-03 5.90598851e+01] [-1.02216705e-01 9.94762155e-01 3.53410870e-05 -1.13139749e+00] [ 2.96506536e-03 2.69148035e-04 9.99995568e-01 -2.41197753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.575898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.09, Y:-1.13, Z:-0.24 [[ 9.94745811e-01 1.02311730e-01 -3.61686642e-03 5.90876862e+01] [-1.02312245e-01 9.94752332e-01 4.27232744e-05 -1.13192293e+00] [ 3.60225740e-03 3.27550926e-04 9.99993458e-01 -2.40750019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:-1.13, Z:-0.24 [[ 9.94817484e-01 1.01588833e-01 -4.22890126e-03 5.91164231e+01] [-1.01589531e-01 9.94826399e-01 4.97681729e-05 -1.13252874e+00] [ 4.21207850e-03 3.80101848e-04 9.99991057e-01 -2.40121383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:-1.13, Z:-0.24 [[ 9.95063156e-01 9.91987142e-02 -2.98854443e-03 5.91440806e+01] [-9.91990531e-02 9.95067609e-01 3.49842426e-05 -1.13330591e+00] [ 2.97727416e-03 2.61649247e-04 9.99995534e-01 -2.39735505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:-1.13, Z:-0.24 [[ 9.95195400e-01 9.78847708e-02 -2.16497476e-03 5.91726959e+01] [-9.78849458e-02 9.95197738e-01 2.52405852e-05 -1.13324035e+00] [ 2.15704865e-03 1.86799123e-04 9.99997656e-01 -2.40172693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:-1.13, Z:-0.24 [[ 9.95333947e-01 9.64765771e-02 -1.61369213e-03 5.92000724e+01] [-9.64766726e-02 9.95335246e-01 1.86901795e-05 -1.13347399e+00] [ 1.60796782e-03 1.37080677e-04 9.99998698e-01 -2.41030754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.23, Y:-1.14, Z:-0.24 [[ 9.95643776e-01 9.32298598e-02 -1.29024868e-03 5.92283059e+01] [-9.32299183e-02 9.95644606e-01 1.48671936e-05 -1.13653100e+00] [ 1.28601521e-03 1.05487350e-04 9.99999168e-01 -2.41980543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.755898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:-1.14, Z:-0.24 [[ 9.95745023e-01 9.21289903e-02 -2.02427315e-03 5.92570546e+01] [-9.21291322e-02 9.95747068e-01 2.32556878e-05 -1.13912926e+00] [ 2.01780658e-03 1.63337793e-04 9.99997951e-01 -2.41876175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:-1.14, Z:-0.24 [[ 9.95776149e-01 9.17587158e-02 -3.19360578e-03 5.92856802e+01] [-9.17590673e-02 9.95781237e-01 3.65999282e-05 -1.14179848e+00] [ 3.18349107e-03 2.56596952e-04 9.99994900e-01 -2.42356574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.31, Y:-1.15, Z:-0.24 [[ 9.95614055e-01 9.34592749e-02 -4.24466702e-03 5.93145654e+01] [-9.34599119e-02 9.95623042e-01 4.84555201e-05 -1.14512990e+00] [ 4.23061691e-03 3.48463209e-04 9.99990990e-01 -2.42629508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.845898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.34, Y:-1.15, Z:-0.24 [[ 9.95447347e-01 9.52160602e-02 -4.29905777e-03 5.93429065e+01] [-9.52167309e-02 9.95456564e-01 4.88707142e-05 -1.14627315e+00] [ 4.28417856e-03 3.60694004e-04 9.99990758e-01 -2.43342384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.875898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.37, Y:-1.15, Z:-0.24 [[ 9.95137283e-01 9.83248463e-02 -5.83198875e-03 5.93716215e+01] [-9.82568234e-02 9.95100449e-01 1.09860275e-02 -1.15109894e+00] [ 6.88361409e-03 -1.03595729e-02 9.99922645e-01 -2.36192227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:-1.14, Z:-0.24 [[ 9.94532062e-01 1.04315547e-01 -4.92377410e-03 5.94009916e+01] [-1.04363903e-01 9.94479703e-01 -1.08763597e-02 -1.13911538e+00] [ 3.76201999e-03 1.13307527e-02 9.99928728e-01 -2.42606771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.935898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:-1.14, Z:-0.24 [[ 9.94201853e-01 1.07450656e-01 -4.12709304e-03 5.94295081e+01] [-1.07451381e-01 9.94210339e-01 4.63441075e-05 -1.14175173e+00] [ 4.10817828e-03 3.97386449e-04 9.99991482e-01 -2.42505465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:-1.14, Z:-0.24 [[ 9.93894883e-01 1.10292092e-01 -2.93531870e-03 5.94576174e+01] [-1.10292471e-01 9.93899175e-01 3.27770166e-05 -1.13920810e+00] [ 2.92102588e-03 2.91166644e-04 9.99995691e-01 -2.42634845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:-1.14, Z:-0.24 [[ 9.93903396e-01 1.10215349e-01 -2.93532134e-03 5.94869434e+01] [-1.10215729e-01 9.93907688e-01 3.25397352e-05 -1.13944517e+00] [ 2.92102482e-03 2.91177229e-04 9.99995691e-01 -2.42651169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:-1.13, Z:-0.24 [[ 9.93554596e-01 1.13350969e-01 -9.07036769e-04 5.95163228e+01] [-1.13351007e-01 9.93555006e-01 9.99978571e-06 -1.13365109e+00] [ 9.02324407e-04 9.28781982e-05 9.99999589e-01 -2.41993354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:-1.13, Z:-0.24 [[ 9.93573899e-01 1.13183822e-01 -5.73950608e-04 5.95438742e+01] [-1.13183837e-01 9.93574063e-01 6.27844963e-06 -1.13026469e+00] [ 5.70973057e-04 5.87238283e-05 9.99999835e-01 -2.42184702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.57, Y:-1.13, Z:-0.24 [[ 9.93713808e-01 1.11938541e-01 -1.62175323e-03 5.95732269e+01] [-1.11938660e-01 9.93715118e-01 1.77304735e-05 -1.12677378e+00] [ 1.61354543e-03 1.63917867e-04 9.99998685e-01 -2.43232247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.115898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:-1.12, Z:-0.24 [[ 9.94106798e-01 1.08343086e-01 -3.66736232e-03 5.96019352e+01] [-1.08343668e-01 9.94113499e-01 3.99568765e-05 -1.12131736e+00] [ 3.65010344e-03 3.57614085e-04 9.99993274e-01 -2.43355978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.145898226999996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:59.63, Y:-1.12, Z:-0.24 [[ 9.94341449e-01 1.06178191e-01 -3.35777038e-03 5.96302167e+01] [-1.06178668e-01 9.94347067e-01 3.63807861e-05 -1.11918935e+00] [ 3.34265198e-03 3.20348662e-04 9.99994362e-01 -2.44565350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:-1.12, Z:-0.24 [[ 9.94462925e-01 1.05069079e-01 -1.99501472e-03 5.96585327e+01] [-1.05069245e-01 9.94464908e-01 2.14863833e-05 -1.11690626e+00] [ 1.98622968e-03 1.88247279e-04 9.99998010e-01 -2.42306678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:-1.11, Z:-0.24 [[ 9.94521337e-01 1.04528022e-01 -1.09702048e-03 5.96876532e+01] [-1.04528072e-01 9.94521936e-01 1.17584721e-05 -1.11390062e+00] [ 1.09224002e-03 1.02975383e-04 9.99999398e-01 -2.41361795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.235898227 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:59.72, Y:-1.11, Z:-0.24 [[ 9.94661868e-01 1.03185693e-01 -6.93968957e-04 5.97161071e+01] [-1.03185713e-01 9.94662108e-01 7.39550202e-06 -1.10536729e+00] [ 6.91027736e-04 6.42516577e-05 9.99999759e-01 -2.44136869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.75, Y:-1.10, Z:-0.24 [[ 9.94759341e-01 1.02243739e-01 -2.66585897e-04 5.97450855e+01] [-1.02243741e-01 9.94759377e-01 2.81243750e-06 -1.10179567e+00] [ 2.65476375e-04 2.44590410e-05 9.99999964e-01 -2.42540138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:-1.10, Z:-0.24 [[ 9.94897870e-01 1.00887074e-01 1.63494752e-04 5.97726999e+01] [-1.00887075e-01 9.94897883e-01 -1.76371782e-06 -1.09890508e+00] [-1.62838519e-04 -1.47397882e-05 9.99999987e-01 -2.42964227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.325898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:-1.10, Z:-0.24 [[ 9.95050818e-01 9.93673015e-02 -9.43050168e-05 5.98019624e+01] [-9.93673019e-02 9.95050822e-01 9.76712071e-07 -1.09716917e+00] [ 9.39353378e-05 8.39895693e-06 9.99999996e-01 -2.42740377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:-1.09, Z:-0.24 [[ 9.95503943e-01 9.46976681e-02 -2.06190271e-03 5.98305054e+01] [-9.46978250e-02 9.95506063e-01 2.16436115e-05 -1.09408564e+00] [ 2.05468625e-03 1.73711401e-04 9.99997874e-01 -2.42695806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:-1.09, Z:-0.24 [[ 9.95750157e-01 9.20647448e-02 -2.38903044e-03 5.98582219e+01] [-9.20649482e-02 9.95753004e-01 2.49315528e-05 -1.09218933e+00] [ 2.38117955e-03 1.95120366e-04 9.99997146e-01 -2.43550091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.415898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:59.89, Y:-1.09, Z:-0.25 [[ 9.95958436e-01 8.97920117e-02 -2.04636619e-03 5.98856986e+01] [-8.97921564e-02 9.95960525e-01 2.12356899e-05 -1.09098610e+00] [ 2.04000674e-03 1.62597768e-04 9.99997906e-01 -2.45745131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.91, Y:-1.09, Z:-0.24 [[ 9.96155818e-01 8.75882503e-02 -1.37274956e-03 5.99145889e+01] [-8.75883135e-02 9.96156758e-01 1.41788985e-05 -1.09230069e+00] [ 1.36871565e-03 1.06112426e-04 9.99999058e-01 -2.44363069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.94, Y:-1.09, Z:-0.24 [[ 9.96202962e-01 8.70425454e-02 -1.80379313e-03 5.99434519e+01] [-8.70426537e-02 9.96204585e-01 1.85566895e-05 -1.09377529e+00] [ 1.79856221e-03 1.38520712e-04 9.99998373e-01 -2.43729603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.505898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:-1.09, Z:-0.24 [[ 9.96227385e-01 8.67406519e-02 -2.65629929e-03 5.99724653e+01] [-8.67408859e-02 9.96230906e-01 2.72162242e-05 -1.09377551e+00] [ 2.64864820e-03 2.03296206e-04 9.99996472e-01 -2.43356634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:-1.09, Z:-0.24 [[ 9.96157475e-01 8.75003070e-02 -3.73909560e-03 6.00009000e+01] [-8.75007765e-02 9.96164451e-01 3.81434127e-05 -1.09166495e+00] [ 3.72809167e-03 2.89176922e-04 9.99993009e-01 -2.44627853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:-1.09, Z:-0.25 [[ 9.96086867e-01 8.82962649e-02 -3.83705107e-03 6.00298934e+01] [-8.82967659e-02 9.96094212e-01 3.89636293e-05 -1.09190067e+00] [ 3.82550471e-03 2.99988041e-04 9.99992638e-01 -2.45106477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.595898227 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:60.06, Y:-1.09, Z:-0.25 [[ 9.96012625e-01 8.91317344e-02 -3.79261321e-03 6.00587779e+01] [-8.91322305e-02 9.96019801e-01 3.83340773e-05 -1.09335692e+00] [ 3.78093464e-03 2.99862850e-04 9.99992807e-01 -2.47156486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:-1.09, Z:-0.24 [[ 9.95919635e-01 9.02001638e-02 -2.83026335e-03 6.00868474e+01] [-9.02004449e-02 9.95923631e-01 2.84289861e-05 -1.09419331e+00] [ 2.82129045e-03 2.26978028e-04 9.99995994e-01 -2.44296503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:-1.09, Z:-0.24 [[ 9.95930554e-01 9.00692174e-02 -3.14113535e-03 6.01157738e+01] [-9.00695635e-02 9.95935476e-01 3.14126153e-05 -1.09318472e+00] [ 3.13119744e-03 2.51635907e-04 9.99995066e-01 -2.43891765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.685898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:-1.09, Z:-0.24 [[ 9.95902887e-01 9.03619692e-02 -3.48625116e-03 6.01439410e+01] [-9.03623980e-02 9.95908950e-01 3.46554183e-05 -1.09119472e+00] [ 3.47512026e-03 2.80512584e-04 9.99993922e-01 -2.43635219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:-1.09, Z:-0.24 [[ 9.95836835e-01 9.11017627e-02 -3.07680137e-03 6.01724560e+01] [-9.11021006e-02 9.95841557e-01 3.04424793e-05 -1.09079697e+00] [ 3.06678003e-03 2.49987326e-04 9.99995266e-01 -2.42882896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:-1.09, Z:-0.24 [[ 9.95748980e-01 9.20588523e-02 -3.02251652e-03 6.02006319e+01] [-9.20591833e-02 9.95753537e-01 2.97209192e-05 -1.08959432e+00] [ 3.01241759e-03 2.48655827e-04 9.99995432e-01 -2.42242219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.23, Y:-1.09, Z:-0.24 [[ 9.95672792e-01 9.28857283e-02 -2.81655128e-03 6.02282822e+01] [-9.28860195e-02 9.95676748e-01 2.75150331e-05 -1.08739843e+00] [ 2.80693037e-03 2.34222267e-04 9.99996033e-01 -2.42128424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.26, Y:-1.08, Z:-0.24 [[ 9.95531589e-01 9.43992502e-02 -2.37428742e-03 6.02563215e+01] [-9.43994618e-02 9.95534400e-01 2.30268123e-05 -1.08219043e+00] [ 2.36585852e-03 2.01207536e-04 9.99997181e-01 -2.42275921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:-1.08, Z:-0.24 [[ 9.95451344e-01 9.52555816e-02 -1.73114678e-03 6.02844306e+01] [-9.52556956e-02 9.95452838e-01 1.66587801e-05 -1.08042191e+00] [ 1.72486181e-03 1.48318585e-04 9.99998501e-01 -2.42829738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.865898226999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:-1.08, Z:-0.24 [[ 9.95386945e-01 9.59377996e-02 -8.76607296e-04 6.03119171e+01] [-9.59378292e-02 9.95387328e-01 8.37285668e-06 -1.07901436e+00] [ 8.73367068e-04 7.57655688e-05 9.99999616e-01 -2.43045799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.895898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:-1.08, Z:-0.24 [[ 9.95370596e-01 9.61096671e-02 -5.55926818e-04 6.03403933e+01] [-9.61096791e-02 9.95370750e-01 5.25579513e-06 -1.07603098e+00] [ 5.53858427e-04 4.81984842e-05 9.99999845e-01 -2.42406497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:-1.08, Z:-0.24 [[ 9.95412576e-01 9.56708414e-02 -9.45491373e-04 6.03682948e+01] [-9.56708758e-02 9.95413022e-01 8.89588626e-06 -1.07555476e+00] [ 9.42005502e-04 8.16009107e-05 9.99999553e-01 -2.42371629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:-1.08, Z:-0.24 [[ 9.95557273e-01 9.41569051e-02 -4.38866882e-04 6.03962885e+01] [-9.41569124e-02 9.95557369e-01 4.07732467e-06 -1.07633392e+00] [ 4.37301067e-04 3.72631404e-05 9.99999904e-01 -2.42558323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:-1.08, Z:-0.24 [[ 9.95623962e-01 9.34485743e-02 5.38950583e-04 6.04244842e+01] [-9.34485852e-02 9.95624107e-01 -5.05633492e-06 -1.07781690e+00] [-5.37064700e-04 -4.53299612e-05 9.99999855e-01 -2.43012462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:-1.08, Z:-0.24 [[ 9.95631449e-01 9.33656825e-02 9.30781455e-04 6.04535934e+01] [-9.33657149e-02 9.95631881e-01 -8.65818963e-06 -1.07919115e+00] [-9.27524069e-04 -7.82827101e-05 9.99999567e-01 -2.43076317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:-1.08, Z:-0.24 [[ 9.95505072e-01 9.47058288e-02 -6.76327330e-04 6.04813349e+01] [-9.47058463e-02 9.95505300e-01 6.19779993e-06 -1.07974778e+00] [ 6.73874410e-04 5.78822109e-05 9.99999771e-01 -2.43720973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.075898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:-1.08, Z:-0.24 [[ 9.95401191e-01 9.57789728e-02 -1.69021866e-03 6.05094758e+01] [-9.57790837e-02 9.95402615e-01 1.54126513e-05 -1.07978786e+00] [ 1.68392429e-03 1.46545823e-04 9.99998571e-01 -2.44234147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:-1.08, Z:-0.24 [[ 9.95318124e-01 9.66340315e-02 -1.92256199e-03 6.05367852e+01] [-9.66341769e-02 9.95319966e-01 1.73238603e-05 -1.08018084e+00] [ 1.91523841e-03 1.68542443e-04 9.99998152e-01 -2.43925416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:-1.08, Z:-0.24 [[ 9.95295679e-01 9.68805875e-02 -8.14580264e-04 6.05648748e+01] [-9.68806137e-02 9.95296010e-01 7.28569886e-06 -1.08122193e+00] [ 8.11454329e-04 7.16656113e-05 9.99999668e-01 -2.42240203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.59, Y:-1.08, Z:-0.24 [[ 9.95386243e-01 9.59450513e-02 -8.80001668e-04 6.05932786e+01] [-9.59450816e-02 9.95386629e-01 7.80475882e-06 -1.08136601e+00] [ 8.76690722e-04 7.66630823e-05 9.99999613e-01 -2.42146482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.62, Y:-1.08, Z:-0.24 [[ 9.95459095e-01 9.51676496e-02 -2.07577907e-03 6.06217489e+01] [-9.51678168e-02 9.95461243e-01 1.83186469e-05 -1.08179102e+00] [ 2.06810096e-03 1.79311899e-04 9.99997845e-01 -2.42404567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.65, Y:-1.08, Z:-0.24 [[ 9.95522743e-01 9.44634165e-02 -3.33643096e-03 6.06496928e+01] [-9.44638452e-02 9.95528292e-01 2.92309212e-05 -1.08158273e+00] [ 3.32427267e-03 2.86072051e-04 9.99994434e-01 -2.43175314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.255898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.68, Y:-1.08, Z:-0.24 [[ 9.95580496e-01 9.38388146e-02 -3.70849806e-03 6.06781691e+01] [-9.38393408e-02 9.95587353e-01 3.22338772e-05 -1.08194363e+00] [ 3.69515855e-03 3.15911594e-04 9.99993123e-01 -2.43558101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.71, Y:-1.08, Z:-0.24 [[ 9.95640875e-01 9.32470503e-02 -2.05822575e-03 6.07061619e+01] [-9.32472114e-02 9.95642987e-01 1.77588963e-05 -1.08360487e+00] [ 2.05091399e-03 1.74242328e-04 9.99997882e-01 -2.42393584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.73, Y:-1.08, Z:-0.24 [[ 9.95637369e-01 9.33001095e-02 -1.14859506e-03 6.07339249e+01] [-9.33001599e-02 9.95638027e-01 9.80968499e-06 -1.08409266e+00] [ 1.14450016e-03 9.73972138e-05 9.99999340e-01 -2.41843876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:-1.08, Z:-0.24 [[ 9.95607217e-01 9.36233743e-02 -9.66402128e-04 6.07623785e+01] [-9.36234101e-02 9.95607682e-01 8.21157297e-06 -1.08381299e+00] [ 9.62926178e-04 8.23023614e-05 9.99999533e-01 -2.41231836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:-1.08, Z:-0.24 [[ 9.95454759e-01 9.52026452e-02 -2.50564163e-03 6.07905216e+01] [-9.52028913e-02 9.95457889e-01 2.11592782e-05 -1.08361497e+00] [ 2.49627515e-03 2.17481223e-04 9.99996861e-01 -2.42406207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:-1.08, Z:-0.24 [[ 9.95432777e-01 9.54063243e-02 -3.34945765e-03 6.08188027e+01] [-9.54067659e-02 9.95438370e-01 2.80580864e-05 -1.08365753e+00] [ 3.33685558e-03 2.91630983e-04 9.99994390e-01 -2.43677987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.435898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.85, Y:-1.08, Z:-0.24 [[ 9.95492056e-01 9.47756379e-02 -3.62559397e-03 6.08461946e+01] [-9.47761518e-02 9.95498609e-01 3.01688609e-05 -1.08354582e+00] [ 3.61213303e-03 3.13586984e-04 9.99993427e-01 -2.44002278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.87, Y:-1.08, Z:-0.24 [[ 9.95734037e-01 9.22643807e-02 -1.00614034e-03 6.08737358e+01] [-9.22644191e-02 9.95734541e-01 8.27490285e-06 -1.08323633e+00] [ 1.00261217e-03 8.45913518e-05 9.99999494e-01 -2.42624868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:-1.08, Z:-0.24 [[ 9.95878773e-01 9.06942817e-02 1.29875175e-04 6.09023900e+01] [-9.06942824e-02 9.95878781e-01 -1.09350585e-06 -1.08410636e+00] [-1.29439106e-04 -1.06899365e-05 9.99999992e-01 -2.41770428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:-1.09, Z:-0.24 [[ 9.96022675e-01 8.91000925e-02 6.23031842e-05 6.09298194e+01] [-8.91000927e-02 9.96022677e-01 -5.41323008e-07 -1.08602688e+00] [-6.21036163e-05 -5.01204949e-06 9.99999998e-01 -2.41844027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:-1.09, Z:-0.24 [[ 9.96283409e-01 8.61310921e-02 -8.96785583e-04 6.09587482e+01] [-8.61311202e-02 9.96283810e-01 7.24308833e-06 -1.08973138e+00] [ 8.94076812e-04 7.00249781e-05 9.99999598e-01 -2.42909223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.99, Y:-1.09, Z:-0.24 [[ 9.96371084e-01 8.51090885e-02 -1.05177195e-03 6.09878917e+01] [-8.51091267e-02 9.96371636e-01 8.44717924e-06 -1.09080715e+00] [ 1.04867467e-03 8.10988668e-05 9.99999447e-01 -2.42904530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.615898226999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.02, Y:-1.09, Z:-0.24 [[ 9.96408859e-01 8.46716429e-02 -3.12622436e-04 6.10157457e+01] [-8.46716463e-02 9.96408908e-01 2.46595633e-06 -1.09167625e+00] [ 3.11708577e-04 2.40131556e-05 9.99999951e-01 -2.44321115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.645898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.04, Y:-1.09, Z:-0.24 [[ 9.96338926e-01 8.54869490e-02 8.52077936e-04 6.10443778e+01] [-8.54869743e-02 9.96339288e-01 -6.79933911e-06 -1.09379732e+00] [-8.49539979e-04 -6.60671184e-05 9.99999637e-01 -2.42361188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:-1.09, Z:-0.24 [[ 9.96242715e-01 8.66023788e-02 6.93679913e-04 6.10718117e+01] [-8.66023959e-02 9.96242955e-01 -5.50466000e-06 -1.09499028e+00] [-6.91550443e-04 -5.45903650e-05 9.99999759e-01 -2.41942473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.10, Y:-1.10, Z:-0.24 [[ 9.96142613e-01 8.77488109e-02 2.00544779e-04 6.11010066e+01] [-8.77488124e-02 9.96142633e-01 -1.59752560e-06 -1.09627576e+00] [-1.99911385e-04 -1.60062028e-05 9.99999980e-01 -2.41637669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:-1.10, Z:-0.24 [[ 9.95928734e-01 9.01416842e-02 -6.58999430e-04 6.11294670e+01] [-9.01417004e-02 9.95928950e-01 5.10738947e-06 -1.09896321e+00] [ 6.56777000e-04 5.43167333e-05 9.99999783e-01 -2.41670862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:-1.10, Z:-0.24 [[ 9.95862911e-01 9.08594762e-02 -1.27218523e-03 6.11585871e+01] [-9.08595373e-02 9.95863718e-01 9.82441103e-06 -1.10048694e+00] [ 1.26781575e-03 1.05806394e-04 9.99999191e-01 -2.42079710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.19, Y:-1.10, Z:-0.24 [[ 9.95846529e-01 9.10358118e-02 -1.47378794e-03 6.11859948e+01] [-9.10358941e-02 9.95847612e-01 1.12931465e-05 -1.10165545e+00] [ 1.46869629e-03 1.22921363e-04 9.99998914e-01 -2.42596390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.825898226999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:-1.10, Z:-0.24 [[ 9.95897492e-01 9.04643296e-02 -2.09547375e-03 6.12147120e+01] [-9.04644949e-02 9.95899681e-01 1.59788801e-05 -1.10232039e+00] [ 2.08832715e-03 1.73652647e-04 9.99997804e-01 -2.41213988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.24, Y:-1.10, Z:-0.24 [[ 9.95945367e-01 8.99414888e-02 -1.83139339e-03 6.12426172e+01] [-8.99416144e-02 9.95947040e-01 1.38487717e-05 -1.10265881e+00] [ 1.82521641e-03 1.50925859e-04 9.99998323e-01 -2.40799907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.27, Y:-1.10, Z:-0.24 [[ 9.95972767e-01 8.96334575e-02 -2.02239913e-03 6.12719356e+01] [-8.96336102e-02 9.95974807e-01 1.52079943e-05 -1.10349251e+00] [ 2.01562173e-03 1.66128187e-04 9.99997955e-01 -2.40195025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:-1.10, Z:-0.24 [[ 9.95975905e-01 8.95985842e-02 -2.02239961e-03 6.13012643e+01] [-8.95987369e-02 9.95977945e-01 1.51437963e-05 -1.10363460e+00] [ 2.01562227e-03 1.66121594e-04 9.99997955e-01 -2.40211351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:-1.10, Z:-0.24 [[ 9.95975940e-01 8.95963590e-02 -2.10247132e-03 6.13294430e+01] [-8.95965243e-02 9.95978144e-01 1.56092162e-05 -1.10480021e+00] [ 2.09541401e-03 1.72827719e-04 9.99997790e-01 -2.39904280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.36, Y:-1.11, Z:-0.24 [[ 9.95903602e-01 9.03842994e-02 -2.58717251e-03 6.13574749e+01] [-9.03845527e-02 9.95906940e-01 1.90660904e-05 -1.10570903e+00] [ 2.57830633e-03 2.14852442e-04 9.99996653e-01 -2.40050660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00589822699999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:61.39, Y:-1.10, Z:-0.24 [[ 9.95879962e-01 9.06210743e-02 -3.30473310e-03 6.13859157e+01] [-9.06214895e-02 9.95885408e-01 2.42116068e-05 -1.10474958e+00] [ 3.29332955e-03 2.75367982e-04 9.99994539e-01 -2.43007756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.41, Y:-1.10, Z:-0.24 [[ 9.95827033e-01 9.11058472e-02 -5.31463415e-03 6.14147255e+01] [-9.11069290e-02 9.95841115e-01 3.86983978e-05 -1.10269826e+00] [ 5.29605685e-03 4.45663086e-04 9.99985876e-01 -2.42400121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:-1.10, Z:-0.24 [[ 9.95803701e-01 9.13229685e-02 -5.92487896e-03 6.14425336e+01] [-9.13243194e-02 9.95821202e-01 4.27064463e-05 -1.10191555e+00] [ 5.90402017e-03 4.98558301e-04 9.99982447e-01 -2.42728564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.47, Y:-1.10, Z:-0.24 [[ 9.95793600e-01 9.14152100e-02 -6.19402156e-03 6.14699145e+01] [-9.14166904e-02 9.95812727e-01 4.42861613e-05 -1.10073301e+00] [ 6.17213393e-03 5.22137076e-04 9.99980816e-01 -2.42206506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.50, Y:-1.09, Z:-0.24 [[ 9.95735910e-01 9.20821661e-02 -5.55634294e-03 6.14971590e+01] [-9.20833703e-02 9.95751300e-01 3.92521580e-05 -1.09440843e+00] [ 5.53635013e-03 4.72562002e-04 9.99984563e-01 -2.40800875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.53, Y:-1.09, Z:-0.24 [[ 9.95699987e-01 9.25335835e-02 -4.36702344e-03 6.15250447e+01] [-9.25343330e-02 9.95709494e-01 3.05469501e-05 -1.09058370e+00] [ 4.35111332e-03 3.73684004e-04 9.99990464e-01 -2.40878681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:-1.09, Z:-0.24 [[ 9.95683307e-01 9.27461689e-02 -3.59173627e-03 6.15533699e+01] [-9.27466780e-02 9.95689737e-01 2.49187578e-05 -1.08765160e+00] [ 3.57856607e-03 3.08310417e-04 9.99993549e-01 -2.40918595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.58, Y:-1.08, Z:-0.24 [[ 9.95712938e-01 9.23990950e-02 -4.26050105e-03 6.15817143e+01] [-9.23998094e-02 9.95721986e-01 2.92644410e-05 -1.08444987e+00] [ 4.24497858e-03 3.64530502e-04 9.99990924e-01 -2.41580444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.61, Y:-1.08, Z:-0.24 [[ 9.95743119e-01 9.19688498e-02 -6.11330346e-03 6.16098350e+01] [-9.19703147e-02 9.95761748e-01 4.16644755e-05 -1.08299976e+00] [ 6.09122558e-03 5.20755329e-04 9.99981313e-01 -2.42144556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.64, Y:-1.08, Z:-0.24 [[ 9.95777969e-01 9.14969386e-02 -7.38559418e-03 6.16369551e+01] [-9.14990692e-02 9.95805161e-01 4.96042706e-05 -1.08088880e+00] [ 7.35915144e-03 6.26380153e-04 9.99972725e-01 -2.41889919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30589822699999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:61.66, Y:-1.08, Z:-0.24 [[ 9.95809246e-01 9.12040953e-02 -6.76452854e-03 6.16648890e+01] [-9.12058790e-02 9.95832057e-01 4.49731425e-05 -1.07814374e+00] [ 6.74043611e-03 5.72180101e-04 9.99977119e-01 -2.44418832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.69, Y:-1.07, Z:-0.24 [[ 9.95767893e-01 9.18545522e-02 -3.00754163e-03 6.16923007e+01] [-9.18549087e-02 9.95772401e-01 1.96458111e-05 -1.07445577e+00] [ 2.99663151e-03 2.56694794e-04 9.99995477e-01 -2.39819832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.72, Y:-1.07, Z:-0.24 [[ 9.95744203e-01 9.21528719e-02 -1.15356560e-03 6.17190269e+01] [-9.21529247e-02 9.95744866e-01 7.38891671e-06 -1.07302690e+00] [ 1.14933794e-03 9.89469733e-05 9.99999335e-01 -2.39096896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:-1.07, Z:-0.24 [[ 9.95718832e-01 9.24337931e-02 -3.75358635e-05 6.17466404e+01] [-9.24337931e-02 9.95718833e-01 2.00402951e-07 -1.07066954e+00] [ 3.73936902e-05 3.27003725e-06 9.99999999e-01 -2.38664342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:61.77, Y:-1.07, Z:-0.24 [[ 9.95449513e-01 9.52783855e-02 -1.51539833e-03 6.17734710e+01] [-9.52784806e-02 9.95450657e-01 9.50279279e-06 -1.06557784e+00] [ 1.50940968e-03 1.34925300e-04 9.99998852e-01 -2.41431078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.80, Y:-1.06, Z:-0.24 [[ 9.95238529e-01 9.74457615e-02 -2.14321150e-03 6.18009557e+01] [-9.74459568e-02 9.95240818e-01 1.33484116e-05 -1.06452397e+00] [ 2.13431231e-03 1.95562442e-04 9.99997703e-01 -2.39999391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:-1.06, Z:-0.24 [[ 9.95135245e-01 9.84981894e-02 -1.98789904e-03 6.18292672e+01] [-9.84983598e-02 9.95137213e-01 1.22380111e-05 -1.06391271e+00] [ 1.97943773e-03 1.83626319e-04 9.99998024e-01 -2.40362808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.515898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.86, Y:-1.06, Z:-0.24 [[ 9.95135252e-01 9.85129623e-02 -1.01335144e-03 6.18571335e+01] [-9.85130067e-02 9.95135763e-01 6.14899222e-06 -1.06347714e+00] [ 1.00902802e-03 9.37092185e-05 9.99999487e-01 -2.42043392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.88, Y:-1.06, Z:-0.24 [[ 9.95399446e-01 9.58119095e-02 1.47645148e-04 6.18844279e+01] [-9.58119104e-02 9.95399456e-01 -9.43081389e-07 -1.06178058e+00] [-1.47056259e-04 -1.32074210e-05 9.99999989e-01 -2.41354731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.575898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.91, Y:-1.06, Z:-0.24 [[ 9.95552054e-01 9.42107293e-02 -6.67685422e-04 6.19120228e+01] [-9.42107477e-02 9.95552276e-01 3.92611538e-06 -1.06137823e+00] [ 6.65085624e-04 5.89944906e-05 9.99999777e-01 -2.44190956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.94, Y:-1.06, Z:-0.24 [[ 9.95671796e-01 9.29177883e-02 -1.98988064e-03 6.19399549e+01] [-9.29179492e-02 9.95673769e-01 1.16407873e-05 -1.06235376e+00] [ 1.98235360e-03 1.73305225e-04 9.99998020e-01 -2.42088139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:-1.06, Z:-0.24 [[ 9.95977415e-01 8.95616359e-02 -2.77538710e-03 6.19676400e+01] [-8.95619368e-02 9.95981254e-01 1.59263725e-05 -1.06426428e+00] [ 2.76565992e-03 2.32706737e-04 9.99996148e-01 -2.42069201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.99, Y:-1.06, Z:-0.24 [[ 9.96128111e-01 8.78842823e-02 -2.26702579e-03 6.19944595e+01] [-8.78844792e-02 9.96130673e-01 1.27829424e-05 -1.06434272e+00] [ 2.25937735e-03 1.86502933e-04 9.99997430e-01 -2.41413543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.02, Y:-1.06, Z:-0.24 [[ 9.96265052e-01 8.63316535e-02 -1.67103721e-03 6.20221391e+01] [-8.63317585e-02 9.96266444e-01 9.33845626e-06 -1.06449069e+00] [ 1.66560450e-03 1.34960003e-04 9.99998604e-01 -2.41391920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:-1.07, Z:-0.24 [[ 9.96523449e-01 8.32925320e-02 -1.83540685e-03 6.20506003e+01] [-8.32926537e-02 9.96525130e-01 1.01320318e-05 -1.06773331e+00] [ 1.82987297e-03 1.42779100e-04 9.99998316e-01 -2.41151489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.08, Y:-1.07, Z:-0.24 [[ 9.96613973e-01 8.21920373e-02 -2.24876973e-03 6.20781992e+01] [-8.21922175e-02 9.96616496e-01 1.23038471e-05 -1.07003164e+00] [ 2.24217229e-03 1.72569185e-04 9.99997471e-01 -2.42016816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.11, Y:-1.07, Z:-0.24 [[ 9.96687720e-01 8.12673750e-02 -3.03345276e-03 6.21065431e+01] [-8.12676994e-02 9.96692310e-01 1.64011426e-05 -1.07180286e+00] [ 3.02475192e-03 2.30174909e-04 9.99995399e-01 -2.40890712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.13, Y:-1.07, Z:-0.24 [[ 9.96720862e-01 8.07799705e-02 -4.70312704e-03 6.21338361e+01] [-8.07807468e-02 9.96731895e-01 2.49854834e-05 -1.07413006e+00] [ 4.68977505e-03 3.55018562e-04 9.99988940e-01 -2.40943341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.16, Y:-1.08, Z:-0.24 [[ 9.96698214e-01 8.10200913e-02 -5.33057478e-03 6.21614792e+01] [-8.10210936e-02 9.96712387e-01 2.79938753e-05 -1.07533318e+00] [ 5.31531798e-03 4.03987553e-04 9.99985792e-01 -2.41902202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.19, Y:-1.08, Z:-0.24 [[ 9.96652971e-01 8.15774901e-02 -5.28856953e-03 6.21897625e+01] [-8.15784864e-02 9.96666920e-01 2.74282407e-05 -1.07667109e+00] [ 5.27317984e-03 4.04097060e-04 9.99986015e-01 -2.42038039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.22, Y:-1.08, Z:-0.24 [[ 9.96380456e-01 8.48701610e-02 -4.80030864e-03 6.22176396e+01] [-8.48710210e-02 9.96391946e-01 2.46391579e-05 -1.07875955e+00] [ 4.78507999e-03 3.82857120e-04 9.99988478e-01 -2.42490300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.935898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:62.25, Y:-1.08, Z:-0.25 [[ 9.96181451e-01 8.71974501e-02 -4.37269888e-03 6.22458256e+01] [-8.71981873e-02 9.96190984e-01 2.21274385e-05 -1.07988594e+00] [ 4.35797266e-03 3.59248473e-04 9.99990439e-01 -2.45373092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.27, Y:-1.08, Z:-0.24 [[ 9.95915717e-01 9.01862621e-02 -4.28049414e-03 6.22737615e+01] [-9.01869973e-02 9.95924849e-01 2.13579018e-05 -1.08157153e+00] [ 4.26497667e-03 3.64774243e-04 9.99990838e-01 -2.42915676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.30, Y:-1.08, Z:-0.24 [[ 9.95653914e-01 9.30525552e-02 -3.80863361e-03 6.23013567e+01] [-9.30531591e-02 9.95661142e-01 1.87317877e-05 -1.08306096e+00] [ 3.79385153e-03 3.35755012e-04 9.99992747e-01 -2.42826102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:-1.08, Z:-0.24 [[ 9.95043462e-01 9.94042051e-02 -2.70415175e-03 6.23281779e+01] [-9.94045336e-02 9.95047104e-01 1.29942181e-05 -1.08468909e+00] [ 2.69205004e-03 2.55875131e-04 9.99996344e-01 -2.42835847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.36, Y:-1.08, Z:-0.24 [[ 9.94782178e-01 1.01988068e-01 -2.61760706e-03 6.23560022e+01] [-1.01988385e-01 9.94785590e-01 1.24193001e-05 -1.08464386e+00] [ 2.60522440e-03 2.54611017e-04 9.99996574e-01 -2.42890377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.38, Y:-1.08, Z:-0.24 [[ 9.94557438e-01 1.04150521e-01 -2.85868473e-03 6.23844838e+01] [-1.04150908e-01 9.94561505e-01 1.33667556e-05 -1.08433913e+00] [ 2.84452995e-03 2.84440605e-04 9.99995914e-01 -2.43567590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.41, Y:-1.08, Z:-0.24 [[ 9.94350069e-01 1.06055546e-01 -4.49017617e-03 6.24128191e+01] [-1.06056523e-01 9.94360103e-01 2.06969988e-05 -1.08370083e+00] [ 4.46704706e-03 4.55632410e-04 9.99989919e-01 -2.44020204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.44, Y:-1.08, Z:-0.24 [[ 9.94415200e-01 1.05442524e-01 -4.50374534e-03 6.24395833e+01] [-1.05443502e-01 9.94425295e-01 2.03800406e-05 -1.08332097e+00] [ 4.48078721e-03 4.54624457e-04 9.99989858e-01 -2.44027405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.47, Y:-1.08, Z:-0.24 [[ 9.94607433e-01 1.03617096e-01 -4.42166998e-03 6.24672166e+01] [-1.03618022e-01 9.94617165e-01 1.97160199e-05 -1.08295613e+00] [ 4.39991178e-03 4.38555000e-04 9.99990224e-01 -2.43911376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:-1.08, Z:-0.24 [[ 9.94844845e-01 1.01349492e-01 -3.46611724e-03 6.24955339e+01] [-1.01350048e-01 9.94850827e-01 1.52072586e-05 -1.08319472e+00] [ 3.44981085e-03 3.36162287e-04 9.99993993e-01 -2.43817353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:-1.08, Z:-0.24 [[ 9.95405578e-01 9.57393272e-02 -1.31048327e-03 6.25237445e+01] [-9.57394020e-02 9.95406433e-01 5.63290825e-06 -1.08312353e+00] [ 1.30500277e-03 1.19857857e-04 9.99999141e-01 -2.43075540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.55, Y:-1.09, Z:-0.25 [[ 9.95565460e-01 9.39736084e-02 4.28664150e-03 6.25504197e+01] [-9.40466443e-02 9.95314140e-01 2.24720062e-02 -1.09267119e+00] [-2.15477939e-03 -2.27754975e-02 9.99738283e-01 -2.46448252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:-1.07, Z:-0.24 [[ 9.95761013e-01 9.19658028e-02 -1.51552158e-03 6.25810174e+01] [-9.19766634e-02 9.95510266e-01 -2.23518211e-02 -1.07307743e+00] [-5.46885879e-04 2.23964646e-02 9.99749018e-01 -2.41200648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:-1.08, Z:-0.24 [[ 9.95977176e-01 8.95359941e-02 -3.57356747e-03 6.26093651e+01] [-8.95365129e-02 9.95983540e-01 1.48419978e-05 -1.08016794e+00] [ 3.56054327e-03 3.05182479e-04 9.99993615e-01 -2.42871995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:-1.08, Z:-0.24 [[ 9.96076999e-01 8.84045861e-02 -3.90396100e-03 6.26369123e+01] [-8.84051975e-02 9.96084595e-01 1.59976255e-05 -1.07770183e+00] [ 3.89008967e-03 3.29195576e-04 9.99992379e-01 -2.42590249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.66, Y:-1.07, Z:-0.24 [[ 9.96141675e-01 8.77009949e-02 -3.20929418e-03 6.26637063e+01] [-8.77014056e-02 9.96146808e-01 1.27980073e-05 -1.07497088e+00] [ 3.19805055e-03 2.68710982e-04 9.99994850e-01 -2.42184739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:-1.07, Z:-0.24 [[ 9.96282259e-01 8.61265899e-02 -1.96762505e-03 6.26912793e+01] [-8.61267416e-02 9.96284189e-01 7.70103902e-06 -1.07248604e+00] [ 1.96097699e-03 1.61792725e-04 9.99998064e-01 -2.41807215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:-1.07, Z:-0.24 [[ 9.96360630e-01 8.52023574e-02 -2.46022201e-03 6.27181480e+01] [-8.52025921e-02 9.96363648e-01 9.43156300e-06 -1.07221088e+00] [ 2.45207937e-03 2.00220055e-04 9.99996974e-01 -2.41509584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.75, Y:-1.07, Z:-0.24 [[ 9.96423494e-01 8.44504368e-02 -2.88866735e-03 6.27464961e+01] [-8.44507578e-02 9.96427654e-01 1.08826992e-05 -1.07177240e+00] [ 2.87926708e-03 2.33106369e-04 9.99995828e-01 -2.41880137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.77, Y:-1.07, Z:-0.24 [[ 9.96610613e-01 8.22323375e-02 -2.26452464e-03 6.27733803e+01] [-8.22325296e-02 9.96613170e-01 8.32510138e-06 -1.06950960e+00] [ 2.25753967e-03 1.77920705e-04 9.99997436e-01 -2.41212301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:-1.07, Z:-0.24 [[ 9.96667093e-01 8.15529579e-02 -1.95476248e-03 6.28012079e+01] [-8.15530999e-02 9.96668998e-01 7.08491057e-06 -1.06834626e+00] [ 1.94882895e-03 1.52355642e-04 9.99998089e-01 -2.41031597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:-1.07, Z:-0.24 [[ 9.96677517e-01 8.14151875e-02 -2.34419372e-03 6.28287340e+01] [-8.14153917e-02 9.96680257e-01 8.33284506e-06 -1.06795009e+00] [ 2.33709001e-03 1.82548290e-04 9.99997252e-01 -2.41251095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:-1.07, Z:-0.24 [[ 9.96689800e-01 8.12511399e-02 -2.77401989e-03 6.28563567e+01] [-8.12514258e-02 9.96693637e-01 9.66856000e-06 -1.06788925e+00] [ 2.76563355e-03 2.15756516e-04 9.99996152e-01 -2.41942898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:-1.07, Z:-0.24 [[ 9.96806895e-01 7.97990944e-02 -2.84924091e-03 6.28843889e+01] [-7.97993905e-02 9.96810944e-01 9.77161726e-06 -1.06763346e+00] [ 2.84093428e-03 2.17627272e-04 9.99995941e-01 -2.42702076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.91, Y:-1.07, Z:-0.24 [[ 9.96879326e-01 7.89147956e-02 -2.01607340e-03 6.29125840e+01] [-7.89149423e-02 9.96881353e-01 6.78687696e-06 -1.06763616e+00] [ 2.01032156e-03 1.52332619e-04 9.99997968e-01 -2.42297331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:-1.07, Z:-0.24 [[ 9.96972161e-01 7.77421073e-02 -1.63529995e-03 6.29408595e+01] [-7.77422024e-02 9.96973495e-01 5.40468380e-06 -1.06765092e+00] [ 1.63077087e-03 1.21743500e-04 9.99998663e-01 -2.41999404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:-1.07, Z:-0.24 [[ 9.97135666e-01 7.55888780e-02 -2.60480880e-03 6.29698119e+01] [-7.55891123e-02 9.97139051e-01 8.52163164e-06 -1.06924586e+00] [ 2.59800071e-03 1.88397962e-04 9.99996607e-01 -2.42476598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:-1.07, Z:-0.24 [[ 9.97230044e-01 7.43376070e-02 -2.48202732e-03 6.29979077e+01] [-7.43378162e-02 9.97233117e-01 7.97215806e-06 -1.07028765e+00] [ 2.47575247e-03 1.76558415e-04 9.99996920e-01 -2.42879119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:-1.08, Z:-0.25 [[ 9.97283619e-01 7.35336286e-02 4.26473952e-03 6.30255999e+01] [-7.36150755e-02 9.96999045e-01 2.39525504e-02 -1.08158428e+00] [-2.49062328e-03 -2.42014352e-02 9.99704000e-01 -2.46953476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:-1.07, Z:-0.25 [[ 9.97286841e-01 7.34805926e-02 4.42269036e-03 6.30549040e+01] [-7.34818731e-02 9.97296545e-01 1.27526016e-04 -1.07141206e+00] [-4.40136313e-03 -4.52167590e-04 9.99990212e-01 -2.45660328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:-1.06, Z:-0.24 [[ 9.97393329e-01 7.21547380e-02 4.90059081e-04 6.30854717e+01] [-7.21228943e-02 9.97114123e-01 -2.37004824e-02 -1.06319579e+00] [-2.19874693e-03 2.36033586e-02 9.99718984e-01 -2.39819446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:-1.07, Z:-0.24 [[ 9.97406681e-01 7.19704726e-02 -4.04665121e-04 6.31143134e+01] [-7.19704781e-02 9.97406763e-01 1.17732707e-06 -1.07446466e+00] [ 4.03700461e-04 2.79496683e-05 9.99999918e-01 -2.41623289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:-1.08, Z:-0.24 [[ 9.97427699e-01 7.16666170e-02 -1.37140276e-03 6.31421680e+01] [-7.16666789e-02 9.97428638e-01 4.01055652e-06 -1.07567466e+00] [ 1.36816381e-03 9.42836408e-05 9.99999060e-01 -2.41932885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:-1.08, Z:-0.24 [[ 9.97451421e-01 7.13176496e-02 -2.11068420e-03 6.31705540e+01] [-7.13177955e-02 9.97453644e-01 6.12760293e-06 -1.07635715e+00] [ 2.10574665e-03 1.44417358e-04 9.99997772e-01 -2.41563290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.20, Y:-1.08, Z:-0.24 [[ 9.97507077e-01 7.05586385e-02 -1.05381837e-03 6.31985378e+01] [-7.05586746e-02 9.97507631e-01 2.95706222e-06 -1.07758641e+00] [ 1.05140052e-03 7.14063372e-05 9.99999445e-01 -2.40384908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:-1.08, Z:-0.24 [[ 9.97552270e-01 6.99246821e-02 -8.54288617e-05 6.32258701e+01] [-6.99246823e-02 9.97552274e-01 1.75237325e-07 -1.07924233e+00] [ 8.52320087e-05 5.79877763e-06 9.99999996e-01 -2.39918649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.015898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:63.25, Y:-1.08, Z:-0.24 [[ 9.97606758e-01 6.91404526e-02 5.95599071e-04 6.32548070e+01] [-6.91404639e-02 9.97606935e-01 -1.69751736e-06 -1.08156332e+00] [-5.94291130e-04 -3.94865412e-05 9.99999823e-01 -2.42625747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.28, Y:-1.09, Z:-0.24 [[ 9.97779729e-01 6.66002240e-02 1.50254613e-04 6.32832357e+01] [-6.66002247e-02 9.97779740e-01 -4.61443965e-07 -1.08768468e+00] [-1.49951741e-04 -9.54657156e-06 9.99999989e-01 -2.39908951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:-1.09, Z:-0.24 [[ 9.97852324e-01 6.55030456e-02 -3.01083631e-04 6.33111344e+01] [-6.55030484e-02 9.97852369e-01 7.33745578e-07 -1.09096082e+00] [ 3.00485077e-04 1.89897259e-05 9.99999955e-01 -2.40014003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.105898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:63.34, Y:-1.09, Z:-0.24 [[ 9.97866429e-01 6.52869967e-02 -4.44008968e-04 6.33400746e+01] [-6.52870026e-02 9.97866528e-01 1.10520664e-06 -1.09424344e+00] [ 4.43133842e-04 2.78851660e-05 9.99999901e-01 -2.42775156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:-1.10, Z:-0.24 [[ 9.97685196e-01 6.80018317e-02 -8.26233612e-06 6.33682739e+01] [-6.80018317e-02 9.97685196e-01 -4.48498089e-08 -1.10121749e+00] [ 8.24016057e-06 6.06599983e-07 1.00000000e+00 -2.39134441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:-1.10, Z:-0.24 [[ 9.97505696e-01 7.05826487e-02 6.89404107e-04 6.33966382e+01] [-7.05826642e-02 9.97505934e-01 -1.77806223e-06 -1.10290383e+00] [-6.87810188e-04 -4.68863514e-05 9.99999762e-01 -2.39347208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:-1.10, Z:-0.24 [[ 9.97251692e-01 7.40791879e-02 1.15610428e-03 6.34239889e+01] [-7.40792341e-02 9.97252359e-01 -2.88950186e-06 -1.10291345e+00] [-1.15314178e-03 -8.27617593e-05 9.99999332e-01 -2.39719554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.45, Y:-1.10, Z:-0.24 [[ 9.96938745e-01 7.81808193e-02 9.47640465e-04 6.34529375e+01] [-7.81808522e-02 9.96939193e-01 -2.32179806e-06 -1.10227272e+00] [-9.44921440e-04 -7.17726486e-05 9.99999551e-01 -2.39881585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.48, Y:-1.10, Z:-0.24 [[ 9.96187169e-01 8.72411351e-02 -3.29641645e-04 6.34804987e+01] [-8.72411396e-02 9.96187223e-01 7.03897777e-07 -1.10303637e+00] [ 3.28446204e-04 2.80570988e-05 9.99999946e-01 -2.41912438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:-1.10, Z:-0.24 [[ 9.95824447e-01 9.12849129e-02 -8.57336507e-04 6.35096222e+01] [-9.12849449e-02 9.95824813e-01 1.90976527e-06 -1.10387853e+00] [ 8.53931299e-04 7.63601248e-05 9.99999632e-01 -2.40345727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:-1.10, Z:-0.24 [[ 9.95563516e-01 9.40880178e-02 -8.54672658e-04 6.35375640e+01] [-9.40880506e-02 9.95563880e-01 1.84128921e-06 -1.10427033e+00] [ 8.51054471e-04 7.85813639e-05 9.99999635e-01 -2.39677554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:63.57, Y:-1.11, Z:-0.24 [[ 9.95374310e-01 9.60438862e-02 -2.35687936e-03 6.35659973e+01] [-9.60441410e-02 9.95377076e-01 5.09332850e-06 -1.10509075e+00] [ 2.34647287e-03 2.21294685e-04 9.99997223e-01 -2.41947915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.375898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:63.59, Y:-1.10, Z:-0.24 [[ 9.95392033e-01 9.58349394e-02 -3.21935115e-03 6.35941787e+01] [-9.58354144e-02 9.95397194e-01 6.77600334e-06 -1.10496782e+00] [ 3.20518248e-03 3.01783072e-04 9.99994818e-01 -2.43075404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.62, Y:-1.10, Z:-0.24 [[ 9.95464020e-01 9.50856385e-02 -3.17912716e-03 6.36227209e+01] [-9.50860983e-02 9.95469052e-01 6.55200742e-06 -1.10408462e+00] [ 3.16534570e-03 2.95768510e-04 9.99994947e-01 -2.40879771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.65, Y:-1.10, Z:-0.24 [[ 9.95476524e-01 9.50018887e-02 -1.06357650e-03 6.36508807e+01] [-9.50019402e-02 9.95477087e-01 2.08161074e-06 -1.09965060e+00] [ 1.05896379e-03 9.89696365e-05 9.99999434e-01 -2.40129734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.68, Y:-1.10, Z:-0.24 [[ 9.95401252e-01 9.57847507e-02 -1.27625553e-03 6.36796250e+01] [-9.57848256e-02 9.95402063e-01 2.46489427e-06 -1.09653778e+00] [ 1.27062349e-03 1.19792355e-04 9.99999186e-01 -2.39588258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.71, Y:-1.09, Z:-0.24 [[ 9.95119489e-01 9.86047749e-02 -3.78166217e-03 6.37080005e+01] [-9.86054532e-02 9.95126607e-01 7.11088514e-06 -1.09086644e+00] [ 3.76393381e-03 3.65816331e-04 9.99992849e-01 -2.40569082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:-1.09, Z:-0.24 [[ 9.94999033e-01 9.97523732e-02 -5.13687341e-03 6.37354462e+01] [-9.97536413e-02 9.95012166e-01 9.39966669e-06 -1.08769690e+00] [ 5.11218918e-03 5.03069168e-04 9.99986806e-01 -2.41756079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:-1.08, Z:-0.24 [[ 9.94928938e-01 1.00417359e-01 -5.72383084e-03 6.37634873e+01] [-1.00418947e-01 9.94945242e-01 1.00698961e-05 -1.08472583e+00] [ 5.69590945e-03 5.64762233e-04 9.99983619e-01 -2.43377408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.79, Y:-1.08, Z:-0.24 [[ 9.95096533e-01 9.87978467e-02 -4.67705007e-03 6.37906805e+01] [-9.87988915e-02 9.95107421e-01 7.69703043e-06 -1.08071399e+00] [ 4.65492768e-03 4.54428074e-04 9.99989063e-01 -2.43416148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:-1.08, Z:-0.24 [[ 9.95339526e-01 9.63493228e-02 -4.00440808e-03 6.38187528e+01] [-9.63500700e-02 9.95347509e-01 6.33967496e-06 -1.07888671e+00] [ 3.98638843e-03 3.79514870e-04 9.99991982e-01 -2.42591977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.85, Y:-1.08, Z:-0.24 [[ 9.95608554e-01 9.35406006e-02 -3.70985363e-03 6.38469556e+01] [-9.35412236e-02 9.95615407e-01 5.61550924e-06 -1.07662183e+00] [ 3.69411271e-03 3.41433399e-04 9.99993118e-01 -2.41926228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:-1.07, Z:-0.24 [[ 9.95822888e-01 9.12306195e-02 -3.70794310e-03 6.38753595e+01] [-9.12312269e-02 9.95829736e-01 5.34823443e-06 -1.07475681e+00] [ 3.69296792e-03 3.32954304e-04 9.99993126e-01 -2.41563777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.90, Y:-1.07, Z:-0.24 [[ 9.96144797e-01 8.76555521e-02 -3.47097521e-03 6.39029038e+01] [-8.76560635e-02 9.96150799e-01 4.81135271e-06 -1.07318392e+00] [ 3.45803647e-03 2.99459220e-04 9.99993976e-01 -2.42250749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73589822699999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:63.93, Y:-1.07, Z:-0.24 [[ 9.96240011e-01 8.65686888e-02 -3.42097741e-03 6.39305958e+01] [-8.65691800e-02 9.96245842e-01 4.50096098e-06 -1.07273731e+00] [ 3.40852417e-03 2.91667172e-04 9.99994148e-01 -2.44753809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:-1.07, Z:-0.24 [[ 9.96277795e-01 8.61381496e-02 -3.28240730e-03 6.39582875e+01] [-8.61386002e-02 9.96283163e-01 4.09436111e-06 -1.07271319e+00] [ 3.27055981e-03 2.78662849e-04 9.99994613e-01 -2.41207424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:-1.07, Z:-0.24 [[ 9.96308241e-01 8.57805077e-02 -3.40495374e-03 6.39861460e+01] [-8.57809914e-02 9.96314018e-01 3.99641634e-06 -1.07181916e+00] [ 3.39274595e-03 2.88098645e-04 9.99994203e-01 -2.40810015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:-1.07, Z:-0.24 [[ 9.96360448e-01 8.51779437e-02 -3.25215906e-03 6.40133191e+01] [-8.51783827e-02 9.96365718e-01 3.52559568e-06 -1.07018105e+00] [ 3.24064009e-03 2.73500885e-04 9.99994712e-01 -2.40756995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.04, Y:-1.07, Z:-0.24 [[ 9.96398477e-01 8.47539367e-02 -2.61625230e-03 6.40409080e+01] [-8.47542197e-02 9.96401888e-01 2.70109235e-06 -1.07006780e+00] [ 2.60706766e-03 2.19047058e-04 9.99996578e-01 -2.40172926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:-1.07, Z:-0.24 [[ 9.96442568e-01 8.42490052e-02 -2.07698189e-03 6.40691424e+01] [-8.42491827e-02 9.96444718e-01 2.01556427e-06 -1.06998577e+00] [ 2.06976744e-03 1.72975633e-04 9.99997843e-01 -2.39820385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.10, Y:-1.07, Z:-0.24 [[ 9.96393763e-01 8.48268752e-02 -1.96750144e-03 6.40973301e+01] [-8.48270359e-02 9.96395691e-01 1.75061999e-06 -1.06888690e+00] [ 1.96055845e-03 1.65153008e-04 9.99998064e-01 -2.39067313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:-1.07, Z:-0.24 [[ 9.96305426e-01 8.58693351e-02 -1.39832416e-03 6.41248049e+01] [-8.58694176e-02 9.96306400e-01 1.04586781e-06 -1.06805736e+00] [ 1.39324912e-03 1.19031277e-04 9.99999022e-01 -2.39235909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:-1.07, Z:-0.24 [[ 9.96223804e-01 8.68221847e-02 -2.01517738e-04 6.41523137e+01] [-8.68221865e-02 9.96223824e-01 7.45308839e-08 -1.06644059e+00] [ 2.00763243e-04 1.74219612e-05 9.99999980e-01 -2.39048109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:-1.06, Z:-0.24 [[ 9.95984888e-01 8.95214681e-02 1.02745694e-04 6.41794528e+01] [-8.95214686e-02 9.95984893e-01 -1.60581984e-07 -1.06083103e+00] [-1.02347535e-04 -9.03800822e-06 9.99999995e-01 -2.38297738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:-1.06, Z:-0.24 [[ 9.95845248e-01 9.10537143e-02 -1.20936532e-03 6.42073989e+01] [-9.10537801e-02 9.95845977e-01 6.54375970e-07 -1.05654669e+00] [ 1.20440117e-03 1.09465627e-04 9.99999269e-01 -2.38483071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:-1.05, Z:-0.24 [[ 9.95730338e-01 9.22579739e-02 -3.09211388e-03 6.42347219e+01] [-9.22584103e-02 9.95735098e-01 1.53111548e-06 -1.05198251e+00] [ 3.07906757e-03 2.83748933e-04 9.99995219e-01 -2.39071855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.26, Y:-1.05, Z:-0.24 [[ 9.95674523e-01 9.28060248e-02 -4.39150155e-03 6.42623414e+01] [-9.28069113e-02 9.95684125e-01 1.92230540e-06 -1.04826613e+00] [ 4.37272678e-03 4.05647704e-04 9.99990357e-01 -2.39982278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:-1.04, Z:-0.24 [[ 9.95866272e-01 9.07538243e-02 -3.75659590e-03 6.42907361e+01] [-9.07544596e-02 9.95873299e-01 1.36322231e-06 -1.04218829e+00] [ 3.74121727e-03 3.39570244e-04 9.99992944e-01 -2.39568929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:-1.04, Z:-0.24 [[ 9.96083998e-01 8.83851486e-02 -2.17609400e-03 6.43176281e+01] [-8.83853567e-02 9.96086356e-01 5.63320684e-07 -1.03962844e+00] [ 2.16762734e-03 1.91773730e-04 9.99997632e-01 -2.39786001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:-1.04, Z:-0.24 [[ 9.96328108e-01 8.56046738e-02 -1.46312787e-03 6.43456718e+01] [-8.56047651e-02 9.96329175e-01 2.57230178e-07 -1.03773011e+00] [ 1.45777900e-03 1.24994432e-04 9.99998930e-01 -2.39545539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.37, Y:-1.03, Z:-0.24 [[ 9.96727082e-01 8.08076412e-02 -2.29128680e-03 6.43727791e+01] [-8.08078526e-02 9.96729698e-01 2.86133288e-07 -1.03484140e+00] [ 2.28381672e-03 1.84868769e-04 9.99997375e-01 -2.39718787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:-1.03, Z:-0.24 [[ 9.96863064e-01 7.90830706e-02 -3.14651152e-03 6.44006824e+01] [-7.90834615e-02 9.96867998e-01 1.98261280e-07 -1.03253415e+00] [ 3.13667232e-03 2.48639383e-04 9.99995050e-01 -2.39365398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:-1.03, Z:-0.24 [[ 9.96886975e-01 7.87576516e-02 -3.68663231e-03 6.44276535e+01] [-7.87581871e-02 9.96893750e-01 -7.10802449e-08 -1.02795701e+00] [ 3.67517511e-03 2.90423336e-04 9.99993204e-01 -2.38250936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:-1.03, Z:-0.24 [[ 9.96812606e-01 7.96810625e-02 -3.94426128e-03 6.44558953e+01] [-7.96816836e-02 9.96820360e-01 -3.33922968e-07 -1.02697138e+00] [ 3.93169334e-03 3.14618238e-04 9.99992221e-01 -2.38051945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.48, Y:-1.03, Z:-0.24 [[ 9.96745428e-01 8.04955400e-02 -4.36115197e-03 6.44834480e+01] [-8.04963084e-02 9.96754907e-01 -6.68938468e-07 -1.02608246e+00] [ 4.34694578e-03 3.51723395e-04 9.99990490e-01 -2.38538013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:-1.02, Z:-0.24 [[ 9.96651659e-01 8.16196042e-02 -4.86935624e-03 6.45106949e+01] [-8.16205775e-02 9.96663474e-01 -1.14741072e-06 -1.02499096e+00] [ 4.85301585e-03 3.98583237e-04 9.99988145e-01 -2.39272564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:-1.02, Z:-0.24 [[ 9.96417002e-01 8.44283053e-02 -5.00191459e-03 6.45384807e+01] [-8.44293689e-02 9.96429466e-01 -1.50404590e-06 -1.02110175e+00] [ 4.98392810e-03 4.23807149e-04 9.99987490e-01 -2.38834252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.57, Y:-1.03, Z:-0.23 [[ 9.96285719e-01 8.58187480e-02 -7.06454696e-03 6.45667455e+01] [-8.57031179e-02 9.96203172e-01 1.53041006e-02 -1.02666670e+00] [ 8.35110285e-03 -1.46418032e-02 9.99857928e-01 -2.32621271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.60, Y:-1.01, Z:-0.24 [[ 9.96274571e-01 8.61146901e-02 -4.60865288e-03 6.45951356e+01] [-8.61756673e-02 9.96162976e-01 -1.52669378e-02 -1.01360515e+00] [ 3.27626175e-03 1.56072157e-02 9.99872832e-01 -2.35037051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:-1.02, Z:-0.24 [[ 9.96302540e-01 8.58122477e-02 -4.18405015e-03 6.46230048e+01] [-8.58130082e-02 9.96311260e-01 -2.25735523e-06 -1.02080508e+00] [ 4.16842257e-03 3.61294938e-04 9.99991247e-01 -2.37228505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:-1.03, Z:-0.23 [[ 9.96511649e-01 8.33991628e-02 -3.01879646e-03 6.46521308e+01] [-8.33520851e-02 9.96431173e-01 1.33171817e-02 -1.02830061e+00] [ 4.11866470e-03 -1.30191038e-02 9.99906765e-01 -2.33827688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.68, Y:-1.02, Z:-0.24 [[ 9.96697407e-01 8.12043130e-02 3.72525033e-04 6.46802134e+01] [-8.11922362e-02 9.96610070e-01 -1.32736327e-02 -1.01766990e+00] [-1.44913842e-03 1.31995491e-02 9.99911832e-01 -2.37070271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:-1.03, Z:-0.24 [[ 9.97033715e-01 7.69566279e-02 1.20352654e-03 6.47082309e+01] [-7.69566847e-02 9.97034437e-01 9.22896272e-07 -1.02686915e+00] [-1.19988639e-03 -9.35395714e-05 9.99999276e-01 -2.39703201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:-1.03, Z:-0.24 [[ 9.97171729e-01 7.51562028e-02 2.97572353e-04 6.47360522e+01] [-7.51562062e-02 9.97171773e-01 2.00481851e-07 -1.02923323e+00] [-2.96715683e-04 -2.25643239e-05 9.99999956e-01 -2.39761583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:-1.03, Z:-0.24 [[ 9.97288130e-01 7.35887733e-02 -1.03863295e-03 6.47640359e+01] [-7.35888141e-02 9.97288668e-01 -1.07571028e-06 -1.03135625e+00] [ 1.03573771e-03 7.75045601e-05 9.99999461e-01 -2.39712425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:-1.04, Z:-0.24 [[ 9.97346315e-01 7.27551676e-02 -2.64820292e-03 6.47915177e+01] [-7.27554300e-02 9.97349812e-01 -2.76662700e-06 -1.03509003e+00] [ 2.64098340e-03 1.95430427e-04 9.99996494e-01 -2.38396379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:-1.04, Z:-0.24 [[ 9.97292424e-01 7.34718540e-02 -3.11567282e-03 6.48198014e+01] [-7.34722212e-02 9.97297264e-01 -3.43091230e-06 -1.03761117e+00] [ 3.10699990e-03 2.32337026e-04 9.99995146e-01 -2.37979698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:-1.04, Z:-0.24 [[ 9.97296832e-01 7.34120011e-02 -3.11567261e-03 6.48482903e+01] [-7.34123687e-02 9.97301672e-01 -3.61825537e-06 -1.03745701e+00] [ 3.10699988e-03 2.32337381e-04 9.99995146e-01 -2.38010616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:-1.04, Z:-0.24 [[ 9.97045924e-01 7.67474440e-02 -3.04227714e-03 6.48759896e+01] [-7.67478107e-02 9.97050537e-01 -3.77752093e-06 -1.04344742e+00] [ 3.03301414e-03 2.37254472e-04 9.99995372e-01 -2.38150669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78589822699999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:64.90, Y:-1.05, Z:-0.24 [[ 9.96923286e-01 7.83526421e-02 -2.19653901e-03 6.49031042e+01] [-7.83528377e-02 9.96925691e-01 -3.00280553e-06 -1.04588596e+00] [ 2.18955089e-03 1.75098631e-04 9.99997588e-01 -2.41105723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:-1.05, Z:-0.24 [[ 9.96831233e-01 7.95187498e-02 -2.06449968e-03 6.49309272e+01] [-7.95189253e-02 9.96833356e-01 -2.94249959e-06 -1.04943159e+00] [ 2.05772816e-03 1.67099971e-04 9.99997869e-01 -2.39007125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:-1.05, Z:-0.24 [[ 9.96754976e-01 8.04463030e-02 -2.81265854e-03 6.49581785e+01] [-8.04466331e-02 9.96758917e-01 -4.22439327e-06 -1.05345179e+00] [ 2.80320264e-03 2.30479595e-04 9.99996044e-01 -2.39228919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:-1.06, Z:-0.24 [[ 9.96746310e-01 8.05256920e-02 -3.52222775e-03 6.49856998e+01] [-8.05262108e-02 9.96752492e-01 -5.50020682e-06 -1.06294970e+00] [ 3.51034638e-03 2.89113965e-04 9.99993797e-01 -2.40710756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.01, Y:-1.07, Z:-0.24 [[ 9.96790328e-01 7.99975768e-02 -3.07088561e-03 6.50137554e+01] [-7.99979692e-02 9.96795027e-01 -4.97050132e-06 -1.06705966e+00] [ 3.06064587e-03 2.50619160e-04 9.99995285e-01 -2.40671542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.935898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.04, Y:-1.07, Z:-0.24 [[ 9.96845845e-01 7.93284142e-02 -2.31617795e-03 6.50430374e+01] [-7.93286359e-02 9.96848518e-01 -3.86166598e-06 -1.07073980e+00] [ 2.30857222e-03 1.87588723e-04 9.99997318e-01 -2.41653995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.07, Y:-1.07, Z:-0.24 [[ 9.96893504e-01 7.87527458e-02 -1.16038150e-03 6.50703763e+01] [-7.87528012e-02 9.96894175e-01 -2.04044446e-06 -1.07492138e+00] [ 1.15661687e-03 9.34173996e-05 9.99999327e-01 -2.40494243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:-1.08, Z:-0.24 [[ 9.96848150e-01 7.93328696e-02 2.49726341e-04 6.50991205e+01] [-7.93328721e-02 9.96848181e-01 3.87135012e-07 -1.08231901e+00] [-2.48908536e-04 -2.01974227e-05 9.99999969e-01 -2.39731191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:-1.08, Z:-0.24 [[ 9.96690511e-01 8.12844959e-02 -9.24749278e-04 6.51275527e+01] [-8.12845323e-02 9.96690937e-01 -1.70977307e-06 -1.08435323e+00] [ 9.21550246e-04 7.68719271e-05 9.99999572e-01 -2.39408490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:65.16, Y:-1.09, Z:-0.24 [[ 9.96432298e-01 8.43628267e-02 -2.36418493e-03 6.51565339e+01] [-8.43630728e-02 9.96435082e-01 -4.40830539e-06 -1.08501465e+00] [ 2.35538491e-03 2.03842484e-04 9.99997205e-01 -2.41448709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08589822699999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:65.18, Y:-1.09, Z:-0.24 [[ 9.95834189e-01 9.10956639e-02 -3.98094393e-03 6.51846985e+01] [-9.10964160e-02 9.95842077e-01 -7.63578915e-06 -1.08541303e+00] [ 3.96369588e-03 3.70253704e-04 9.99992076e-01 -2.43012442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:-1.09, Z:-0.24 [[ 9.95649467e-01 9.31007217e-02 -3.79408502e-03 6.52124175e+01] [-9.31014203e-02 9.95656630e-01 -7.55015990e-06 -1.08533947e+00] [ 3.77690298e-03 3.60752016e-04 9.99992802e-01 -2.40440642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:-1.08, Z:-0.24 [[ 9.95564909e-01 9.40295306e-02 -2.99307140e-03 6.52401756e+01] [-9.40299702e-02 9.95569367e-01 -6.18106881e-06 -1.08464595e+00] [ 2.97922900e-03 2.87592070e-04 9.99995521e-01 -2.39173058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:-1.08, Z:-0.24 [[ 9.95680530e-01 9.28273198e-02 -1.83585875e-03 6.52673153e+01] [-9.28274836e-02 9.95682207e-01 -4.03648209e-06 -1.08214988e+00] [ 1.82755719e-03 1.74437194e-04 9.99998315e-01 -2.37507995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.30, Y:-1.08, Z:-0.24 [[ 9.95811991e-01 9.13703288e-02 -3.15299479e-03 6.52954661e+01] [-9.13708051e-02 9.95816939e-01 -7.04626203e-06 -1.08113557e+00] [ 3.13916180e-03 2.95108424e-04 9.99995029e-01 -2.37552151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:-1.08, Z:-0.24 [[ 9.95969457e-01 8.95881865e-02 -4.33558788e-03 6.53228499e+01] [-8.95890712e-02 9.95978814e-01 -9.90163074e-06 -1.08056433e+00] [ 4.31726660e-03 3.98283013e-04 9.99990601e-01 -2.38458699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:-1.08, Z:-0.24 [[ 9.96118263e-01 8.78815644e-02 -5.02354129e-03 6.53510347e+01] [-8.78827324e-02 9.96130827e-01 -1.18147200e-05 -1.07977577e+00] [ 5.00306605e-03 4.53251394e-04 9.99987382e-01 -2.39586331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.295898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:65.38, Y:-1.08, Z:-0.24 [[ 9.96218892e-01 8.67191518e-02 -5.26378724e-03 6.53788526e+01] [-8.67204200e-02 9.96232688e-01 -1.27498214e-05 -1.07836201e+00] [ 5.24285125e-03 4.69179453e-04 9.99986146e-01 -2.42163014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.41, Y:-1.08, Z:-0.24 [[ 9.96398350e-01 8.47405904e-02 -3.05946918e-03 6.54071622e+01] [-8.47410102e-02 9.96403011e-01 -7.60873899e-06 -1.07532744e+00] [ 3.04781954e-03 2.66843844e-04 9.99995320e-01 -2.40411313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:-1.07, Z:-0.24 [[ 9.96480016e-01 8.38016990e-02 -2.20279764e-03 6.54364763e+01] [-8.38019146e-02 9.96482433e-01 -5.59038406e-06 -1.07442726e+00] [ 2.19458067e-03 1.90169366e-04 9.99997574e-01 -2.39847035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:-1.07, Z:-0.24 [[ 9.96545099e-01 8.30248832e-02 -2.17585890e-03 6.54652770e+01] [-8.30250919e-02 9.96547457e-01 -5.62679238e-06 -1.07346164e+00] [ 2.16787949e-03 1.86258238e-04 9.99997633e-01 -2.38550309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.49, Y:-1.07, Z:-0.24 [[ 9.96553298e-01 8.28921611e-02 -3.22695374e-03 6.54933112e+01] [-8.28926201e-02 9.96558485e-01 -8.52459632e-06 -1.07229172e+00] [ 3.21514150e-03 2.75985865e-04 9.99994793e-01 -2.37290089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:-1.07, Z:-0.24 [[ 9.96512149e-01 8.33395953e-02 -4.24844449e-03 6.55216955e+01] [-8.33403956e-02 9.96521138e-01 -1.13931567e-05 -1.07034425e+00] [ 4.23271523e-03 3.65420463e-04 9.99990975e-01 -2.37396752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:-1.06, Z:-0.24 [[ 9.96182887e-01 8.69248119e-02 -7.98324574e-03 6.55485015e+01] [-8.69277574e-02 9.96214618e-01 -2.20664130e-05 -1.06460576e+00] [ 7.95110798e-03 7.15947832e-04 9.99968133e-01 -2.39148688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:-1.06, Z:-0.24 [[ 9.95991183e-01 8.89336989e-02 -9.61049252e-03 6.55750918e+01] [-8.89380679e-02 9.96037158e-01 -2.73391784e-05 -1.06120054e+00] [ 9.56997628e-03 8.81968217e-04 9.99953818e-01 -2.41399539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:-1.06, Z:-0.24 [[ 9.95822613e-01 9.08437874e-02 -9.20490076e-03 6.56027400e+01] [-9.08478822e-02 9.95864781e-01 -2.68257792e-05 -1.05857429e+00] [ 9.16439952e-03 8.62959457e-04 9.99957634e-01 -2.42962952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:-1.06, Z:-0.24 [[ 9.95727623e-01 9.21476939e-02 -5.94159423e-03 6.56292524e+01] [-9.21494260e-02 9.95745190e-01 -1.78412760e-05 -1.05662253e+00] [ 5.91466985e-03 5.65279550e-04 9.99982348e-01 -2.42918776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:-1.06, Z:-0.24 [[ 9.95711314e-01 9.24327441e-02 3.89459769e-03 6.56564696e+01] [-9.24334914e-02 9.95718861e-01 1.19212774e-05 -1.05583550e+00] [-3.87682245e-03 -3.71861412e-04 9.99992416e-01 -2.39348463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:-1.06, Z:-0.24 [[ 9.95824667e-01 9.10577240e-02 6.45932914e-03 6.56840831e+01] [-9.10597544e-02 9.95845430e-01 2.03200469e-05 -1.05591512e+00] [-6.43064311e-03 -6.08420129e-04 9.99979138e-01 -2.37347882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.655898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.71, Y:-1.06, Z:-0.24 [[ 9.95969487e-01 8.95361095e-02 5.29769623e-03 6.57124688e+01] [-8.95374553e-02 9.95983456e-01 1.69225592e-05 -1.05647368e+00] [-5.27490262e-03 -4.91196592e-04 9.99985967e-01 -2.37016288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:-1.06, Z:-0.24 [[ 9.96300674e-01 8.58389870e-02 -4.07864554e-03 6.57407541e+01] [-8.58397553e-02 9.96308956e-01 -1.33673740e-05 -1.05791473e+00] [ 4.06244364e-03 3.63427859e-04 9.99991682e-01 -2.37536479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:-1.06, Z:-0.24 [[ 9.96384430e-01 8.46287841e-02 -7.48578594e-03 6.57688172e+01] [-8.46313420e-02 9.96412332e-01 -2.50126845e-05 -1.05814386e+00] [ 7.45681263e-03 6.58454359e-04 9.99971981e-01 -2.39733509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.80, Y:-1.06, Z:-0.24 [[ 9.96396456e-01 8.44460667e-02 -7.93498048e-03 6.57961159e+01] [-8.44489400e-02 9.96427808e-01 -2.71581798e-05 -1.05799356e+00] [ 7.90434180e-03 6.97161005e-04 9.99968517e-01 -2.41229044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.82, Y:-1.06, Z:-0.24 [[ 9.96339310e-01 8.52880446e-02 -5.82485643e-03 6.58245609e+01] [-8.52896096e-02 9.96356202e-01 -2.03535051e-05 -1.05775652e+00] [ 5.80189592e-03 5.17078729e-04 9.99983035e-01 -2.41563597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:65.85, Y:-1.06, Z:-0.24 [[ 9.96047558e-01 8.88214269e-02 1.28077116e-04 6.58512521e+01] [-8.88214277e-02 9.96047566e-01 3.51255535e-07 -1.05767277e+00] [-1.27539700e-04 -1.17258595e-05 9.99999992e-01 -2.42468800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:65.88, Y:-1.06, Z:-0.24 [[ 9.95911025e-01 9.03381722e-02 4.94351860e-04 6.58791402e+01] [-9.03381841e-02 9.95911147e-01 1.72942608e-06 -1.05699221e+00] [-4.92174294e-04 -4.63812038e-05 9.99999878e-01 -2.40738341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:-1.06, Z:-0.24 [[ 9.95792548e-01 9.16217932e-02 -1.62751557e-03 6.59071626e+01] [-9.16219244e-02 9.95793866e-01 -6.09224558e-06 -1.05606056e+00] [ 1.62011184e-03 1.55182721e-04 9.99998676e-01 -2.36914703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:-1.05, Z:-0.24 [[ 9.95591976e-01 9.33876268e-02 -8.68154826e-03 6.59348122e+01] [-9.33914301e-02 9.95629469e-01 -3.28350377e-05 -1.05283494e+00] [ 8.64053889e-03 8.43472507e-04 9.99962314e-01 -2.37298229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:-1.05, Z:-0.24 [[ 9.95543253e-01 9.36892666e-02 -1.07681756e-02 6.59626172e+01] [-9.36951437e-02 9.95600933e-01 -4.14912473e-05 -1.05018946e+00] [ 1.07169184e-02 1.05023210e-03 9.99942021e-01 -2.39349450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:-1.05, Z:-0.24 [[ 9.95539751e-01 9.37511455e-02 -1.05511523e-02 6.59892347e+01] [-9.37568009e-02 9.95595129e-01 -4.15569517e-05 -1.04751110e+00] [ 1.05007798e-02 1.03061388e-03 9.99944334e-01 -2.41126576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:-1.04, Z:-0.24 [[ 9.95722941e-01 9.22675089e-02 -4.74683956e-03 6.60174647e+01] [-9.22686386e-02 9.95734150e-01 -1.90720486e-05 -1.04374373e+00] [ 4.72483052e-03 4.56974900e-04 9.99988734e-01 -2.41860939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:-1.04, Z:-0.24 [[ 9.95846174e-01 9.10198425e-02 -2.40536089e-03 6.60443865e+01] [-9.10201295e-02 9.95849053e-01 -9.91496257e-06 -1.04239430e+00] [ 2.39447390e-03 2.28810037e-04 9.99997107e-01 -2.41039183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:-1.04, Z:-0.24 [[ 9.95990422e-01 8.94334411e-02 -2.17681108e-03 6.60715794e+01] [-8.94336728e-02 9.95992780e-01 -9.15043689e-06 -1.04094783e+00] [ 2.16726976e-03 2.03793957e-04 9.99997631e-01 -2.39919412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:-1.04, Z:-0.24 [[ 9.96170297e-01 8.73787683e-02 -3.11282065e-03 6.61000597e+01] [-8.73792327e-02 9.96175120e-01 -1.32372016e-05 -1.03921006e+00] [ 3.09975783e-03 2.85182387e-04 9.99995155e-01 -2.39439391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:-1.04, Z:-0.24 [[ 9.96339372e-01 8.54817111e-02 -8.55735555e-04 6.61288822e+01] [-8.54597879e-02 9.96231878e-01 1.47874916e-02 -1.04444726e+00] [ 2.11657112e-03 -1.46602291e-02 9.99890293e-01 -2.41876456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.135898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:66.16, Y:-1.03, Z:-0.24 [[ 9.96496977e-01 8.33652867e-02 -6.63351064e-03 6.61566108e+01] [-8.34558536e-02 9.96401490e-01 -1.48051377e-02 -1.03114532e+00] [ 5.37540534e-03 1.53068802e-02 9.99868394e-01 -2.41681967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.18, Y:-1.04, Z:-0.24 [[ 9.96584015e-01 8.23970878e-02 -5.56964492e-03 6.61844512e+01] [-8.23985021e-02 9.96599461e-01 -2.45540595e-05 -1.03640021e+00] [ 5.54868194e-03 4.83400582e-04 9.99984489e-01 -2.40865447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:-1.03, Z:-0.24 [[ 9.96701574e-01 8.10950421e-02 -3.09304494e-03 6.62128079e+01] [-8.10954728e-02 9.96706338e-01 -1.38872464e-05 -1.03489112e+00] [ 3.08173131e-03 2.64673382e-04 9.99995216e-01 -2.40336013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.24, Y:-1.03, Z:-0.24 [[ 9.96874880e-01 7.89932870e-02 7.30671495e-04 6.62397060e+01] [-7.89933105e-02 9.96875146e-01 3.22699351e-06 -1.03453508e+00] [-7.28133342e-04 -6.09350690e-05 9.99999733e-01 -2.37873549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25589822699999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.27, Y:-1.04, Z:-0.24 [[ 9.96950785e-01 7.80327181e-02 1.62263481e-04 6.62683750e+01] [-7.80327192e-02 9.96950799e-01 6.94693434e-07 -1.03599513e+00] [-1.61714499e-04 -1.33544358e-05 9.99999987e-01 -2.38278217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:-1.04, Z:-0.24 [[ 9.97018250e-01 7.71548901e-02 -1.31615902e-03 6.62966095e+01] [-7.71549651e-02 9.97019113e-01 -6.22453374e-06 -1.03835780e+00] [ 1.31175545e-03 1.07754177e-04 9.99999134e-01 -2.38982572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:-1.04, Z:-0.24 [[ 9.97075374e-01 7.63414228e-02 -3.56178649e-03 6.63252489e+01] [-7.63419670e-02 9.97081694e-01 -1.68812005e-05 -1.04020352e+00] [ 3.55010337e-03 2.88745616e-04 9.99993657e-01 -2.41303463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:66.35, Y:-1.04, Z:-0.24 [[ 9.97097274e-01 7.59706308e-02 -5.04873121e-03 6.63537291e+01] [-7.59717213e-02 9.97109972e-01 -2.42960583e-05 -1.04070954e+00] [ 5.03229445e-03 4.07786334e-04 9.99987255e-01 -2.44822899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:-1.04, Z:-0.24 [[ 9.96957214e-01 7.79023461e-02 -2.74554085e-03 6.63815417e+01] [-7.79026765e-02 9.96960969e-01 -1.34475920e-05 -1.03957063e+00] [ 2.73614947e-03 2.27291655e-04 9.99996231e-01 -2.42146489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:-1.04, Z:-0.24 [[ 9.96813951e-01 7.97565389e-02 -9.17867163e-04 6.64086668e+01] [-7.97565768e-02 9.96814370e-01 -4.63738199e-06 -1.03822453e+00] [ 9.14573317e-04 7.78285499e-05 9.99999579e-01 -2.39989084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:-1.04, Z:-0.24 [[ 9.96651022e-01 8.17692806e-02 -7.25185865e-04 6.64368072e+01] [-8.17693048e-02 9.96651283e-01 -3.72279161e-06 -1.03707613e+00] [ 7.22453013e-04 6.30082681e-05 9.99999737e-01 -2.38469068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.46, Y:-1.04, Z:-0.24 [[ 9.96514710e-01 8.33696095e-02 -2.81785477e-03 6.64640635e+01] [-8.33699812e-02 9.96518663e-01 -1.44863631e-05 -1.03631358e+00] [ 2.80683715e-03 2.49360373e-04 9.99996030e-01 -2.38114991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.49, Y:-1.03, Z:-0.24 [[ 9.96356273e-01 8.49473526e-02 -7.62396997e-03 6.64918944e+01] [-8.49501220e-02 9.96385204e-01 -3.95665438e-05 -1.03488674e+00] [ 7.59304981e-03 6.87079554e-04 9.99970936e-01 -2.42052157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52589822699998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:66.52, Y:-1.03, Z:-0.24 [[ 9.96388739e-01 8.45468447e-02 -7.83018726e-03 6.65194594e+01] [-8.45497580e-02 9.96419258e-01 -4.12011370e-05 -1.03340911e+00] [ 7.79866595e-03 7.03092787e-04 9.99969343e-01 -2.44817539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:-1.03, Z:-0.24 [[ 9.96455320e-01 8.38925471e-02 -6.23190808e-03 6.65466080e+01] [-8.38943832e-02 9.96474652e-01 -3.33417418e-05 -1.03202414e+00] [ 6.20714131e-03 5.56045640e-04 9.99980581e-01 -2.42147944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:-1.03, Z:-0.24 [[ 9.96536665e-01 8.30311800e-02 -4.52750006e-03 6.65734906e+01] [-8.30321421e-02 9.96546869e-01 -2.46232395e-05 -1.02979985e+00] [ 4.50982152e-03 4.00465990e-04 9.99989751e-01 -2.40824021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:-1.03, Z:-0.24 [[ 9.96546015e-01 8.29188925e-02 -4.52749709e-03 6.66019680e+01] [-8.29198559e-02 9.96556219e-01 -2.51654871e-05 -1.02949637e+00] [ 4.50981868e-03 4.00497972e-04 9.99989751e-01 -2.40854938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:-1.03, Z:-0.24 [[ 9.96666120e-01 8.13347285e-02 -6.42707166e-03 6.66295016e+01] [-8.13366395e-02 9.96686686e-01 -3.60851577e-05 -1.02677165e+00] [ 6.40284177e-03 5.58721264e-04 9.99979346e-01 -2.40157258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.66, Y:-1.03, Z:-0.24 [[ 9.96698388e-01 8.08500293e-02 -7.45631210e-03 6.66563850e+01] [-8.08525926e-02 9.96726069e-01 -4.24829435e-05 -1.02713514e+00] [ 7.42846590e-03 6.45204846e-04 9.99972200e-01 -2.41706298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:-1.03, Z:-0.24 [[ 9.96740460e-01 8.03912735e-02 -6.76000049e-03 6.66838604e+01] [-8.03933737e-02 9.96763214e-01 -3.90839747e-05 -1.02766801e+00] [ 6.73497780e-03 5.82415824e-04 9.99977150e-01 -2.42268732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:-1.03, Z:-0.24 [[ 9.96692733e-01 8.12625095e-02 -4.54993097e-06 6.67121979e+01] [-8.12625095e-02 9.96692733e-01 -1.02239728e-07 -1.02725387e+00] [ 4.52657488e-06 4.71640404e-07 1.00000000e+00 -2.38913831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:-1.03, Z:-0.24 [[ 9.96616507e-01 8.21860937e-02 9.92211600e-04 6.67387709e+01] [-8.21861399e-02 9.96616997e-01 5.78504142e-06 -1.02531866e+00] [-9.88379495e-04 -8.73115092e-05 9.99999508e-01 -2.37227308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:-1.02, Z:-0.24 [[ 9.96518573e-01 8.33657432e-02 -9.41373755e-04 6.67668967e+01] [-8.33657855e-02 9.96519014e-01 -5.71399323e-06 -1.02338872e+00] [ 9.37620495e-04 8.41724629e-05 9.99999557e-01 -2.37057258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:-1.02, Z:-0.24 [[ 9.96464293e-01 8.39058783e-02 -4.32622571e-03 6.67936716e+01] [-8.39067775e-02 9.96473608e-01 -2.64558177e-05 -1.02098887e+00] [ 4.30874995e-03 3.89361936e-04 9.99990641e-01 -2.38163536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:-1.02, Z:-0.24 [[ 9.96435805e-01 8.41061768e-02 -6.46824436e-03 6.68208317e+01] [-8.41081940e-02 9.96456627e-01 -4.00000715e-05 -1.01986479e+00] [ 6.44196071e-03 5.83889855e-04 9.99979080e-01 -2.40733923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:-1.02, Z:-0.24 [[ 9.96490419e-01 8.35741048e-02 -4.71321987e-03 6.68489712e+01] [-8.35751715e-02 9.96501475e-01 -2.94850807e-05 -1.02020440e+00] [ 4.69426637e-03 4.23289760e-04 9.99988892e-01 -2.41807427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:-1.02, Z:-0.24 [[ 9.96553393e-01 8.29535080e-02 2.23401632e-04 6.68761246e+01] [-8.29520923e-02 9.96511833e-01 9.11683252e-03 -1.02473515e+00] [ 5.33650869e-04 -9.10394201e-03 9.99958416e-01 -2.43700281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:-1.02, Z:-0.24 [[ 9.96631685e-01 8.20054791e-02 -6.21130251e-04 6.69047162e+01] [-8.20077149e-02 9.96588916e-01 -9.23398082e-03 -1.01732161e+00] [-1.38225497e-04 9.25381533e-03 9.99957173e-01 -2.40158860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.93, Y:-1.02, Z:-0.24 [[ 9.96815972e-01 7.97363178e-02 1.94269336e-04 6.69327906e+01] [-7.97363196e-02 9.96815991e-01 1.18700187e-06 -1.02025453e+00] [-1.93556134e-04 -1.66735443e-05 9.99999981e-01 -2.39127660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:-1.02, Z:-0.24 [[ 9.96892886e-01 7.87657914e-02 -7.24268268e-04 6.69612029e+01] [-7.87658156e-02 9.96893147e-01 -4.86424166e-06 -1.01939232e+00] [ 7.21634937e-04 6.18967087e-05 9.99999738e-01 -2.38564761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.99, Y:-1.02, Z:-0.24 [[ 9.96936595e-01 7.81999459e-02 -1.48097039e-03 6.69878996e+01] [-7.82000464e-02 9.96937687e-01 -9.97298966e-06 -1.01820356e+00] [ 1.47565531e-03 1.25754391e-04 9.99998903e-01 -2.39054150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.02, Y:-1.02, Z:-0.24 [[ 9.96838583e-01 7.94533279e-02 -9.23739274e-05 6.70161662e+01] [-7.94533283e-02 9.96838587e-01 -6.89515610e-07 -1.01639760e+00] [ 9.20271110e-05 8.02675175e-06 9.99999996e-01 -2.40279987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:-1.02, Z:-0.24 [[ 9.96696503e-01 8.12161951e-02 1.03291102e-04 6.70436447e+01] [-8.12161956e-02 9.96696508e-01 6.26590153e-07 -1.01624490e+00] [-1.02898991e-04 -9.01343054e-06 9.99999995e-01 -2.38561098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:-1.02, Z:-0.24 [[ 9.96589271e-01 8.25174017e-02 -8.38303206e-04 6.70709446e+01] [-8.25174356e-02 9.96589621e-01 -5.86018145e-06 -1.01578553e+00] [ 8.34960707e-04 7.50148248e-05 9.99999649e-01 -2.38744583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:-1.02, Z:-0.24 [[ 9.96396874e-01 8.46734556e-02 -4.86568702e-03 6.70974475e+01] [-8.46746233e-02 9.96408655e-01 -3.41304497e-05 -1.01612851e+00] [ 4.84532271e-03 4.46007689e-04 9.99988162e-01 -2.39651927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:-1.02, Z:-0.24 [[ 9.96369852e-01 8.49311909e-02 -5.81475051e-03 6.71245734e+01] [-8.49328654e-02 9.96386675e-01 -4.11991526e-05 -1.01651053e+00] [ 5.79024083e-03 5.34913016e-04 9.99983093e-01 -2.40457370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:-1.02, Z:-0.24 [[ 9.96408524e-01 8.45043984e-02 -5.39073472e-03 6.71520750e+01] [-8.45058333e-02 9.96422984e-01 -3.85616371e-05 -1.01703431e+00] [ 5.36819335e-03 4.93971674e-04 9.99985469e-01 -2.40827337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:-1.02, Z:-0.24 [[ 9.96477806e-01 8.37459906e-02 -4.31182379e-03 6.71793905e+01] [-8.37469032e-02 9.96487057e-01 -3.12094102e-05 -1.01741419e+00] [ 4.29406293e-03 3.92201374e-04 9.99990704e-01 -2.41409531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:-1.02, Z:-0.24 [[ 9.96635901e-01 8.19403542e-02 -1.63080499e-03 6.72068582e+01] [-8.19404826e-02 9.96637224e-01 -1.19706130e-05 -1.01867552e+00] [ 1.62434008e-03 1.45559290e-04 9.99998670e-01 -2.41403903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:-1.02, Z:-0.24 [[ 9.96673626e-01 8.14965013e-02 5.26525185e-05 6.72345987e+01] [-8.14965014e-02 9.96673628e-01 3.20620427e-07 -1.02050343e+00] [-5.24512472e-05 -4.61054997e-06 9.99999999e-01 -2.41083452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:-1.02, Z:-0.24 [[ 9.96696197e-01 8.12190611e-02 3.93785293e-04 6.72616405e+01] [-8.12190685e-02 9.96696274e-01 2.84455935e-06 -1.02323874e+00] [-3.92253301e-04 -3.48180361e-05 9.99999922e-01 -2.40957732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:-1.03, Z:-0.24 [[ 9.96688474e-01 8.13120766e-02 -6.56574335e-04 6.72892245e+01] [-8.13120974e-02 9.96688689e-01 -5.00834032e-06 -1.02583524e+00] [ 6.53992974e-04 5.83791914e-05 9.99999784e-01 -2.41389598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:-1.03, Z:-0.24 [[ 9.96569429e-01 8.27004542e-02 -3.16351523e-03 6.73175002e+01] [-8.27009440e-02 9.96574409e-01 -2.41265052e-05 -1.02724900e+00] [ 3.15068304e-03 2.85669433e-04 9.99994996e-01 -2.40597457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:-1.03, Z:-0.24 [[ 9.96464603e-01 8.39250102e-02 -3.85835657e-03 6.73448085e+01] [-8.39257492e-02 9.96472011e-01 -2.97373141e-05 -1.02652088e+00] [ 3.84224862e-03 3.53447646e-04 9.99992556e-01 -2.39927980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:-1.03, Z:-0.24 [[ 9.96272745e-01 8.60563731e-02 -5.90917815e-03 6.73729593e+01] [-8.60581458e-02 9.96290115e-01 -4.59088219e-05 -1.02634601e+00] [ 5.88330503e-03 5.54270623e-04 9.99982540e-01 -2.40605882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:-1.03, Z:-0.24 [[ 9.96216463e-01 8.66710180e-02 -6.39480500e-03 6.74002720e+01] [-8.66731100e-02 9.96236804e-01 -5.02105750e-05 -1.02657906e+00] [ 6.36638830e-03 6.04278239e-04 9.99979552e-01 -2.41062389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:-1.03, Z:-0.24 [[ 9.96180511e-01 8.71704215e-02 -5.07031268e-03 6.74280914e+01] [-8.71717449e-02 9.96193297e-01 -4.01690182e-05 -1.02656374e+00] [ 5.04750996e-03 4.82003597e-04 9.99987145e-01 -2.41229908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.46, Y:-1.03, Z:-0.24 [[ 9.96162624e-01 8.74688710e-02 -3.03689094e-03 6.74554641e+01] [-8.74693480e-02 9.96167211e-01 -2.43408454e-05 -1.02651088e+00] [ 3.02312211e-03 2.89882311e-04 9.99995388e-01 -2.40597803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:-1.03, Z:-0.24 [[ 9.96125141e-01 8.79338482e-02 -1.53007850e-03 6.74838264e+01] [-8.79339700e-02 9.96126306e-01 -1.23968296e-05 -1.02636521e+00] [ 1.52306134e-03 1.46894670e-04 9.99998829e-01 -2.39759000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:-1.02, Z:-0.24 [[ 9.96060727e-01 8.86664852e-02 -1.13241546e-03 6.75113034e+01] [-8.86665525e-02 9.96061365e-01 -9.27319087e-06 -1.02439707e+00] [ 1.12713307e-03 1.09644036e-04 9.99999359e-01 -2.39721703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:-1.02, Z:-0.24 [[ 9.96051530e-01 8.87597214e-02 -1.74947325e-03 6.75383878e+01] [-8.87598825e-02 9.96053052e-01 -1.44962774e-05 -1.02298609e+00] [ 1.74128148e-03 1.69722079e-04 9.99998470e-01 -2.40158401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:-1.02, Z:-0.24 [[ 9.96096725e-01 8.82296918e-02 -2.61469572e-03 6.75660302e+01] [-8.82300501e-02 9.96100124e-01 -2.17638814e-05 -1.02150310e+00] [ 2.60257851e-03 2.52373665e-04 9.99996581e-01 -2.41187420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:-1.02, Z:-0.24 [[ 9.96251288e-01 8.63263102e-02 -5.58019157e-03 6.75942355e+01] [-8.63279141e-02 9.96266776e-01 -4.67522710e-05 -1.01881031e+00] [ 5.55532352e-03 5.28303309e-04 9.99984430e-01 -2.41613670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.62, Y:-1.02, Z:-0.24 [[ 9.96377485e-01 8.48461579e-02 -5.74780094e-03 6.76225182e+01] [-8.48478374e-02 9.96393919e-01 -4.85460941e-05 -1.01738589e+00] [ 5.72295496e-03 5.36058714e-04 9.99983480e-01 -2.41345365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:-1.02, Z:-0.24 [[ 9.96521067e-01 8.32456779e-02 -3.99003116e-03 6.76496548e+01] [-8.32464763e-02 9.96528988e-01 -3.41526290e-05 -1.01665435e+00] [ 3.97333865e-03 3.66189849e-04 9.99992039e-01 -2.40797600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:-1.02, Z:-0.24 [[ 9.96641476e-01 8.18744762e-02 -1.52904435e-03 6.76773139e+01] [-8.18745920e-02 9.96642640e-01 -1.32264659e-05 -1.01710956e+00] [ 1.52282788e-03 1.38371927e-04 9.99998831e-01 -2.39719316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.70, Y:-1.03, Z:-0.25 [[ 9.96704718e-01 8.07510615e-02 7.67921746e-03 6.77043673e+01] [-8.09605954e-02 9.96180467e-01 3.27087160e-02 -1.03201658e+00] [-5.00862289e-03 -3.32226456e-02 9.99435425e-01 -2.45620449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.73, Y:-1.01, Z:-0.24 [[ 9.96910821e-01 7.85107159e-02 -2.20944760e-03 6.77335937e+01] [-7.85405642e-02 9.96342891e-01 -3.36485264e-02 -1.00690815e+00] [-4.40402488e-04 3.37181114e-02 9.99431286e-01 -2.38694703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:-1.02, Z:-0.24 [[ 9.97020800e-01 7.70361880e-02 -3.86657660e-03 6.77612660e+01] [-7.70368954e-02 9.97028242e-01 -3.41227238e-05 -1.02234702e+00] [ 3.85245739e-03 3.31890123e-04 9.99992524e-01 -2.41797552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.79, Y:-1.02, Z:-0.24 [[ 9.97143041e-01 7.53541367e-02 -5.24505154e-03 6.77888939e+01] [-7.53554184e-02 9.97156737e-01 -4.68896737e-05 -1.02317128e+00] [ 5.22660515e-03 4.41998765e-04 9.99986244e-01 -2.42394811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:-1.02, Z:-0.24 [[ 9.97239504e-01 7.39932883e-02 -6.19389601e-03 6.78168536e+01] [-7.39950522e-02 9.97258607e-01 -5.58055670e-05 -1.02416309e+00] [ 6.17278687e-03 5.13969175e-04 9.99980816e-01 -2.42160290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:-1.03, Z:-0.24 [[ 9.97261409e-01 7.36519859e-02 -6.71313825e-03 6.78448835e+01] [-7.36540535e-02 9.97283850e-01 -6.09552255e-05 -1.02599120e+00] [ 6.69041488e-03 5.55238138e-04 9.99977465e-01 -2.40653009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.87, Y:-1.03, Z:-0.24 [[ 9.97192501e-01 7.46115080e-02 -6.34346332e-03 6.78732467e+01] [-7.46133763e-02 9.97212535e-01 -5.80484969e-05 -1.02676515e+00] [ 6.32145006e-03 5.31192742e-04 9.99979878e-01 -2.39799667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02589822699998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:67.90, Y:-1.03, Z:-0.24 [[ 9.97080944e-01 7.62033600e-02 -4.75808165e-03 6.79004093e+01] [-7.62044309e-02 9.97092214e-01 -4.39322637e-05 -1.02735037e+00] [ 4.74089838e-03 4.06390927e-04 9.99988679e-01 -2.41138943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:-1.03, Z:-0.24 [[ 9.96739557e-01 8.06661879e-02 -1.79492650e-03 6.79283559e+01] [-8.06663477e-02 9.96741160e-01 -1.66959793e-05 -1.02918768e+00] [ 1.78773032e-03 1.61431708e-04 9.99998389e-01 -2.38883891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:-1.03, Z:-0.24 [[ 9.96587485e-01 8.24995664e-02 -2.68451692e-03 6.79561459e+01] [-8.24999308e-02 9.96591070e-01 -2.51211210e-05 -1.02769208e+00] [ 2.67329311e-03 2.46507855e-04 9.99996396e-01 -2.39579839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:-1.03, Z:-0.24 [[ 9.96372222e-01 8.49470548e-02 -5.13744697e-03 6.79845198e+01] [-8.49484237e-02 9.96385349e-01 -4.84343584e-05 -1.02567649e+00] [ 5.11476253e-03 4.84676671e-04 9.99986802e-01 -2.39991708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:-1.02, Z:-0.24 [[ 9.95900784e-01 9.00012288e-02 -9.02256228e-03 6.80127991e+01] [-9.00056622e-02 9.95941250e-01 -8.57093569e-05 -1.02141662e+00] [ 8.97822800e-03 8.97439709e-04 9.99959292e-01 -2.41198186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:-1.02, Z:-0.24 [[ 9.95747207e-01 9.18088602e-02 -7.65719156e-03 6.80398651e+01] [-9.18121111e-02 9.95776346e-01 -7.33778459e-05 -1.01810470e+00] [ 7.61811349e-03 7.76088707e-04 9.99970681e-01 -2.41461282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:-1.01, Z:-0.24 [[ 9.95675256e-01 9.27481981e-02 -5.34372707e-03 6.80665070e+01] [-9.27497969e-02 9.95689446e-01 -5.16267734e-05 -1.01409758e+00] [ 5.31590435e-03 5.47033101e-04 9.99985721e-01 -2.40166216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:-1.01, Z:-0.24 [[ 9.95676384e-01 9.28444056e-02 -2.90786044e-03 6.80946886e+01] [-9.28448800e-02 9.95680585e-01 -2.82954464e-05 -1.00985927e+00] [ 2.89267311e-03 2.98153062e-04 9.99995772e-01 -2.39924587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.12, Y:-1.01, Z:-0.24 [[ 9.95906842e-01 9.03280059e-02 -3.22696981e-03 6.81223716e+01] [-9.03285778e-02 9.95912018e-01 -3.16274804e-05 -1.00590952e+00] [ 3.21092117e-03 3.22985618e-04 9.99994793e-01 -2.41643718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:-1.01, Z:-0.24 [[ 9.96166499e-01 8.73521316e-02 -4.68102984e-03 6.81496700e+01] [-8.73533043e-02 9.96177393e-01 -4.62620800e-05 -1.00603851e+00] [ 4.65909501e-03 4.54988158e-04 9.99989043e-01 -2.43098828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:-1.01, Z:-0.24 [[ 9.96672859e-01 8.12845105e-02 -6.00339921e-03 6.81772758e+01] [-8.12863328e-02 9.96690789e-01 -5.97541841e-05 -1.00626271e+00] [ 5.97867560e-03 5.47549679e-04 9.99981978e-01 -2.42932652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:-1.02, Z:-0.25 [[ 9.96849810e-01 7.92984889e-02 1.48531858e-03 6.82051956e+01] [-7.93084477e-02 9.96438428e-01 2.86466379e-02 -1.01785849e+00] [ 7.91606595e-04 -2.86741939e-02 9.99588497e-01 -2.48261244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.99, Z:-0.24 [[ 9.96954225e-01 7.78798007e-02 -4.12425918e-03 6.82336881e+01] [-7.79663566e-02 9.96543299e-01 -2.86827640e-02 -9.93587527e-01] [ 1.87619490e-03 2.89169563e-02 9.99580057e-01 -2.38573923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:-1.01, Z:-0.24 [[ 9.96996688e-01 7.73009354e-02 -4.70841553e-03 6.82623906e+01] [-7.72432104e-02 9.96947016e-01 1.14076417e-02 -1.01103131e+00] [ 5.57586219e-03 -1.10096878e-02 9.99923845e-01 -2.36893487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:-1.00, Z:-0.24 [[ 9.96984379e-01 7.75389696e-02 -3.13947298e-03 6.82901235e+01] [-7.75702733e-02 9.96920283e-01 -1.15239963e-02 -1.00207221e+00] [ 2.23624549e-03 1.17327741e-02 9.99928668e-01 -2.38472294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:-1.01, Z:-0.24 [[ 9.96961941e-01 7.77782462e-02 -4.17524076e-03 6.83179331e+01] [-7.77791030e-02 9.96970616e-01 -4.30032095e-05 -1.00638186e+00] [ 4.15924763e-03 3.67619044e-04 9.99991283e-01 -2.40209093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:-1.01, Z:-0.24 [[ 9.96928495e-01 7.81608902e-02 -4.94480789e-03 6.83457144e+01] [-7.81620984e-02 9.96940662e-01 -5.12824787e-05 -1.00716059e+00] [ 4.92567176e-03 4.37621525e-04 9.99987773e-01 -2.40873631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:-1.01, Z:-0.24 [[ 9.96933159e-01 7.81013822e-02 -4.94480482e-03 6.83742007e+01] [-7.81025912e-02 9.96945326e-01 -5.15776489e-05 -1.00674427e+00] [ 4.92567176e-03 4.37621538e-04 9.99987773e-01 -2.40873601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:-1.01, Z:-0.24 [[ 9.96945392e-01 7.79709808e-02 -4.51799271e-03 6.84015813e+01] [-7.79719905e-02 9.96955549e-01 -4.75013696e-05 -1.00786690e+00] [ 4.50053417e-03 3.99633156e-04 9.99989793e-01 -2.41701096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:-1.01, Z:-0.24 [[ 9.97062612e-01 7.65612952e-02 -2.12514089e-03 6.84292143e+01] [-7.65615157e-02 9.97064859e-01 -2.24958441e-05 -1.01231996e+00] [ 2.11718099e-03 1.85133773e-04 9.99997742e-01 -2.41636977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:-1.01, Z:-0.24 [[ 9.97122071e-01 7.57907829e-02 -1.82578472e-03 6.84575468e+01] [-7.57909446e-02 9.97123730e-01 -1.94355892e-05 -1.01416832e+00] [ 1.81906023e-03 1.57757603e-04 9.99998333e-01 -2.41369627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.655898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.49, Y:-1.02, Z:-0.24 [[ 9.97164064e-01 7.52161671e-02 -2.52145439e-03 6.84860029e+01] [-7.52164740e-02 9.97167228e-01 -2.69573217e-05 -1.01598957e+00] [ 2.51228406e-03 2.16535781e-04 9.99996821e-01 -2.42205825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:-1.02, Z:-0.24 [[ 9.97217832e-01 7.44871841e-02 -2.87305039e-03 6.85149656e+01] [-7.44875798e-02 9.97221941e-01 -3.08508120e-05 -1.01822633e+00] [ 2.86277090e-03 2.44771550e-04 9.99995872e-01 -2.41328928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:-1.02, Z:-0.24 [[ 9.97345921e-01 7.28035190e-02 -8.72280823e-04 6.85429789e+01] [-7.28035549e-02 9.97346300e-01 -9.41729511e-06 -1.02174157e+00] [ 8.69280439e-04 7.28974457e-05 9.99999620e-01 -2.40705361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:-1.02, Z:-0.24 [[ 9.97404064e-01 7.20071862e-02 -3.13289630e-04 6.85717701e+01] [-7.20071908e-02 9.97404113e-01 -3.39710602e-06 -1.02257209e+00] [ 3.12231750e-04 2.59473935e-05 9.99999951e-01 -2.40585067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.60, Y:-1.03, Z:-0.24 [[ 9.97487733e-01 7.08233906e-02 -1.50681709e-03 6.85994663e+01] [-7.08234956e-02 9.97488863e-01 -1.64276423e-05 -1.02537842e+00] [ 1.50186981e-03 1.23104426e-04 9.99998865e-01 -2.41962984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:-1.03, Z:-0.24 [[ 9.97561704e-01 6.97612779e-02 -2.00252058e-03 6.86284651e+01] [-6.97614616e-02 9.97563701e-01 -2.19258679e-05 -1.02693079e+00] [ 1.99611227e-03 1.61571169e-04 9.99997995e-01 -2.42347331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.66, Y:-1.03, Z:-0.24 [[ 9.97619146e-01 6.89470583e-02 -1.53062373e-03 6.86559751e+01] [-6.89471648e-02 9.97620313e-01 -1.68486718e-05 -1.02862866e+00] [ 1.52581966e-03 1.22340724e-04 9.99998828e-01 -2.42019796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:-1.05, Z:-0.25 [[ 9.97625992e-01 6.83070735e-02 8.74784526e-03 6.86841042e+01] [-6.86049370e-02 9.96836232e-01 4.01358956e-02 -1.04639662e+00] [-5.97860353e-03 -4.06407581e-02 9.99155936e-01 -2.48264252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.71, Y:-1.01, Z:-0.24 [[ 9.97656531e-01 6.84074203e-02 -1.36807430e-03 6.87145530e+01] [-6.84073081e-02 9.96854604e-01 -4.00167264e-02 -1.01486253e+00] [-1.37366985e-03 4.00165347e-02 9.99198073e-01 -2.37387029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.74, Y:-1.03, Z:-0.24 [[ 9.97583000e-01 6.93744810e-02 -3.91666794e-03 6.87437723e+01] [-6.93751823e-02 9.97590639e-01 -4.33298610e-05 -1.03227854e+00] [ 3.90422528e-03 3.14944685e-04 9.99992329e-01 -2.40596807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:-1.03, Z:-0.24 [[ 9.97455086e-01 7.10685495e-02 -5.71072716e-03 6.87728054e+01] [-7.10700696e-02 9.97471323e-01 -6.34459582e-05 -1.03314255e+00] [ 5.69177757e-03 4.69146271e-04 9.99983692e-01 -2.40850414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.80, Y:-1.03, Z:-0.24 [[ 9.97333049e-01 7.26960525e-02 -6.48645188e-03 6.88008896e+01] [-7.26980503e-02 9.97353993e-01 -7.24423287e-05 -1.03352937e+00] [ 6.46402241e-03 5.43801534e-04 9.99978960e-01 -2.41865636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.015898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.83, Y:-1.03, Z:-0.24 [[ 9.97264020e-01 7.37883065e-02 -4.44524228e-03 6.88300740e+01] [-7.37892565e-02 9.97273856e-01 -4.98532555e-05 -1.03362760e+00] [ 4.42944532e-03 3.77727981e-04 9.99990119e-01 -2.41759298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.045898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:68.86, Y:-1.03, Z:-0.24 [[ 9.97275081e-01 7.37171072e-02 -2.86387735e-03 6.88580961e+01] [-7.37175017e-02 9.97279163e-01 -3.22843046e-05 -1.03273417e+00] [ 2.85370530e-03 2.43314216e-04 9.99995899e-01 -2.41950476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:-1.03, Z:-0.24 [[ 9.97320507e-01 7.31355335e-02 -1.73214755e-03 6.88871484e+01] [-7.31356771e-02 9.97322000e-01 -1.96059914e-05 -1.03204125e+00] [ 1.72607497e-03 1.46235241e-04 9.99998500e-01 -2.42510937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.92, Y:-1.03, Z:-0.24 [[ 9.97543850e-01 6.99745898e-02 -3.13422259e-03 6.89155386e+01] [-6.99750449e-02 9.97548742e-01 -3.56200709e-05 -1.03223094e+00] [ 3.12404730e-03 2.54849949e-04 9.99995088e-01 -2.43520140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:-1.03, Z:-0.24 [[ 9.97656594e-01 6.82697901e-02 -4.53398437e-03 6.89446907e+01] [-6.82707258e-02 9.97666831e-01 -5.17362779e-05 -1.03273316e+00] [ 4.51987380e-03 3.61153443e-04 9.99989720e-01 -2.44199124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:-1.03, Z:-0.24 [[ 9.97777396e-01 6.64146111e-02 -5.41918205e-03 6.89722332e+01] [-6.64159222e-02 9.97792023e-01 -6.21465561e-05 -1.03275092e+00] [ 5.40308918e-03 4.21928403e-04 9.99985314e-01 -2.44124768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:69.00, Y:-1.03, Z:-0.24 [[ 9.97859208e-01 6.51851690e-02 -5.28147650e-03 6.89998750e+01] [-6.51863988e-02 9.97873103e-01 -6.08680316e-05 -1.03306822e+00] [ 5.26627565e-03 4.05018159e-04 9.99986051e-01 -2.43902514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22589822699999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:69.03, Y:-1.03, Z:-0.24 [[ 9.97965236e-01 6.36486579e-02 -3.77300054e-03 6.90283095e+01] [-6.36492753e-02 9.97972328e-01 -4.36581799e-05 -1.03335630e+00] [ 3.76257135e-03 2.83718096e-04 9.99992881e-01 -2.42750428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:69.06, Y:-1.03, Z:-0.24 [[ 9.97980768e-01 6.34413918e-02 -3.09455784e-03 6.90565600e+01] [-6.34418066e-02 9.97985539e-01 -3.59862346e-05 -1.03364757e+00] [ 3.08604095e-03 2.32237910e-04 9.99995211e-01 -2.42718984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:69.09, Y:-1.03, Z:-0.24 [[ 9.97976333e-01 6.35114830e-02 -3.08720665e-03 6.90852605e+01] [-6.35118967e-02 9.97981081e-01 -3.60476989e-05 -1.03428744e+00] [ 3.07868438e-03 2.32049100e-04 9.99995234e-01 -2.44698599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.11, Y:-1.03, Z:-0.24 [[ 9.97982742e-01 6.34129895e-02 -3.03968979e-03 6.91133243e+01] [-6.34133907e-02 9.97987345e-01 -3.56729248e-05 -1.03462560e+00] [ 3.03130982e-03 2.28358000e-04 9.99995379e-01 -2.42812421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:-1.04, Z:-0.24 [[ 9.97859323e-01 6.53498876e-02 -2.48285859e-03 6.91422299e+01] [-6.53501615e-02 9.97862393e-01 -2.92566984e-05 -1.03564305e+00] [ 2.47563929e-03 1.91449279e-04 9.99996917e-01 -2.42453522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.17, Y:-1.04, Z:-0.24 [[ 9.97798964e-01 6.62592823e-02 -2.63329885e-03 6.91698330e+01] [-6.62595940e-02 9.97802418e-01 -3.11857443e-05 -1.03583051e+00] [ 2.62544561e-03 2.05598416e-04 9.99996532e-01 -2.43090609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.405898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.20, Y:-1.04, Z:-0.24 [[ 9.97841612e-01 6.55954809e-02 -3.05793804e-03 6.91986833e+01] [-6.55958985e-02 9.97846269e-01 -3.63617141e-05 -1.03623746e+00] [ 3.04896690e-03 2.36871424e-04 9.99995324e-01 -2.42116093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.435898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.23, Y:-1.04, Z:-0.24 [[ 9.98010642e-01 6.29802374e-02 -2.87179531e-03 6.92261429e+01] [-6.29805954e-02 9.98014751e-01 -3.43198253e-05 -1.03853355e+00] [ 2.86393261e-03 2.15118930e-04 9.99995876e-01 -2.42089985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.465898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:69.25, Y:-1.04, Z:-0.24 [[ 9.98083669e-01 6.18451499e-02 -2.04132368e-03 6.92543061e+01] [-6.18453286e-02 9.98085745e-01 -2.45162086e-05 -1.03987413e+00] [ 2.03589985e-03 1.50715561e-04 9.99997916e-01 -2.43415532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:-1.04, Z:-0.24 [[ 9.98155875e-01 6.06845403e-02 -1.49532299e-03 6.92824280e+01] [-6.06846351e-02 9.98156989e-01 -1.80464496e-05 -1.04075878e+00] [ 1.49147195e-03 1.08756299e-04 9.99998882e-01 -2.41704145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:-1.04, Z:-0.24 [[ 9.98151308e-01 6.07525052e-02 -1.76046496e-03 6.93115080e+01] [-6.07526368e-02 9.98152852e-01 -2.13305505e-05 -1.04176135e+00] [ 1.75591724e-03 1.28244005e-04 9.99998450e-01 -2.42736157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:-1.04, Z:-0.24 [[ 9.98075117e-01 6.19960385e-02 -1.59738810e-03 6.93389076e+01] [-6.19961486e-02 9.98076388e-01 -1.94489959e-05 -1.04159544e+00] [ 1.59310959e-03 1.18443469e-04 9.99998724e-01 -2.42742105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.37, Y:-1.05, Z:-0.24 [[ 9.97938748e-01 6.40842022e-02 -3.38685205e-03 6.93679436e+01] [-6.40367955e-02 9.97867690e-01 1.26239089e-02 -1.04708589e+00] [ 4.18862336e-03 -1.23810047e-02 9.99914579e-01 -2.36684547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.40, Y:-1.04, Z:-0.24 [[ 9.97685935e-01 6.79826786e-02 -1.06332625e-03 6.93953939e+01] [-6.79906970e-02 9.97605776e-01 -1.26483169e-02 -1.03514736e+00] [ 2.00913951e-04 1.26913442e-02 9.99919441e-01 -2.41324325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.42, Y:-1.04, Z:-0.24 [[ 9.97614155e-01 6.90341077e-02 -5.38641603e-04 6.94240680e+01] [-6.90341213e-02 9.97614299e-01 -6.64388042e-06 -1.04005890e+00] [ 5.36897911e-04 4.38126789e-05 9.99999855e-01 -2.42001903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:-1.04, Z:-0.24 [[ 9.97613336e-01 6.90458328e-02 5.51400287e-04 6.94522069e+01] [-6.90458470e-02 9.97613488e-01 6.83618074e-06 -1.03980010e+00] [-5.49612353e-04 -4.48917649e-05 9.99999848e-01 -2.42723646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.48, Y:-1.04, Z:-0.24 [[ 9.97827104e-01 6.58862607e-02 2.65371938e-04 6.94806676e+01] [-6.58862639e-02 9.97827139e-01 3.30308014e-06 -1.04288345e+00] [-2.64577695e-04 -2.07802685e-05 9.99999965e-01 -2.43849911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.51, Y:-1.05, Z:-0.24 [[ 9.97967805e-01 6.37103705e-02 -1.11781001e-03 6.95095030e+01] [-6.37104258e-02 9.97968427e-01 -1.39472853e-05 -1.04537625e+00] [ 1.11465051e-03 8.51350932e-05 9.99999375e-01 -2.44665490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.765898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.54, Y:-1.05, Z:-0.25 [[ 9.98109619e-01 6.14258142e-02 -2.01452315e-03 6.95381434e+01] [-6.14259896e-02 9.98111641e-01 -2.52296947e-05 -1.04799378e+00] [ 2.00916926e-03 1.48926079e-04 9.99997971e-01 -2.45046715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.795898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.57, Y:-1.05, Z:-0.24 [[ 9.98251933e-01 5.90820957e-02 -1.54427230e-03 6.95674664e+01] [-5.90821961e-02 9.98253121e-01 -1.94134049e-05 -1.05287385e+00] [ 1.54042766e-03 1.10618468e-04 9.99998807e-01 -2.44402697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.60, Y:-1.05, Z:-0.24 [[ 9.98196528e-01 6.00019212e-02 -1.86011967e-03 6.95956165e+01] [-6.00020686e-02 9.98198252e-01 -2.34937707e-05 -1.05489926e+00] [ 1.85535853e-03 1.35062428e-04 9.99998270e-01 -2.44326405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:-1.06, Z:-0.24 [[ 9.98082442e-01 6.17835179e-02 -3.77315723e-03 6.96248148e+01] [-6.17841377e-02 9.98089534e-01 -4.78369254e-05 -1.05656774e+00] [ 3.76299320e-03 2.80866461e-04 9.99992880e-01 -2.44326789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88589822699998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.65, Y:-1.06, Z:-0.25 [[ 9.97906777e-01 6.43897639e-02 -6.00183141e-03 6.96525766e+01] [-6.43913814e-02 9.97924719e-01 -7.64478318e-05 -1.05725096e+00] [ 5.98445347e-03 4.62754025e-04 9.99981986e-01 -2.45901139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.68, Y:-1.06, Z:-0.25 [[ 9.97376786e-01 7.20589964e-02 -6.85920189e-03 6.96815096e+01] [-7.20612912e-02 9.97400202e-01 -8.76896133e-05 -1.05600409e+00] [ 6.83505052e-03 5.81742530e-04 9.99976472e-01 -2.45561396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:-1.06, Z:-0.25 [[ 9.97145152e-01 7.53177705e-02 -5.36468376e-03 6.97090479e+01] [-7.53192228e-02 9.97159471e-01 -6.88939447e-05 -1.05529303e+00] [ 5.34425628e-03 4.72761074e-04 9.99985608e-01 -2.45092078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:69.74, Y:-1.06, Z:-0.25 [[ 9.97015586e-01 7.71062970e-02 -3.81325051e-03 6.97383577e+01] [-7.71070443e-02 9.97022819e-01 -4.91489725e-05 -1.05502570e+00] [ 3.79810808e-03 3.43030768e-04 9.99992728e-01 -2.46395608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:-1.05, Z:-0.25 [[ 9.96925286e-01 7.82616858e-02 -3.88354933e-03 6.97657908e+01] [-7.82624705e-02 9.96932788e-01 -5.02810828e-05 -1.05469780e+00] [ 3.86770258e-03 3.54062648e-04 9.99992458e-01 -2.45452023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.79, Y:-1.05, Z:-0.25 [[ 9.96894452e-01 7.86435772e-02 -4.07907579e-03 6.97941801e+01] [-7.86444469e-02 9.96902728e-01 -5.30065251e-05 -1.05257667e+00] [ 4.06227316e-03 3.73638570e-04 9.99991679e-01 -2.46065239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:69.82, Y:-1.05, Z:-0.25 [[ 9.96864597e-01 7.90425681e-02 -3.63968097e-03 6.98222163e+01] [-7.90432640e-02 9.96871185e-01 -4.75113035e-05 -1.05024577e+00] [ 3.62453767e-03 3.35054600e-04 9.99993375e-01 -2.48968699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:-1.05, Z:-0.25 [[ 9.96891916e-01 7.87007687e-02 -3.56316757e-03 6.98501310e+01] [-7.87014343e-02 9.96898231e-01 -4.67337657e-05 -1.04875533e+00] [ 3.54843746e-03 3.27014911e-04 9.99993651e-01 -2.47110425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.125898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.88, Y:-1.05, Z:-0.25 [[ 9.97035238e-01 7.68629331e-02 -3.58113886e-03 6.98782247e+01] [-7.68635943e-02 9.97041617e-01 -4.71720420e-05 -1.04720496e+00] [ 3.56691870e-03 3.22291393e-04 9.99993587e-01 -2.45877403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:-1.05, Z:-0.25 [[ 9.97119289e-01 7.57708028e-02 -3.45100217e-03 6.99072497e+01] [-7.57714110e-02 9.97125213e-01 -4.56213360e-05 -1.04616623e+00] [ 3.43762451e-03 3.06977218e-04 9.99994044e-01 -2.45346563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.185898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.94, Y:-1.04, Z:-0.25 [[ 9.97199515e-01 7.47138853e-02 -3.31099488e-03 6.99352042e+01] [-7.47144400e-02 9.97204969e-01 -4.39646894e-05 -1.04479485e+00] [ 3.29845578e-03 2.91220695e-04 9.99994518e-01 -2.45587142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:-1.04, Z:-0.25 [[ 9.97367776e-01 7.24686253e-02 -2.41202329e-03 6.99638874e+01] [-7.24689134e-02 9.97370671e-01 -3.21403649e-05 -1.04240711e+00] [ 2.40335212e-03 2.06852471e-04 9.99997091e-01 -2.46554881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.245898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.99, Y:-1.04, Z:-0.25 [[ 9.97508713e-01 7.05117505e-02 -2.11188631e-03 6.99931664e+01] [-7.05119672e-02 9.97510933e-01 -2.82417173e-05 -1.04055180e+00] [ 2.10463831e-03 1.77084617e-04 9.99997770e-01 -2.47417589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27589822699998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.02, Y:-1.04, Z:-0.25 [[ 9.97663413e-01 6.82852027e-02 -2.20101450e-03 7.00211789e+01] [-6.82854330e-02 9.97665825e-01 -2.95642999e-05 -1.03795639e+00] [ 2.19385814e-03 1.79792449e-04 9.99997577e-01 -2.47341865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:-1.03, Z:-0.25 [[ 9.97840532e-01 6.55983580e-02 -3.33582627e-03 7.00494904e+01] [-6.55988726e-02 9.97846073e-01 -4.49703190e-05 -1.03300639e+00] [ 3.32569116e-03 2.63699649e-04 9.99994435e-01 -2.46406484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.08, Y:-1.03, Z:-0.25 [[ 9.97860774e-01 6.52725156e-02 -3.65721391e-03 7.00783157e+01] [-6.52731326e-02 9.97867434e-01 -4.94800074e-05 -1.03015614e+00] [ 3.64618497e-03 2.88091967e-04 9.99993311e-01 -2.45916789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.11, Y:-1.03, Z:-0.25 [[ 9.97893002e-01 6.47937162e-02 -3.36612801e-03 7.01060495e+01] [-6.47942369e-02 9.97898645e-01 -4.57442195e-05 -1.02737262e+00] [ 3.35609064e-03 2.63753532e-04 9.99994334e-01 -2.45796375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:-1.03, Z:-0.25 [[ 9.97914352e-01 6.45058072e-02 -2.43851742e-03 7.01344505e+01] [-6.45060799e-02 9.97917313e-01 -3.32557864e-05 -1.02504294e+00] [ 2.43129357e-03 1.90485626e-04 9.99997026e-01 -2.45235484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:-1.02, Z:-0.25 [[ 9.97916689e-01 6.44696531e-02 -2.43851621e-03 7.01637751e+01] [-6.44699259e-02 9.97919650e-01 -3.33444217e-05 -1.02456398e+00] [ 2.43129354e-03 1.90485914e-04 9.99997026e-01 -2.45234775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.19, Y:-1.02, Z:-0.24 [[ 9.97929397e-01 6.43029666e-02 -1.43083122e-03 7.01918525e+01] [-6.43030605e-02 9.97930416e-01 -1.96503099e-05 -1.02290590e+00] [ 1.42660642e-03 1.11616449e-04 9.99998976e-01 -2.43894423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:-1.02, Z:-0.24 [[ 9.97908857e-01 6.45931418e-02 -2.37467525e-03 7.02192156e+01] [-6.45934015e-02 9.97911665e-01 -3.27609585e-05 -1.02268478e+00] [ 2.36760000e-03 1.86080802e-04 9.99997180e-01 -2.44974898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.515898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.25, Y:-1.02, Z:-0.25 [[ 9.97936455e-01 6.41274453e-02 -3.24072896e-03 7.02476582e+01] [-6.41279271e-02 9.97941685e-01 -4.48631698e-05 -1.02299210e+00] [ 3.23118156e-03 2.52591823e-04 9.99994748e-01 -2.46155295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.28, Y:-1.02, Z:-0.25 [[ 9.97975524e-01 6.35230760e-02 -3.11006826e-03 7.02766664e+01] [-6.35235172e-02 9.97980341e-01 -4.32020820e-05 -1.02315793e+00] [ 3.10104265e-03 2.40677095e-04 9.99995163e-01 -2.45527641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.575898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.30, Y:-1.02, Z:-0.25 [[ 9.97986562e-01 6.33251912e-02 -3.56962934e-03 7.03047249e+01] [-6.33257720e-02 9.97992908e-01 -4.97958132e-05 -1.02284162e+00] [ 3.55931144e-03 2.75745086e-04 9.99993628e-01 -2.45052396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:-1.02, Z:-0.24 [[ 9.97935356e-01 6.40854858e-02 -4.25156695e-03 7.03331595e+01] [-6.40863174e-02 9.97944357e-01 -5.95093265e-05 -1.02292329e+00] [ 4.23901356e-03 3.31853730e-04 9.99990960e-01 -2.44995545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:-1.02, Z:-0.24 [[ 9.97707943e-01 6.73505613e-02 -6.53933245e-03 7.03607537e+01] [-6.73526010e-02 9.97729231e-01 -9.19527308e-05 -1.02173789e+00] [ 6.51829007e-03 5.32183019e-04 9.99978614e-01 -2.44861526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:-1.02, Z:-0.25 [[ 9.97571228e-01 6.92880606e-02 -7.12808299e-03 7.03898093e+01] [-6.92905356e-02 9.97596517e-01 -1.00563094e-04 -1.02036684e+00] [ 7.10398294e-03 5.94227537e-04 9.99974590e-01 -2.45699451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:-1.02, Z:-0.25 [[ 9.97305072e-01 7.31427742e-02 -5.72077773e-03 7.04184344e+01] [-7.31444329e-02 9.97321355e-01 -8.09726898e-05 -1.01773553e+00] [ 5.69953123e-03 4.99197517e-04 9.99983633e-01 -2.46349972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72589822699999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:70.45, Y:-1.02, Z:-0.25 [[ 9.97183976e-01 7.48817258e-02 -4.10422321e-03 7.04475019e+01] [-7.48825948e-02 9.97192355e-01 -5.82796841e-05 -1.01536459e+00] [ 4.08833592e-03 3.65450451e-04 9.99991576e-01 -2.48480746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:-1.01, Z:-0.25 [[ 9.97150182e-01 7.53802472e-02 -3.05482286e-03 7.04759956e+01] [-7.53807314e-02 9.97154824e-01 -4.35172894e-05 -1.01213243e+00] [ 3.04285100e-03 2.73668054e-04 9.99995333e-01 -2.45880052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:-1.01, Z:-0.25 [[ 9.97189420e-01 7.48799335e-02 -2.50109545e-03 7.05045195e+01] [-7.48802568e-02 9.97192532e-01 -3.57425864e-05 -1.00843434e+00] [ 2.49139730e-03 2.22924799e-04 9.99996872e-01 -2.45616867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:-1.00, Z:-0.25 [[ 9.97483025e-01 7.08181364e-02 -3.52240956e-03 7.05325697e+01] [-7.08187532e-02 9.97489199e-01 -5.05365528e-05 -1.00449704e+00] [ 3.50998658e-03 2.99862006e-04 9.99993795e-01 -2.46110923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.56, Y:-1.00, Z:-0.25 [[ 9.97703418e-01 6.76160104e-02 -3.99571847e-03 7.05614101e+01] [-6.76167793e-02 9.97711365e-01 -5.75071995e-05 -1.00395523e+00] [ 3.98268533e-03 3.27552744e-04 9.99992015e-01 -2.46475061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:-1.00, Z:-0.25 [[ 9.97954942e-01 6.38230783e-02 -3.54245036e-03 7.05897302e+01] [-6.38236595e-02 9.97961191e-01 -5.11427746e-05 -1.00327970e+00] [ 3.53196389e-03 2.77130330e-04 9.99993724e-01 -2.46088054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:-1.00, Z:-0.24 [[ 9.98348880e-01 5.74254805e-02 -1.35178216e-03 7.06173778e+01] [-5.74255593e-02 9.98349791e-01 -1.95907800e-05 -1.00134398e+00] [ 1.34842643e-03 9.71852801e-05 9.99999086e-01 -2.43431174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.935898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.65, Y:-1.00, Z:-0.24 [[ 9.98452464e-01 5.55988789e-02 -1.20086518e-03 7.06452772e+01] [-5.55989399e-02 9.98453182e-01 -1.74755869e-05 -9.99188873e-01] [ 1.19803604e-03 8.42153739e-05 9.99999279e-01 -2.43054744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.965898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.67, Y:-1.00, Z:-0.24 [[ 9.98479131e-01 5.50770603e-02 -2.43757068e-03 7.06736885e+01] [-5.50773105e-02 9.98482092e-01 -3.55829100e-05 -9.96557850e-01] [ 2.43191087e-03 1.69783630e-04 9.99997028e-01 -2.42412180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:-0.99, Z:-0.24 [[ 9.98410232e-01 5.62836428e-02 -3.02671400e-03 7.07017168e+01] [-5.62840345e-02 9.98414796e-01 -4.43500869e-05 -9.91221334e-01] [ 3.01941985e-03 2.14635256e-04 9.99995419e-01 -2.43145425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.73, Y:-0.99, Z:-0.24 [[ 9.98337237e-01 5.76165410e-02 -1.75918068e-03 7.07306067e+01] [-5.76166756e-02 9.98338779e-01 -2.58540593e-05 -9.88455320e-01] [ 1.75476867e-03 1.27169213e-04 9.99998452e-01 -2.42749943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:-0.99, Z:-0.24 [[ 9.98277169e-01 5.86728655e-02 -4.33303808e-04 7.07598746e+01] [-5.86728738e-02 9.98277263e-01 -6.38632257e-06 -9.86254029e-01] [ 4.32182636e-04 3.17984997e-05 9.99999906e-01 -2.42030590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.79, Y:-0.98, Z:-0.24 [[ 9.98285197e-01 5.85319428e-02 -8.22940974e-04 7.07876214e+01] [-5.85319726e-02 9.98285534e-01 -1.21779048e-05 -9.84244464e-01] [ 8.20817274e-04 6.03253806e-05 9.99999661e-01 -2.41800302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.82, Y:-0.98, Z:-0.24 [[ 9.98343379e-01 5.74927681e-02 -2.25375091e-03 7.08166903e+01] [-5.74929893e-02 9.98345910e-01 -3.34512855e-05 -9.83253819e-01] [ 2.24809980e-03 1.62970747e-04 9.99997460e-01 -2.42927804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.85, Y:-0.98, Z:-0.24 [[ 9.98409610e-01 5.62448760e-02 -3.84254572e-03 7.08456068e+01] [-5.62455106e-02 9.98416967e-01 -5.71995741e-05 -9.81866852e-01] [ 3.83324566e-03 2.73234550e-04 9.99992616e-01 -2.43926820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:-0.98, Z:-0.24 [[ 9.98591238e-01 5.29418710e-02 -3.56326225e-03 7.08738985e+01] [-5.29423964e-02 9.98597567e-01 -5.32337820e-05 -9.80405309e-01] [ 3.55544672e-03 2.41806431e-04 9.99993650e-01 -2.43868655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.90, Y:-0.98, Z:-0.24 [[ 9.98672023e-01 5.14192174e-02 -3.20223908e-03 7.09022538e+01] [-5.14196344e-02 9.98677134e-01 -4.79776939e-05 -9.81153127e-01] [ 3.19553597e-03 2.12571944e-04 9.99994872e-01 -2.44034101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.93, Y:-0.98, Z:-0.25 [[ 9.98764009e-01 4.95711865e-02 -3.62661600e-03 7.09309702e+01] [-4.95717099e-02 9.98770566e-01 -5.45093311e-05 -9.82662576e-01] [ 3.61945522e-03 2.34219514e-04 9.99993422e-01 -2.45132678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.96, Y:-0.99, Z:-0.25 [[ 9.98850748e-01 4.77769333e-02 -3.81424987e-03 7.09592524e+01] [-4.77775001e-02 9.98858002e-01 -5.75566269e-05 -9.87621594e-01] [ 3.80714413e-03 2.39725803e-04 9.99992724e-01 -2.45034267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:-0.99, Z:-0.24 [[ 9.98813718e-01 4.85257266e-02 -4.05110358e-03 7.09884120e+01] [-4.85263728e-02 9.98821900e-01 -6.13252386e-05 -9.88744719e-01] [ 4.04335512e-03 2.57837852e-04 9.99991792e-01 -2.43765813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.325898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:71.02, Y:-0.99, Z:-0.24 [[ 9.98696441e-01 5.08152269e-02 -4.81988922e-03 7.10175267e+01] [-5.08161694e-02 9.98708021e-01 -7.31963741e-05 -9.88467002e-01] [ 4.80994253e-03 3.18029265e-04 9.99988382e-01 -2.44351421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:-0.99, Z:-0.24 [[ 9.98499573e-01 5.44273783e-02 -6.02189456e-03 7.10452956e+01] [-5.44289171e-02 9.98517644e-01 -9.18109524e-05 -9.87367821e-01] [ 6.00797094e-03 4.19438396e-04 9.99981864e-01 -2.42296799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:-0.99, Z:-0.24 [[ 9.97937025e-01 6.37410790e-02 -7.66615521e-03 7.10734640e+01] [-6.37438501e-02 9.97966286e-01 -1.17423128e-04 -9.86405062e-01] [ 7.64307976e-03 6.05851135e-04 9.99970608e-01 -2.43797909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:-0.99, Z:-0.24 [[ 9.97702420e-01 6.74345094e-02 -6.51682646e-03 7.11018724e+01] [-6.74365920e-02 9.97723557e-01 -1.00127266e-04 -9.86280132e-01] [ 6.49523924e-03 5.39369783e-04 9.99978760e-01 -2.43979233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:-0.99, Z:-0.24 [[ 9.97551280e-01 6.97844686e-02 -4.64443092e-03 7.11294038e+01] [-6.97855531e-02 9.97562014e-01 -7.16640302e-05 -9.86226967e-01] [ 4.62810682e-03 3.95602726e-04 9.99989212e-01 -2.43677053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:-0.99, Z:-0.24 [[ 9.97499005e-01 7.06032484e-02 -3.30409862e-03 7.11571378e+01] [-7.06038024e-02 9.97504436e-01 -5.11694840e-05 -9.85844146e-01] [ 3.29224029e-03 2.84323435e-04 9.99994540e-01 -2.42429854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:-0.99, Z:-0.24 [[ 9.97595510e-01 6.91443528e-02 -4.71765639e-03 7.11864122e+01] [-6.91454669e-02 9.97606585e-01 -7.32849507e-05 -9.86584364e-01] [ 4.70129784e-03 3.99313292e-04 9.99988869e-01 -2.42335909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:-0.99, Z:-0.24 [[ 9.97711275e-01 6.73742438e-02 -5.73793251e-03 7.12154165e+01] [-6.73758645e-02 9.97727661e-01 -8.94085013e-05 -9.87519983e-01] [ 5.71887015e-03 4.75802033e-04 9.99983534e-01 -2.43392799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:-0.99, Z:-0.24 [[ 9.97965022e-01 6.36862716e-02 -3.14213867e-03 7.12431386e+01] [-6.36867400e-02 9.97969938e-01 -4.91470599e-05 -9.88507158e-01] [ 3.13262994e-03 2.49159615e-04 9.99995062e-01 -2.44150666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:-0.99, Z:-0.24 [[ 9.98031476e-01 6.26948948e-02 -1.58843674e-03 7.12723630e+01] [-6.26950134e-02 9.98032732e-01 -2.49203686e-05 -9.88047953e-01] [ 1.58374948e-03 1.24458375e-04 9.99998738e-01 -2.43502100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:-0.99, Z:-0.24 [[ 9.98064160e-01 6.21830574e-02 -1.09561206e-03 7.13014940e+01] [-6.21831135e-02 9.98064757e-01 -1.72404620e-05 -9.87551756e-01] [ 1.09241972e-03 8.53356562e-05 9.99999400e-01 -2.43295298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:-0.99, Z:-0.24 [[ 9.98043681e-01 6.23814152e-02 -4.16774338e-03 7.13304061e+01] [-6.23822305e-02 9.98052330e-01 -6.57853804e-05 -9.88462888e-01] [ 4.15552221e-03 3.25649812e-04 9.99991313e-01 -2.43301163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:-0.99, Z:-0.24 [[ 9.98016285e-01 6.27691621e-02 -4.85043039e-03 7.13584131e+01] [-6.27702725e-02 9.98027999e-01 -7.68737426e-05 -9.89047418e-01] [ 4.83604004e-03 3.81184084e-04 9.99988234e-01 -2.43250419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:-0.99, Z:-0.24 [[ 9.97905274e-01 6.45864876e-02 -3.69459247e-03 7.13875975e+01] [-6.45871448e-02 9.97912069e-01 -5.87330522e-05 -9.90736723e-01] [ 3.68308505e-03 2.97233202e-04 9.99993173e-01 -2.42626358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:-0.99, Z:-0.24 [[ 9.97803731e-01 6.61717459e-02 -3.00230217e-03 7.14158326e+01] [-6.61721876e-02 9.97808218e-01 -4.79066657e-05 -9.91000560e-01] [ 2.99255171e-03 2.46470352e-04 9.99995492e-01 -2.42710806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:-0.99, Z:-0.24 [[ 9.97718168e-01 6.74412227e-02 -3.18398165e-03 7.14448457e+01] [-6.74417263e-02 9.97723214e-01 -5.09566586e-05 -9.90802631e-01] [ 3.17329582e-03 2.65573603e-04 9.99994930e-01 -2.43068510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:-0.99, Z:-0.24 [[ 9.97641761e-01 6.85278501e-02 -3.85364583e-03 7.14727362e+01] [-6.85285968e-02 9.97649151e-01 -6.19182874e-05 -9.90138235e-01] [ 3.84034337e-03 3.25857211e-04 9.99992573e-01 -2.43719157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83589822699999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:71.50, Y:-0.99, Z:-0.25 [[ 9.97545858e-01 6.98523563e-02 -4.78629292e-03 7.15010864e+01] [-6.98535245e-02 9.97557256e-01 -7.71315345e-05 -9.89333440e-01] [ 4.76921342e-03 4.11281673e-04 9.99988543e-01 -2.45991027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:-0.99, Z:-0.24 [[ 9.97359741e-01 7.24802885e-02 -4.48951078e-03 7.15298026e+01] [-7.24813437e-02 9.97369766e-01 -7.25611753e-05 -9.89469956e-01] [ 4.47244306e-03 3.97775369e-04 9.99989919e-01 -2.44544458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89589822699999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:71.56, Y:-0.99, Z:-0.25 [[ 9.97269400e-01 7.37167150e-02 -4.42600878e-03 7.15587345e+01] [-7.37177535e-02 9.97279142e-01 -7.17446255e-05 -9.90031815e-01] [ 4.40867746e-03 3.97824144e-04 9.99990203e-01 -2.45879319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:-0.99, Z:-0.24 [[ 9.97287217e-01 7.34348822e-02 -5.05212164e-03 7.15861907e+01] [-7.34362333e-02 9.97299911e-01 -8.21900149e-05 -9.90778724e-01] [ 5.03244485e-03 4.52975834e-04 9.99987235e-01 -2.43748790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:-0.99, Z:-0.24 [[ 9.97358584e-01 7.24427080e-02 -5.28283083e-03 7.16148319e+01] [-7.24441728e-02 9.97372465e-01 -8.61927086e-05 -9.91212359e-01] [ 5.26270598e-03 4.68675348e-04 9.99986042e-01 -2.44139417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:-0.99, Z:-0.24 [[ 9.97447489e-01 7.12535769e-02 -4.62974370e-03 7.16429612e+01] [-7.12546905e-02 9.97458151e-01 -7.58303025e-05 -9.92827336e-01] [ 4.61257241e-03 4.05527699e-04 9.99989280e-01 -2.44539757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:-1.00, Z:-0.24 [[ 9.97634648e-01 6.86534059e-02 -3.43793834e-03 7.16723329e+01] [-6.86540052e-02 9.97640529e-01 -5.64681181e-05 -9.97260544e-01] [ 3.42594989e-03 2.92362787e-04 9.99994089e-01 -2.44354692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:-1.00, Z:-0.24 [[ 9.97707032e-01 6.76056309e-02 -3.18714070e-03 7.17012881e+01] [-6.76061411e-02 9.97712086e-01 -5.24995108e-05 -9.98247691e-01] [ 3.17629954e-03 2.67849415e-04 9.99994920e-01 -2.43403201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:-1.00, Z:-0.24 [[ 9.97749698e-01 6.69864915e-02 -2.88968255e-03 7.17302549e+01] [-6.69869088e-02 9.97753853e-01 -4.77368926e-05 -9.99056196e-01] [ 2.87999418e-03 2.41200372e-04 9.99995824e-01 -2.42487203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:-1.00, Z:-0.24 [[ 9.97717158e-01 6.74855025e-02 -2.48569386e-03 7.17589944e+01] [-6.74858131e-02 9.97720233e-01 -4.11807357e-05 -1.00081403e+00] [ 2.47724795e-03 2.08835798e-04 9.99996910e-01 -2.42127208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:-1.00, Z:-0.24 [[ 9.97640985e-01 6.86212517e-02 -1.89467144e-03 7.17872480e+01] [-6.86214343e-02 9.97642771e-01 -3.15000917e-05 -1.00151903e+00] [ 1.88804369e-03 1.61440854e-04 9.99998205e-01 -2.42229048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:-1.00, Z:-0.24 [[ 9.97547068e-01 6.99825664e-02 -1.51257297e-03 7.18147460e+01] [-6.99826845e-02 9.97548206e-01 -2.52334760e-05 -1.00145147e+00] [ 1.50709855e-03 1.31025497e-04 9.99998856e-01 -2.42702595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:-1.00, Z:-0.24 [[ 9.97319334e-01 7.31535273e-02 -1.64568940e-03 7.18436599e+01] [-7.31536715e-02 9.97320680e-01 -2.75301763e-05 -1.00243706e+00] [ 1.63926614e-03 1.47844598e-04 9.99998645e-01 -2.43112730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:-1.00, Z:-0.24 [[ 9.97239006e-01 7.42266075e-02 -2.18520923e-03 7.18717284e+01] [-7.42268646e-02 9.97241381e-01 -3.66804326e-05 -1.00337090e+00] [ 2.17645841e-03 1.98780388e-04 9.99997612e-01 -2.42799948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:-1.00, Z:-0.24 [[ 9.97210514e-01 7.45784511e-02 -3.04050801e-03 7.19001034e+01] [-7.45789509e-02 9.97215111e-01 -5.11785011e-05 -1.00425344e+00] [ 3.02822372e-03 2.77793637e-04 9.99995376e-01 -2.42812074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:-1.01, Z:-0.24 [[ 9.97372912e-01 7.23597682e-02 -3.36719774e-03 7.19289408e+01] [-7.23603691e-02 9.97378551e-01 -5.68370402e-05 -1.00516789e+00] [ 3.35425809e-03 3.00339396e-04 9.99994329e-01 -2.43295859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.96, Y:-1.01, Z:-0.24 [[ 9.97490786e-01 7.07606916e-02 -2.24871178e-03 7.19565090e+01] [-7.07609559e-02 9.97493301e-01 -3.80896485e-05 -1.00568229e+00] [ 2.24037969e-03 1.97115069e-04 9.99997471e-01 -2.43784273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:-1.01, Z:-0.24 [[ 9.97493202e-01 7.07266181e-02 -2.24871047e-03 7.19858325e+01] [-7.07268825e-02 9.97495718e-01 -3.81670653e-05 -1.00510546e+00] [ 2.24037964e-03 1.97115669e-04 9.99997471e-01 -2.43783564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:-1.01, Z:-0.24 [[ 9.97608152e-01 6.91192344e-02 -7.11401998e-04 7.20135197e+01] [-6.91192605e-02 9.97608404e-01 -1.21137418e-05 -1.00639527e+00] [ 7.08863319e-04 6.12563475e-05 9.99999747e-01 -2.43782971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:-1.01, Z:-0.24 [[ 9.97759015e-01 6.69033153e-02 -9.45623997e-04 7.20424871e+01] [-6.69033604e-02 9.97759460e-01 -1.61456322e-05 -1.00848506e+00] [ 9.42425093e-04 7.93748732e-05 9.99999553e-01 -2.42944267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:-1.01, Z:-0.24 [[ 9.97808370e-01 6.61343525e-02 -2.16880105e-03 7.20716513e+01] [-6.61345884e-02 9.97810711e-01 -3.71340608e-05 -1.00720738e+00] [ 2.16159708e-03 1.80485442e-04 9.99997647e-01 -2.43129120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:-1.01, Z:-0.24 [[ 9.97796671e-01 6.62076573e-02 -4.28353156e-03 7.20997783e+01] [-6.62085792e-02 9.97805802e-01 -7.36148279e-05 -1.00553998e+00] [ 4.26925878e-03 3.57059169e-04 9.99990823e-01 -2.43426193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:-1.00, Z:-0.25 [[ 9.97705258e-01 6.72848647e-02 -7.54750256e-03 7.21285695e+01] [-6.72877601e-02 9.97733602e-01 -1.30052045e-04 -1.00320576e+00] [ 7.52164638e-03 6.37608150e-04 9.99971509e-01 -2.45526158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:-1.00, Z:-0.25 [[ 9.97674151e-01 6.76290090e-02 -8.52091247e-03 7.21572595e+01] [-6.76327152e-02 9.97710276e-01 -1.47227725e-04 -1.00209991e+00] [ 8.49144506e-03 7.23177742e-04 9.99963686e-01 -2.45699763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:-1.00, Z:-0.25 [[ 9.97702792e-01 6.72060628e-02 -8.51378440e-03 7.21854851e+01] [-6.72097518e-02 9.97738857e-01 -1.47604430e-04 -1.00067041e+00] [ 8.48461360e-03 7.19474688e-04 9.99963746e-01 -2.45667825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:-1.00, Z:-0.24 [[ 9.97804265e-01 6.58296380e-02 -7.28743566e-03 7.22142254e+01] [-6.58323068e-02 9.97830693e-01 -1.26687788e-04 -9.96886407e-01] [ 7.26328716e-03 6.06158315e-04 9.99973438e-01 -2.43966149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:-1.00, Z:-0.24 [[ 9.97874841e-01 6.49190732e-02 -5.59605811e-03 7.22423811e+01] [-6.49206345e-02 9.97890426e-01 -9.76130638e-05 -9.95484613e-01] [ 5.57791586e-03 4.60705264e-04 9.99984337e-01 -2.44346789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:-1.00, Z:-0.24 [[ 9.97946235e-01 6.38991540e-02 -4.49552672e-03 7.22703582e+01] [-6.39001525e-02 9.97956294e-01 -7.86730003e-05 -9.95018088e-01] [ 4.48131204e-03 3.65776267e-04 9.99989892e-01 -2.44583385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:-0.99, Z:-0.25 [[ 9.98014968e-01 6.27943513e-02 -4.79511368e-03 7.22984873e+01] [-6.27954759e-02 9.98026413e-01 -8.41833549e-05 -9.94742693e-01] [ 4.78036387e-03 3.85127694e-04 9.99988500e-01 -2.45195908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.33, Y:-0.99, Z:-0.25 [[ 9.98091112e-01 6.13769868e-02 -6.85549475e-03 7.23277122e+01] [-6.13792545e-02 9.98114509e-01 -1.20673602e-04 -9.92624256e-01] [ 6.83516219e-03 5.41228406e-04 9.99976494e-01 -2.46910160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:-0.99, Z:-0.25 [[ 9.98120331e-01 6.08731139e-02 -7.09009740e-03 7.23551311e+01] [-6.08755299e-02 9.98145357e-01 -1.25243237e-04 -9.90894393e-01] [ 7.06932386e-03 5.56621258e-04 9.99974857e-01 -2.47125792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.99, Z:-0.25 [[ 9.98178524e-01 5.99547008e-02 -6.71331212e-03 7.23844298e+01] [-5.99568482e-02 9.98200963e-01 -1.18895139e-04 -9.89508374e-01] [ 6.69410630e-03 5.21187611e-04 9.99977458e-01 -2.46743915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:-0.99, Z:-0.25 [[ 9.98231702e-01 5.91937328e-02 -5.43801565e-03 7.24125966e+01] [-5.91951323e-02 9.98246426e-01 -9.66196211e-05 -9.88963039e-01] [ 5.42276041e-03 4.18352824e-04 9.99985209e-01 -2.46623668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.44, Y:-0.99, Z:-0.24 [[ 9.98344693e-01 5.74705501e-02 -2.23806179e-03 7.24415189e+01] [-5.74707830e-02 9.98347188e-01 -3.98640090e-05 -9.87473042e-01] [ 2.23207169e-03 1.68421186e-04 9.99997495e-01 -2.44993800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:-0.99, Z:-0.24 [[ 9.98374136e-01 5.69808004e-02 -1.50772259e-03 7.24707665e+01] [-5.69809057e-02 9.98375268e-01 -2.69229670e-05 -9.86390912e-01] [ 1.50373885e-03 1.12790593e-04 9.99998863e-01 -2.44322002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:-0.99, Z:-0.25 [[ 9.98355456e-01 5.73189502e-02 -9.60415808e-04 7.24995432e+01] [-5.73189931e-02 9.98355915e-01 -1.71933844e-05 -9.86036897e-01] [ 9.57851296e-04 7.22151763e-05 9.99999539e-01 -2.45384335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:-0.99, Z:-0.25 [[ 9.98274357e-01 5.86409290e-02 -3.09018278e-03 7.25283377e+01] [-5.86413800e-02 9.98279112e-01 -5.54660376e-05 -9.86574100e-01] [ 3.08161234e-03 2.36582906e-04 9.99995224e-01 -2.46169184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:-0.99, Z:-0.25 [[ 9.98222337e-01 5.95222795e-02 -3.04387187e-03 7.25561898e+01] [-5.95227217e-02 9.98226949e-01 -5.48097577e-05 -9.85872946e-01] [ 3.03521253e-03 2.35891863e-04 9.99995366e-01 -2.47077285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:-0.98, Z:-0.25 [[ 9.98057138e-01 6.22919177e-02 -1.29076062e-03 7.25844733e+01] [-6.22919996e-02 9.98057967e-01 -2.33128815e-05 -9.84018484e-01] [ 1.28680172e-03 1.03671648e-04 9.99999167e-01 -2.45716343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:-0.98, Z:-0.25 [[ 9.97926929e-01 6.43445307e-02 -1.27504481e-03 7.26133085e+01] [-6.43446123e-02 9.97927738e-01 -2.30899787e-05 -9.82448251e-01] [ 1.27091687e-03 1.05084376e-04 9.99999187e-01 -2.45361456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:-0.98, Z:-0.25 [[ 9.97765189e-01 6.67870733e-02 -2.02829148e-03 7.26407383e+01] [-6.67872852e-02 9.97767236e-01 -3.68511309e-05 -9.81645830e-01] [ 2.02130160e-03 1.72232857e-04 9.99997942e-01 -2.45819105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:-0.98, Z:-0.25 [[ 9.97467905e-01 7.10401747e-02 -3.32754372e-03 7.26680821e+01] [-7.10407692e-02 9.97473411e-01 -6.06520138e-05 -9.79545947e-01] [ 3.31482765e-03 2.96889702e-04 9.99994462e-01 -2.48557319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09589822699999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:72.70, Y:-0.98, Z:-0.25 [[ 9.97323984e-01 7.30176715e-02 -3.64568771e-03 7.26963791e+01] [-7.30183988e-02 9.97330592e-01 -6.66206878e-05 -9.77240009e-01] [ 3.63109139e-03 3.32644689e-04 9.99993352e-01 -2.50583582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:-0.98, Z:-0.25 [[ 9.97185510e-01 7.48568179e-02 -4.18524991e-03 7.27252689e+01] [-7.48577933e-02 9.97194216e-01 -7.66769946e-05 -9.75181252e-01] [ 4.16776721e-03 3.89759761e-04 9.99991239e-01 -2.49846961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.155898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:72.75, Y:-0.97, Z:-0.25 [[ 9.96997008e-01 7.70896901e-02 -7.35843202e-03 7.27532631e+01] [-7.70927690e-02 9.97023915e-01 -1.35274913e-04 -9.72930487e-01] [ 7.32610440e-03 7.02150584e-04 9.99972917e-01 -2.51107454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:-0.97, Z:-0.25 [[ 9.97046380e-01 7.63435559e-02 -8.37719011e-03 7.27813430e+01] [-7.63475243e-02 9.97081256e-01 -1.54479399e-04 -9.69846680e-01] [ 8.34094573e-03 7.93600851e-04 9.99964899e-01 -2.49415023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:-0.97, Z:-0.25 [[ 9.97143537e-01 7.49956388e-02 -8.96776831e-03 7.28092051e+01] [-7.50001381e-02 9.97183510e-01 -1.66004565e-04 -9.65977398e-01] [ 8.93006105e-03 8.38114240e-04 9.99959775e-01 -2.49066763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:-0.96, Z:-0.25 [[ 9.97250818e-01 7.36605165e-02 -8.05815473e-03 7.28365300e+01] [-7.36641114e-02 9.97283097e-01 -1.49828445e-04 -9.62415888e-01] [ 8.02522507e-03 7.43013348e-04 9.99967521e-01 -2.48468861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.86, Y:-0.96, Z:-0.25 [[ 9.97483456e-01 7.07599606e-02 -4.44769915e-03 7.28648973e+01] [-7.07610285e-02 9.97493293e-01 -8.30101161e-05 -9.59974546e-01] [ 4.43067628e-03 3.97524984e-04 9.99990105e-01 -2.46467530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:-0.96, Z:-0.25 [[ 9.97634491e-01 6.86741212e-02 -3.04755363e-03 7.28933683e+01] [-6.86746133e-02 9.97639110e-01 -5.70234183e-05 -9.60361545e-01] [ 3.03644266e-03 2.66178096e-04 9.99995355e-01 -2.46002831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:-0.96, Z:-0.25 [[ 9.97812731e-01 6.60419532e-02 -2.86607214e-03 7.29210952e+01] [-6.60423782e-02 9.97816818e-01 -5.37633706e-05 -9.60425975e-01] [ 2.85626434e-03 2.42927996e-04 9.99995891e-01 -2.45892436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:-0.96, Z:-0.25 [[ 9.98006302e-01 6.30212725e-02 -3.42654048e-03 7.29499477e+01] [-6.30218627e-02 9.98012145e-01 -6.44368362e-05 -9.59806462e-01] [ 3.41566813e-03 2.80255333e-04 9.99994127e-01 -2.45949440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.98, Y:-0.96, Z:-0.25 [[ 9.98324945e-01 5.76456745e-02 -4.92748801e-03 7.29779655e+01] [-5.76468313e-02 9.98337034e-01 -9.29479300e-05 -9.57929234e-01] [ 4.91393573e-03 3.76846307e-04 9.99987856e-01 -2.46594212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:-0.96, Z:-0.25 [[ 9.98448090e-01 5.53916494e-02 -5.75996684e-03 7.30066038e+01] [-5.53931944e-02 9.98464612e-01 -1.08910503e-04 -9.56642773e-01] [ 5.74509033e-03 4.27804446e-04 9.99983405e-01 -2.46743113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:-0.95, Z:-0.24 [[ 9.98614621e-01 5.22746647e-02 -6.01652949e-03 7.30353976e+01] [-5.22762957e-02 9.98632653e-01 -1.14049377e-04 -9.53644860e-01] [ 6.00234092e-03 4.28413250e-04 9.99981894e-01 -2.44882892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:-0.95, Z:-0.24 [[ 9.98685805e-01 5.11047827e-02 -3.86821875e-03 7.30631691e+01] [-5.11054491e-02 9.98693260e-01 -7.35561225e-05 -9.51908325e-01] [ 3.85940492e-03 2.71146512e-04 9.99992516e-01 -2.44097312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:-0.95, Z:-0.24 [[ 9.98784930e-01 4.92620956e-02 -1.38203631e-03 7.30916338e+01] [-4.92621790e-02 9.98785881e-01 -2.63431209e-05 -9.50202642e-01] [ 1.37906064e-03 9.43932323e-05 9.99999045e-01 -2.43733045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:-0.95, Z:-0.24 [[ 9.99032633e-01 4.39478877e-02 1.54340814e-03 7.31204163e+01] [-4.39479855e-02 9.99033820e-01 2.94759356e-05 -9.49349452e-01] [-1.54062153e-03 -9.72771003e-05 9.99998809e-01 -2.44677248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:-0.95, Z:-0.25 [[ 9.99167227e-01 4.07302716e-02 2.42835994e-03 7.31497288e+01] [-4.07305044e-02 9.99170168e-01 4.64924331e-05 -9.48778313e-01] [-2.42445116e-03 -1.45362041e-04 9.99997050e-01 -2.45853432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:-0.95, Z:-0.25 [[ 9.99286279e-01 3.76371538e-02 3.22141857e-03 7.31790394e+01] [-3.76375478e-02 9.99291455e-01 6.17531075e-05 -9.47666545e-01] [-3.21681183e-03 -1.82955328e-04 9.99994809e-01 -2.47306073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:-0.95, Z:-0.25 [[ 9.99378408e-01 3.51132284e-02 3.13981027e-03 7.32087764e+01] [-3.51135906e-02 9.99383326e-01 6.02643631e-05 -9.46416712e-01] [-3.13575795e-03 -1.70476915e-04 9.99995069e-01 -2.47967496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66589822699999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:73.24, Y:-0.95, Z:-0.25 [[ 9.99431047e-01 3.36952320e-02 1.48779468e-03 7.32370298e+01] [-3.36953119e-02 9.99432151e-01 2.86103763e-05 -9.45623015e-01] [-1.48598581e-03 -7.87258042e-05 9.99998893e-01 -2.49398046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:-0.94, Z:-0.25 [[ 9.99498909e-01 3.15965843e-02 -1.89409107e-03 7.32657316e+01] [-3.15967100e-02 9.99500699e-01 -3.64670052e-05 -9.44268962e-01] [ 1.89199312e-03 9.62957782e-05 9.99998206e-01 -2.47174592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:-0.94, Z:-0.25 [[ 9.99509940e-01 3.11795822e-02 -2.77728895e-03 7.32942757e+01] [-3.11798512e-02 9.99513789e-01 -5.36044132e-05 -9.44194030e-01] [ 2.77426724e-03 1.40173600e-04 9.99996142e-01 -2.47481485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:-0.94, Z:-0.25 [[ 9.99550825e-01 2.98264702e-02 -2.92050372e-03 7.33217952e+01] [-2.98267624e-02 9.99555082e-01 -5.65424098e-05 -9.44358873e-01] [ 2.91751787e-03 1.43626183e-04 9.99995734e-01 -2.48281935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:-0.94, Z:-0.25 [[ 9.99625923e-01 2.72802771e-02 -1.94965562e-03 7.33508669e+01] [-2.72804026e-02 9.99627820e-01 -3.78366925e-05 -9.44479894e-01] [ 1.94789780e-03 9.10099290e-05 9.99998099e-01 -2.48670558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:-0.95, Z:-0.25 [[ 9.99797955e-01 2.00978661e-02 -3.52250688e-04 7.33808340e+01] [-2.00978697e-02 9.99798017e-01 -6.84403375e-06 -9.45984136e-01] [ 3.52041989e-04 1.39221394e-05 9.99999938e-01 -2.47944818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:-0.95, Z:-0.25 [[ 9.99878656e-01 1.55522199e-02 -8.95418525e-04 7.34106971e+01] [-1.55522417e-02 9.99879056e-01 -1.74194851e-05 -9.47910119e-01] [ 8.95039318e-04 3.13431367e-05 9.99999599e-01 -2.47066465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:-0.95, Z:-0.25 [[ 9.99934763e-01 1.12895202e-02 -1.73688375e-03 7.34399195e+01] [-1.12895959e-02 9.99936270e-01 -3.37714852e-05 -9.51051049e-01] [ 1.73639179e-03 5.33779976e-05 9.99998491e-01 -2.46916339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.47, Y:-0.95, Z:-0.25 [[ 9.99969192e-01 7.27886055e-03 -2.93836235e-03 7.34701117e+01] [-7.27906004e-03 9.99973506e-01 -5.72006222e-05 -9.53873480e-01] [ 2.93786814e-03 7.85873759e-05 9.99995681e-01 -2.46756779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:-0.96, Z:-0.25 [[ 9.99990664e-01 1.08333682e-03 -4.18313573e-03 7.34985328e+01] [-1.08368755e-03 9.99999409e-01 -8.15792664e-05 -9.58514248e-01] [ 4.18304488e-03 8.61117169e-05 9.99991247e-01 -2.46793628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:-0.96, Z:-0.25 [[ 9.99988624e-01 -1.24585359e-03 -4.60424084e-03 7.35270389e+01] [ 1.24545262e-03 9.99999220e-01 -8.99522923e-05 -9.60228527e-01] [ 4.60434932e-03 8.42169052e-05 9.99989396e-01 -2.45972135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:-0.97, Z:-0.24 [[ 9.99983646e-01 -3.64190822e-03 -4.40964448e-03 7.35555497e+01] [ 3.64156282e-03 9.99993366e-01 -8.63543689e-05 -9.65102503e-01] [ 4.40992972e-03 7.02949592e-05 9.99990274e-01 -2.44428179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02589822699998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:73.58, Y:-0.97, Z:-0.25 [[ 9.99983704e-01 -4.20531223e-03 -3.86105815e-03 7.35841929e+01] [ 4.20504922e-03 9.99991156e-01 -7.62332169e-05 -9.67749481e-01] [ 3.86134459e-03 5.99960350e-05 9.99992543e-01 -2.46294283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:-0.97, Z:-0.24 [[ 9.99980993e-01 -5.05080378e-03 -3.53602544e-03 7.36138019e+01] [ 5.05058815e-03 9.99987243e-01 -6.99066213e-05 -9.70039147e-01] [ 3.53633342e-03 5.20462843e-05 9.99993746e-01 -2.43981357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:-0.97, Z:-0.24 [[ 9.99974773e-01 -6.07495410e-03 -3.68075131e-03 7.36422082e+01] [ 6.07472690e-03 9.99981546e-01 -7.29039584e-05 -9.72879247e-01] [ 3.68112627e-03 5.05425603e-05 9.99993223e-01 -2.44492505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.67, Y:-0.98, Z:-0.25 [[ 9.99936369e-01 -1.03899686e-02 -4.39384413e-03 7.36723070e+01] [ 1.03896860e-02 9.99946022e-01 -8.71281953e-05 -9.80586026e-01] [ 4.39451222e-03 4.14719902e-05 9.99990343e-01 -2.46558503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:-0.98, Z:-0.25 [[ 9.99912416e-01 -1.28116072e-02 -3.32004169e-03 7.37008237e+01] [ 1.28114588e-02 9.99917928e-01 -6.59469484e-05 -9.84199609e-01] [ 3.32061409e-03 2.34065952e-05 9.99994486e-01 -2.45783635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:73.73, Y:-0.99, Z:-0.25 [[ 9.99891025e-01 -1.46549043e-02 -1.78090053e-03 7.37302242e+01] [ 1.46548645e-02 9.99892611e-01 -3.54143664e-05 -9.86920138e-01] [ 1.78122828e-03 9.31165124e-06 9.99998414e-01 -2.47033130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:-0.99, Z:-0.24 [[ 9.99884039e-01 -1.52284719e-02 -3.73306402e-05 7.37598118e+01] [ 1.52284719e-02 9.99884040e-01 -7.42667908e-07 -9.88964028e-01] [ 3.73376211e-05 1.74093186e-07 9.99999999e-01 -2.44879674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:-0.99, Z:-0.24 [[ 9.99884220e-01 -1.52166357e-02 -3.73306319e-05 7.37908070e+01] [ 1.52166357e-02 9.99884220e-01 -7.43086633e-07 -9.88352648e-01] [ 3.73376170e-05 1.74953975e-07 9.99999999e-01 -2.44878924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:-0.99, Z:-0.24 [[ 9.99917639e-01 -1.27077579e-02 1.79655844e-03 7.38201394e+01] [ 1.27077141e-02 9.99919253e-01 3.57691554e-05 -9.92363273e-01] [-1.79686791e-03 -1.29360583e-05 9.99998386e-01 -2.44826289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.295898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:73.85, Y:-0.99, Z:-0.25 [[ 9.99943087e-01 -1.05317293e-02 1.70447603e-03 7.38514511e+01] [ 1.05316869e-02 9.99944540e-01 3.38931936e-05 -9.93496755e-01] [-1.70473845e-03 -1.59402568e-05 9.99998547e-01 -2.46960807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:-0.99, Z:-0.25 [[ 9.99962208e-01 -8.56370475e-03 1.49848026e-03 7.38820363e+01] [ 8.56366974e-03 9.99963331e-01 2.97789659e-05 -9.93449067e-01] [-1.49868033e-03 -1.69453504e-05 9.99998877e-01 -2.45559955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:-0.99, Z:-0.25 [[ 9.99975196e-01 -6.93891978e-03 1.20808817e-03 7.39138610e+01] [ 6.93889588e-03 9.99975925e-01 2.39796214e-05 -9.92881233e-01] [-1.20822548e-03 -1.55962286e-05 9.99999270e-01 -2.45704416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:-0.99, Z:-0.25 [[ 9.99979654e-01 -6.35925133e-03 -5.01506669e-04 7.39443376e+01] [ 6.35924714e-03 9.99979780e-01 -9.94922510e-06 -9.92554044e-01] [ 5.01559798e-04 6.75981782e-06 9.99999874e-01 -2.46040983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:-0.99, Z:-0.25 [[ 9.99967898e-01 -7.92983020e-03 -1.14937178e-03 7.39745596e+01] [ 7.92980923e-03 9.99968558e-01 -2.28013649e-05 -9.92575140e-01] [ 1.14951645e-03 1.36863340e-05 9.99999339e-01 -2.46800452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:-0.99, Z:-0.25 [[ 9.99946660e-01 -1.02175488e-02 -1.50928530e-03 7.40039949e+01] [ 1.02175153e-02 9.99947799e-01 -2.99591380e-05 -9.93402860e-01] [ 1.50951263e-03 1.45363944e-05 9.99998861e-01 -2.47276178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:-1.00, Z:-0.25 [[ 9.99856357e-01 -1.68602644e-02 -1.73111442e-03 7.40337183e+01] [ 1.68602301e-02 9.99857856e-01 -3.44046287e-05 -9.95387206e-01] [ 1.73144843e-03 5.21269912e-06 9.99998501e-01 -2.47439507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:-1.00, Z:-0.25 [[ 9.99797590e-01 -1.99684557e-02 -2.45767979e-03 7.40628031e+01] [ 1.99683959e-02 9.99800611e-01 -4.88749366e-05 -9.96848020e-01] [ 2.45816571e-03 -2.10879328e-07 9.99996979e-01 -2.47979048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:-1.00, Z:-0.25 [[ 9.99730913e-01 -2.29010722e-02 -3.69365518e-03 7.40918596e+01] [ 2.29009566e-02 9.99737736e-01 -7.35830939e-05 -9.98861489e-01] [ 3.69437160e-03 -1.10249434e-05 9.99993176e-01 -2.48904404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:-1.00, Z:-0.25 [[ 9.99656219e-01 -2.57453520e-02 -4.96195463e-03 7.41206102e+01] [ 2.57451745e-02 9.99668533e-01 -9.96564186e-05 -1.00127971e+00] [ 4.96287559e-03 -2.81242290e-05 9.99987684e-01 -2.49436974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:-1.00, Z:-0.25 [[ 9.99600639e-01 -2.76290162e-02 -5.93293056e-03 7.41483805e+01] [ 2.76287888e-02 9.99618245e-01 -1.20299815e-04 -1.00345234e+00] [ 5.93398940e-03 -4.36679142e-05 9.99982393e-01 -2.49655412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:-1.01, Z:-0.25 [[ 9.99597986e-01 -2.72575763e-02 -7.80322881e-03 7.41755074e+01] [ 2.72571665e-02 9.99628442e-01 -1.58880651e-04 -1.00717282e+00] [ 7.80466016e-03 -5.38771285e-05 9.99969542e-01 -2.49002226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.655898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.20, Y:-1.01, Z:-0.25 [[ 9.99648195e-01 -2.52654532e-02 -8.07107167e-03 7.42038610e+01] [ 2.52649371e-02 9.99680777e-01 -1.65908235e-04 -1.00777475e+00] [ 8.07268695e-03 -3.80652501e-05 9.99967415e-01 -2.49799444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:-1.01, Z:-0.25 [[ 9.99724847e-01 -2.21994154e-02 -7.57737380e-03 7.42310947e+01] [ 2.21988676e-02 9.99753563e-01 -1.56406524e-04 -1.00790347e+00] [ 7.57897859e-03 -1.18456289e-05 9.99971279e-01 -2.48039363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:-1.01, Z:-0.25 [[ 9.99788065e-01 -1.94486018e-02 -6.75111732e-03 7.42594873e+01] [ 1.94480956e-02 9.99810858e-01 -1.40636412e-04 -1.00736062e+00] [ 6.75257558e-03 9.31023111e-06 9.99977201e-01 -2.47431034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:-1.01, Z:-0.25 [[ 9.99892274e-01 -1.41067861e-02 -4.05447853e-03 7.42872021e+01] [ 1.41261960e-02 9.99888703e-01 4.79917849e-03 -1.00946184e+00] [ 3.98632629e-03 -4.85593585e-03 9.99980264e-01 -2.48442120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:-1.01, Z:-0.25 [[ 9.99919528e-01 -1.24456549e-02 -2.45835565e-03 7.43155808e+01] [ 1.24536064e-02 9.99917182e-01 3.24606302e-03 -1.00915757e+00] [ 2.41775267e-03 -3.27641719e-03 9.99991710e-01 -2.49527702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:-1.00, Z:-0.25 [[ 9.99927258e-01 -1.16560978e-02 -3.10072838e-03 7.43440873e+01] [ 1.16296373e-02 9.99896930e-01 -8.41902526e-03 -1.00436439e+00] [ 3.19854178e-03 8.38235250e-03 9.99959752e-01 -2.48193027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:-1.01, Z:-0.25 [[ 9.99926423e-01 -1.20025718e-02 -1.75700576e-03 7.43729773e+01] [ 1.20025247e-02 9.99927966e-01 -3.73718252e-05 -1.00736994e+00] [ 1.75732775e-03 1.62805705e-05 9.99998456e-01 -2.47197759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.40, Y:-1.01, Z:-0.25 [[ 9.99888572e-01 -1.49144000e-02 -6.35632498e-04 7.44024009e+01] [ 1.49143944e-02 9.99888774e-01 -1.35402316e-05 -1.00561187e+00] [ 6.35763744e-04 4.05864908e-06 9.99999798e-01 -2.46637975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:-1.00, Z:-0.25 [[ 9.99854654e-01 -1.70177891e-02 -1.03240510e-03 7.44316741e+01] [ 1.70177755e-02 9.99855187e-01 -2.20085272e-05 -1.00462258e+00] [ 1.03263013e-03 4.43609013e-06 9.99999467e-01 -2.46961023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.46, Y:-1.00, Z:-0.25 [[ 9.99813475e-01 -1.92435046e-02 -1.64409365e-03 7.44612696e+01] [ 1.92434729e-02 9.99814827e-01 -3.50690834e-05 -1.00410879e+00] [ 1.64446406e-03 3.42447054e-06 9.99998648e-01 -2.47311659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95589822699999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:74.49, Y:-1.00, Z:-0.25 [[ 9.99709930e-01 -2.40246379e-02 -1.69467110e-03 7.44896531e+01] [ 2.40246110e-02 9.99711367e-01 -3.62048479e-05 -1.00267550e+00] [ 1.69505177e-03 -4.51946808e-06 9.99998563e-01 -2.49198921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:-1.00, Z:-0.25 [[ 9.99654464e-01 -2.62636352e-02 -1.08354048e-03 7.45196743e+01] [ 2.62636255e-02 9.99655051e-01 -2.31749599e-05 -1.00153790e+00] [ 1.08377537e-03 -5.29074911e-06 9.99999413e-01 -2.48838547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:-1.00, Z:-0.25 [[ 9.99597741e-01 -2.83274296e-02 -1.38291841e-03 7.45493235e+01] [ 2.83274157e-02 9.99598698e-01 -2.96130659e-05 -9.99466267e-01] [ 1.38320230e-03 -9.57335091e-06 9.99999043e-01 -2.49170190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:-1.00, Z:-0.25 [[ 9.99553654e-01 -2.98491107e-02 -1.23418301e-03 7.45794190e+01] [ 2.98491008e-02 9.99554416e-01 -2.64580820e-05 -9.96885359e-01] [ 1.23442282e-03 -1.03929803e-05 9.99999238e-01 -2.49817371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:-0.99, Z:-0.25 [[ 9.99526008e-01 -3.07818888e-02 -4.84651488e-04 7.46074847e+01] [ 3.07818874e-02 9.99526125e-01 -1.04040670e-05 -9.91512620e-01] [ 4.84742081e-04 -4.51935198e-06 9.99999883e-01 -2.49897376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:-0.99, Z:-0.25 [[ 9.99509160e-01 -3.13275002e-02 -1.65477315e-04 7.46356067e+01] [ 3.13275000e-02 9.99509173e-01 -3.55564029e-06 -9.87587679e-01] [ 1.65507484e-04 -1.63009555e-06 9.99999986e-01 -2.49964598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-0.98, Z:-0.25 [[ 9.99487394e-01 -3.20105212e-02 -5.25818784e-04 7.46652696e+01] [ 3.20105196e-02 9.99487532e-01 -1.13272410e-05 -9.83656195e-01] [ 5.25911910e-04 -5.51029794e-06 9.99999862e-01 -2.50345028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:-0.98, Z:-0.25 [[ 9.99446540e-01 -3.32443434e-02 -1.19509194e-03 7.46935385e+01] [ 3.32443363e-02 9.99447254e-01 -2.58027497e-05 -9.78947601e-01] [ 1.19528915e-03 -1.39415696e-05 9.99999286e-01 -2.51153243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:-0.97, Z:-0.25 [[ 9.99336450e-01 -3.63154213e-02 -2.80184069e-03 7.47224175e+01] [ 3.63153941e-02 9.99340377e-01 -6.06035245e-05 -9.70230155e-01] [ 2.80219337e-03 -4.11866376e-05 9.99996073e-01 -2.51181517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:-0.97, Z:-0.25 [[ 9.99292819e-01 -3.74683919e-02 -3.15933732e-03 7.47505323e+01] [ 3.74683625e-02 9.99297812e-01 -6.85189713e-05 -9.65625990e-01] [ 3.15968617e-03 -4.99046800e-05 9.99995007e-01 -2.51049742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:-0.96, Z:-0.25 [[ 9.99258778e-01 -3.83012700e-02 -3.86111494e-03 7.47788707e+01] [ 3.83012298e-02 9.99266235e-01 -8.43625817e-05 -9.61413836e-01] [ 3.86151298e-03 -6.35854004e-05 9.99992542e-01 -2.50733644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:-0.95, Z:-0.25 [[ 9.99138683e-01 -4.10350370e-02 -6.16590363e-03 7.48070818e+01] [ 4.10349803e-02 9.99157701e-01 -1.35769494e-04 -9.53254934e-01] [ 6.16628140e-03 -1.17365180e-04 9.99980981e-01 -2.50468818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:-0.95, Z:-0.25 [[ 9.99011115e-01 -4.38549859e-02 -7.31654218e-03 7.48344326e+01] [ 4.38549783e-02 9.99037895e-01 -1.61560435e-04 -9.48871706e-01] [ 7.31658813e-03 -1.59466128e-04 9.99973221e-01 -2.51197566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:-0.95, Z:-0.25 [[ 9.98826781e-01 -4.78268083e-02 -7.59331344e-03 7.48620470e+01] [ 4.78269041e-02 9.98855625e-01 -1.69075778e-04 -9.45284938e-01] [ 7.59271019e-03 -1.94287259e-04 9.99971156e-01 -2.51289176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:-0.94, Z:-0.25 [[ 9.98608037e-01 -5.22798495e-02 -6.98614717e-03 7.48899912e+01] [ 5.22800303e-02 9.98632452e-01 -1.56873028e-04 -9.42367873e-01] [ 6.98479458e-03 -2.08581319e-04 9.99975584e-01 -2.50996066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:-0.94, Z:-0.25 [[ 9.98199535e-01 -5.96610534e-02 -6.18437021e-03 7.49181463e+01] [ 5.96613293e-02 9.98218667e-01 -1.40028969e-04 -9.38044089e-01] [ 6.18170806e-03 -2.29190896e-04 9.99980867e-01 -2.48437067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:-0.94, Z:-0.25 [[ 9.98084024e-01 -6.15759625e-02 -6.05660908e-03 7.49451908e+01] [ 6.15762592e-02 9.98102372e-01 -1.37645027e-04 -9.36044246e-01] [ 6.05359152e-03 -2.35562028e-04 9.99981649e-01 -2.48054131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-0.93, Z:-0.25 [[ 9.97983162e-01 -6.31941663e-02 -6.00880551e-03 7.49729990e+01] [ 6.31944810e-02 9.98001222e-01 -1.37667230e-04 -9.33936891e-01] [ 6.00549500e-03 -2.42333767e-04 9.99981937e-01 -2.48310040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:-0.93, Z:-0.25 [[ 9.97901570e-01 -6.45200358e-02 -5.44261245e-03 7.50004290e+01] [ 6.45203112e-02 9.97916386e-01 -1.25147735e-04 -9.32143739e-01] [ 5.43934668e-03 -2.26273928e-04 9.99985181e-01 -2.48704226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:-0.93, Z:-0.25 [[ 9.97913163e-01 -6.44125311e-02 -4.51051225e-03 7.50287700e+01] [ 6.44127154e-02 9.97923339e-01 -1.04550533e-04 -9.31179503e-01] [ 4.50787981e-03 -1.86201988e-04 9.99989822e-01 -2.48476549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:-0.93, Z:-0.25 [[ 9.97985883e-01 -6.32903655e-02 -4.30206594e-03 7.50560841e+01] [ 6.32905211e-02 9.97995140e-01 -1.00084262e-04 -9.29933893e-01] [ 4.29977527e-03 -1.72397314e-04 9.99990741e-01 -2.47155321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:-0.93, Z:-0.25 [[ 9.98110413e-01 -6.13706157e-02 -3.04154805e-03 7.50839742e+01] [ 6.13808775e-02 9.98108612e-01 3.40384060e-03 -9.29870987e-01] [ 2.82689951e-03 -3.58410163e-03 9.99989581e-01 -2.47314735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:-0.93, Z:-0.25 [[ 9.98399182e-01 -5.64160242e-02 -4.03793639e-03 7.51117743e+01] [ 5.64017797e-02 9.98401810e-01 -3.55875137e-03 -9.25305438e-01] [ 4.23225361e-03 3.32530766e-03 9.99985515e-01 -2.46496151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:-0.93, Z:-0.25 [[ 9.98504838e-01 -5.45478363e-02 -3.55263383e-03 7.51394507e+01] [ 5.45478820e-02 9.98511152e-01 -8.41019197e-05 -9.25958583e-01] [ 3.55193208e-03 -1.09812477e-04 9.99993686e-01 -2.46083946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:-0.93, Z:-0.25 [[ 9.98615360e-01 -5.25471583e-02 -2.48154079e-03 7.51673763e+01] [ 5.25471739e-02 9.98618441e-01 -5.89566063e-05 -9.25399472e-01] [ 2.48121040e-03 -7.15229828e-05 9.99996919e-01 -2.45901709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:-0.92, Z:-0.25 [[ 9.98715505e-01 -5.06610932e-02 -8.90408597e-04 7.51960970e+01] [ 5.06610944e-02 9.98715902e-01 -2.12779802e-05 -9.24520020e-01] [ 8.90343191e-04 -2.38584253e-05 9.99999603e-01 -2.45677891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:-0.92, Z:-0.25 [[ 9.98777625e-01 -4.94264777e-02 5.27453086e-04 7.52262000e+01] [ 4.94264779e-02 9.98777765e-01 1.26326138e-05 -9.24439305e-01] [-5.27432799e-04 1.34529763e-05 9.99999861e-01 -2.46831974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:-0.92, Z:-0.25 [[ 9.98715426e-01 -5.06646245e-02 7.70859999e-04 7.52556144e+01] [ 5.06646253e-02 9.98715723e-01 1.84683692e-05 -9.24745124e-01] [-7.70805694e-04 2.06106879e-05 9.99999703e-01 -2.46875821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:-0.93, Z:-0.25 [[ 9.98579114e-01 -5.32800710e-02 9.93370859e-04 7.52860021e+01] [ 5.32800737e-02 9.98579608e-01 2.37972937e-05 -9.26114768e-01] [-9.93227804e-04 2.91633921e-05 9.99999506e-01 -2.47599106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:-0.93, Z:-0.25 [[ 9.98165922e-01 -6.05347579e-02 5.79825525e-04 7.53158977e+01] [ 6.05347600e-02 9.98166090e-01 1.38893590e-05 -9.31018814e-01] [-5.79602966e-04 2.12357142e-05 9.99999832e-01 -2.48384279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:-0.93, Z:-0.25 [[ 9.97941723e-01 -6.41273311e-02 5.24830256e-05 7.53458821e+01] [ 6.41273311e-02 9.97941724e-01 1.26143078e-06 -9.33073497e-01] [-5.24558933e-05 2.10676196e-06 9.99999999e-01 -2.48094834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:-0.93, Z:-0.25 [[ 9.97715874e-01 -6.75465591e-02 -7.04550275e-04 7.53737060e+01] [ 6.75465639e-02 9.97716123e-01 -1.69408824e-05 -9.34780351e-01] [ 7.04085466e-04 -3.06877629e-05 9.99999752e-01 -2.47365337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:-0.94, Z:-0.25 [[ 9.97492971e-01 -7.07571961e-02 -1.09206588e-03 7.54024920e+01] [ 7.07572094e-02 9.97493567e-01 -2.64361360e-05 -9.35985272e-01] [ 1.09119924e-03 -5.09016743e-05 9.99999403e-01 -2.47276442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:-0.94, Z:-0.25 [[ 9.97221015e-01 -7.44738876e-02 -1.97154032e-03 7.54308542e+01] [ 7.44739377e-02 9.97222959e-01 -4.81208349e-05 -9.37267271e-01] [ 1.96964901e-03 -9.88412627e-05 9.99998055e-01 -2.47047843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.46, Y:-0.94, Z:-0.25 [[ 9.97174964e-01 -7.50466833e-02 -3.17604180e-03 7.54579080e+01] [ 7.50468151e-02 9.97180009e-01 -7.78155701e-05 -9.36448307e-01] [ 3.17292519e-03 -1.60756084e-04 9.99994953e-01 -2.47084409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.49, Y:-0.93, Z:-0.25 [[ 9.97184314e-01 -7.48507803e-02 -4.56115690e-03 7.54851308e+01] [ 7.48510485e-02 9.97194719e-01 -1.12117888e-04 -9.34619899e-01] [ 4.55675368e-03 -2.29605177e-04 9.99989592e-01 -2.47857237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:-0.93, Z:-0.25 [[ 9.97307454e-01 -7.31336803e-02 -5.41352743e-03 7.55125861e+01] [ 7.31340277e-02 9.97322112e-01 -1.34028106e-04 -9.32425325e-01] [ 5.40883258e-03 -2.62245835e-04 9.99985338e-01 -2.47432700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:-0.93, Z:-0.25 [[ 9.97738891e-01 -6.70524028e-02 -4.59144139e-03 7.55406132e+01] [ 6.70525846e-02 9.97749436e-01 -1.14509330e-04 -9.26705384e-01] [ 4.58878619e-03 -1.93617600e-04 9.99989453e-01 -2.46675131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:-0.92, Z:-0.25 [[ 9.97950148e-01 -6.38504762e-02 -4.31502361e-03 7.55680458e+01] [ 6.38506032e-02 9.97959462e-01 -1.08468838e-04 -9.22331191e-01] [ 4.31314443e-03 -1.67270367e-04 9.99990684e-01 -2.45279786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:-0.92, Z:-0.24 [[ 9.98131890e-01 -6.09126310e-02 -4.73087753e-03 7.55961195e+01] [ 6.09127492e-02 9.98143087e-01 -1.19235027e-04 -9.17132581e-01] [ 4.72935562e-03 -1.69158474e-04 9.99988802e-01 -2.44852002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:-0.92, Z:-0.24 [[ 9.98121229e-01 -6.10870832e-02 -4.73085699e-03 7.56245823e+01] [ 6.10871994e-02 9.98132426e-01 -1.20046953e-04 -9.16242547e-01] [ 4.72935509e-03 -1.69173392e-04 9.99988802e-01 -2.44848242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:-0.91, Z:-0.24 [[ 9.98207213e-01 -5.95716022e-02 -5.79519094e-03 7.56517002e+01] [ 5.95717484e-02 9.98224015e-01 -1.47542244e-04 -9.10053138e-01] [ 5.79368810e-03 -1.97951924e-04 9.99983197e-01 -2.44999179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:-0.90, Z:-0.25 [[ 9.98245525e-01 -5.90739471e-02 -4.01762003e-03 7.56796805e+01] [ 5.91187907e-02 9.98177018e-01 1.21494580e-02 -9.04966852e-01] [ 3.29257954e-03 -1.23656589e-02 9.99918121e-01 -2.49390852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.245898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.71, Y:-0.89, Z:-0.25 [[ 9.98171205e-01 -6.01173528e-02 -6.33628390e-03 7.57090648e+01] [ 6.00403528e-02 9.98127230e-01 -1.17127715e-02 -8.89569500e-01] [ 7.02855831e-03 1.13109185e-02 9.99911327e-01 -2.48116307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:-0.89, Z:-0.25 [[ 9.98082856e-01 -6.15926389e-02 -6.07942592e-03 7.57365157e+01] [ 6.15928271e-02 9.98101347e-01 -1.56442683e-04 -8.89676235e-01] [ 6.07751892e-03 -2.18306270e-04 9.99981508e-01 -2.48734653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:-0.89, Z:-0.25 [[ 9.97940366e-01 -6.39478568e-02 -5.06931953e-03 7.57652295e+01] [ 6.39480134e-02 9.97953223e-01 -1.31356713e-04 -8.85095998e-01] [ 5.06734375e-03 -1.93086747e-04 9.99987142e-01 -2.48214013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:-0.88, Z:-0.25 [[ 9.97507225e-01 -7.03959995e-02 -4.87234725e-03 7.57939507e+01] [ 7.03962202e-02 9.97519101e-01 -1.26411751e-04 -8.77762141e-01] [ 4.86915833e-03 -2.16898195e-04 9.99988122e-01 -2.46842026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:-0.87, Z:-0.25 [[ 9.97237153e-01 -7.40592226e-02 -5.77000814e-03 7.58236952e+01] [ 7.40595925e-02 9.97253806e-01 -1.49822358e-04 -8.73977548e-01] [ 5.76525831e-03 -2.77916030e-04 9.99983342e-01 -2.46849438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:-0.87, Z:-0.25 [[ 9.96958587e-01 -7.76584139e-02 -6.53811614e-03 7.58523541e+01] [ 7.76589584e-02 9.96979968e-01 -1.70934814e-04 -8.70706639e-01] [ 6.53164535e-03 -3.37328358e-04 9.99978612e-01 -2.47827047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:-0.87, Z:-0.25 [[ 9.96526405e-01 -8.30380484e-02 -6.30931473e-03 7.58801769e+01] [ 8.30386609e-02 9.96546313e-01 -1.65271711e-04 -8.65103483e-01] [ 6.30124817e-03 -3.59219423e-04 9.99980082e-01 -2.48092104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:-0.88, Z:-0.25 [[ 9.96390695e-01 -8.48241870e-02 3.23105836e-03 7.59079441e+01] [ 8.46608212e-02 9.95799713e-01 3.48636805e-02 -8.76945303e-01] [-6.17477034e-03 -3.44643028e-02 9.99386854e-01 -2.54389455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:-0.84, Z:-0.24 [[ 9.96300181e-01 -8.59337247e-02 -1.15972948e-03 7.59383948e+01] [ 8.58416456e-02 9.95701880e-01 -3.47703731e-02 -8.44660146e-01] [ 4.14269250e-03 3.45421760e-02 9.99394655e-01 -2.43416935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:-0.86, Z:-0.25 [[ 9.96217360e-01 -8.68945953e-02 -5.47865612e-04 7.59678978e+01] [ 8.68946003e-02 9.96217510e-01 -1.46777760e-05 -8.56617427e-01] [ 5.47068735e-04 -3.29843081e-05 9.99999850e-01 -2.45905911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:-0.85, Z:-0.25 [[ 9.96102359e-01 -8.82048086e-02 -5.26839372e-05 7.59970553e+01] [ 8.82048087e-02 9.96102360e-01 -1.42059400e-06 -8.53244348e-01] [ 5.26038974e-05 -3.23191956e-06 9.99999999e-01 -2.46512805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:-0.85, Z:-0.25 [[ 9.96077716e-01 -8.84816792e-02 -4.20309126e-04 7.60273585e+01] [ 8.84816823e-02 9.96077804e-01 -1.11367511e-05 -8.51392355e-01] [ 4.19645989e-04 -2.60965890e-05 9.99999912e-01 -2.47745264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.605898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.06, Y:-0.85, Z:-0.25 [[ 9.96073569e-01 -8.85226970e-02 -1.08515244e-03 7.60572630e+01] [ 8.85227180e-02 9.96074158e-01 -2.87775079e-05 -8.48904256e-01] [ 1.08343977e-03 -6.73961288e-05 9.99999411e-01 -2.49697956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:-0.85, Z:-0.25 [[ 9.96150535e-01 -8.76527631e-02 -1.05095752e-03 7.60869531e+01] [ 8.76527823e-02 9.96151087e-01 -2.78828884e-05 -8.46779255e-01] [ 1.04935649e-03 -6.43437963e-05 9.99999447e-01 -2.48267077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:-0.84, Z:-0.25 [[ 9.96290610e-01 -8.60522269e-02 -1.87849893e-04 7.61158553e+01] [ 8.60522274e-02 9.96290627e-01 -5.02284793e-06 -8.40678498e-01] [ 1.87585315e-04 -1.11606855e-05 9.99999982e-01 -2.47117943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69589822699999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.15, Y:-0.84, Z:-0.25 [[ 9.96329998e-01 -8.55950085e-02 -1.71908497e-04 7.61466565e+01] [ 8.55950090e-02 9.96330013e-01 -4.53506758e-06 -8.37101180e-01] [ 1.71665774e-04 -1.01960854e-05 9.99999985e-01 -2.47648062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:-0.83, Z:-0.25 [[ 9.96333806e-01 -8.55508216e-02 -6.87994923e-05 7.61771678e+01] [ 8.55508217e-02 9.96333808e-01 -1.78019934e-06 -8.34606840e-01] [ 6.86995577e-05 -4.11218031e-06 9.99999998e-01 -2.46939446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:-0.83, Z:-0.25 [[ 9.96152358e-01 -8.76292631e-02 -1.26172495e-03 7.62069564e+01] [ 8.76292908e-02 9.96153154e-01 -3.33951039e-05 -8.31173745e-01] [ 1.25979768e-03 -7.72974513e-05 9.99999203e-01 -2.48862282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:-0.83, Z:-0.25 [[ 9.96033179e-01 -8.89488315e-02 -2.45190957e-03 7.62383616e+01] [ 8.89489404e-02 9.96036185e-01 -6.48379254e-05 -8.29642139e-01] [ 2.44795791e-03 -1.53514033e-04 9.99996992e-01 -2.48926069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:-0.83, Z:-0.25 [[ 9.95964226e-01 -8.97112819e-02 -2.67324902e-03 7.62684154e+01] [ 8.97114140e-02 9.95967799e-01 -7.06745631e-05 -8.28302080e-01] [ 2.66881025e-03 -1.69431613e-04 9.99996424e-01 -2.49947389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.30, Y:-0.83, Z:-0.25 [[ 9.95960764e-01 -8.97380731e-02 -3.03895226e-03 7.62986180e+01] [ 8.97382441e-02 9.95965381e-01 -8.03098532e-05 -8.26325723e-01] [ 3.03389809e-03 -1.92724777e-04 9.99995379e-01 -2.49320142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.33, Y:-0.82, Z:-0.25 [[ 9.96238761e-01 -8.65768649e-02 -3.57469078e-03 7.63298521e+01] [ 8.65770816e-02 9.96245151e-01 -9.43729039e-05 -8.21992688e-01] [ 3.56943887e-03 -2.15468351e-04 9.99993606e-01 -2.47009112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:-0.82, Z:-0.25 [[ 9.96476600e-01 -8.38375572e-02 -2.37685408e-03 7.63606022e+01] [ 8.38533366e-02 9.96449286e-01 7.57880161e-03 -8.21973327e-01] [ 1.73302634e-03 -7.75140561e-03 9.99968456e-01 -2.48083202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.935898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:76.39, Y:-0.81, Z:-0.25 [[ 9.96737000e-01 -8.05986137e-02 -4.38367068e-03 7.63904047e+01] [ 8.05612739e-02 9.96716620e-01 -8.11543081e-03 -8.11083906e-01] [ 5.02336990e-03 7.73579606e-03 9.99957461e-01 -2.46345455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:-0.81, Z:-0.25 [[ 9.97049621e-01 -7.66354550e-02 -4.36591073e-03 7.64205090e+01] [ 7.66356817e-02 9.97059155e-01 -1.15577207e-04 -8.10233378e-01] [ 4.36192857e-03 -2.19348334e-04 9.99990463e-01 -2.46020659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:-0.80, Z:-0.25 [[ 9.97508329e-01 -7.04860910e-02 -2.97407634e-03 7.64519747e+01] [ 7.04861693e-02 9.97512754e-01 -7.86040731e-05 -7.99384063e-01] [ 2.97221958e-03 -1.31223031e-04 9.99995574e-01 -2.46155987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02589822699998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:76.48, Y:-0.79, Z:-0.25 [[ 9.97605203e-01 -6.91192822e-02 -2.52654030e-03 7.64836516e+01] [ 6.91193345e-02 9.97608397e-01 -6.67214549e-05 -7.93280310e-01] [ 2.52510955e-03 -1.08071113e-04 9.99996806e-01 -2.47549397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:-0.79, Z:-0.25 [[ 9.97628313e-01 -6.87848389e-02 -2.52874738e-03 7.65148883e+01] [ 6.87848903e-02 9.97631512e-01 -6.67183868e-05 -7.88347371e-01] [ 2.52734729e-03 -1.07379460e-04 9.99996800e-01 -2.47577101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-0.78, Z:-0.25 [[ 9.97379002e-01 -7.23086526e-02 -2.56631870e-03 7.65459748e+01] [ 7.23087178e-02 9.97382296e-01 -6.74768737e-05 -7.78700841e-01] [ 2.56448000e-03 -1.18267198e-04 9.99996705e-01 -2.47743553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-0.77, Z:-0.25 [[ 9.97131614e-01 -7.56367274e-02 -2.76210093e-03 7.65781116e+01] [ 7.56368160e-02 9.97135431e-01 -7.25227875e-05 -7.72619700e-01] [ 2.75967409e-03 -1.36601756e-04 9.99996183e-01 -2.47508291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:-0.77, Z:-0.25 [[ 9.96805549e-01 -7.98482453e-02 -1.71933223e-03 7.66091248e+01] [ 7.98544840e-02 9.96798779e-01 3.93132220e-03 -7.68510381e-01] [ 1.39991909e-03 -4.05606017e-03 9.99990794e-01 -2.49069449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17589822699999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:76.64, Y:-0.75, Z:-0.25 [[ 9.95905518e-01 -9.03742493e-02 -2.16660283e-03 7.66409380e+01] [ 9.03647611e-02 9.95900143e-01 -4.13711653e-03 -7.54059075e-01] [ 2.53160887e-03 3.92439264e-03 9.99989095e-01 -2.50282826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:-0.75, Z:-0.25 [[ 9.95508468e-01 -9.46545343e-02 -1.84642597e-03 7.66723433e+01] [ 9.46546069e-02 9.95510172e-01 -4.82580270e-05 -7.51038948e-01] [ 1.84270367e-03 -1.26731449e-04 9.99998294e-01 -2.49008717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:-0.75, Z:-0.25 [[ 9.95094897e-01 -9.89028146e-02 2.09249342e-03 7.67048551e+01] [ 9.88523609e-02 9.94952424e-01 1.72593616e-02 -7.52758549e-01] [-3.78893083e-03 -1.69678547e-02 9.99848857e-01 -2.53109729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:-0.73, Z:-0.25 [[ 9.94728091e-01 -1.02544117e-01 -8.53452077e-04 7.67357071e+01] [ 1.02513987e-01 9.94580224e-01 -1.73511229e-02 -7.33927082e-01] [ 2.62808213e-03 1.71721586e-02 9.99849094e-01 -2.45232044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:-0.74, Z:-0.25 [[ 9.93941209e-01 -1.09909958e-01 -8.21288126e-04 7.67680496e+01] [ 1.09909978e-01 9.93941546e-01 -2.13460528e-05 -7.36942113e-01] [ 8.18658534e-04 -6.90510384e-05 9.99999663e-01 -2.50045285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:-0.74, Z:-0.25 [[ 9.93607402e-01 -1.12888099e-01 -7.79048415e-04 7.68008679e+01] [ 1.12888118e-01 9.93607706e-01 -2.01683064e-05 -7.35708453e-01] [ 7.76345270e-04 -6.79059309e-05 9.99999696e-01 -2.50887841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.355898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:76.83, Y:-0.73, Z:-0.25 [[ 9.93316293e-01 -1.15415300e-01 -1.43216422e-03 7.68331304e+01] [ 1.15415365e-01 9.93317317e-01 -3.70583340e-05 -7.32752558e-01] [ 1.42687062e-03 -1.28483110e-04 9.99998974e-01 -2.52801978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:-0.73, Z:-0.25 [[ 9.93294945e-01 -1.15595671e-01 -1.67109282e-03 7.68638295e+01] [ 1.15602126e-01 9.93285431e-01 4.49458128e-03 -7.33097495e-01] [ 1.14031801e-03 -4.65762675e-03 9.99988503e-01 -2.52492184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:-0.72, Z:-0.25 [[ 9.93691417e-01 -1.12017543e-01 -5.42565125e-03 7.68960098e+01] [ 1.11993465e-01 9.93698499e-01 -4.55601683e-03 -7.24715425e-01] [ 5.90181531e-03 3.91963734e-03 9.99974902e-01 -2.49076066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:-0.72, Z:-0.25 [[ 9.94042165e-01 -1.08861367e-01 -5.42001358e-03 7.69270004e+01] [ 1.08862212e-01 9.94056839e-01 -1.39741551e-04 -7.24586582e-01] [ 5.40301402e-03 -4.51125675e-04 9.99985302e-01 -2.48516371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:-0.73, Z:-0.25 [[ 9.94726098e-01 -1.02500054e-01 3.70519248e-03 7.69584624e+01] [ 1.02363328e-01 9.94378282e-01 2.70846979e-02 -7.33818262e-01] [-6.46054593e-03 -2.65625800e-02 9.99626276e-01 -2.54939304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.99, Y:-0.71, Z:-0.24 [[ 9.94929240e-01 -1.00575525e-01 -6.09372120e-04 7.69906840e+01] [ 1.00522886e-01 9.94571418e-01 -2.68857542e-02 -7.09352028e-01] [ 3.31011293e-03 2.66881672e-02 9.99638327e-01 -2.42556206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:-0.72, Z:-0.25 [[ 9.95017961e-01 -9.96949252e-02 -4.23550282e-04 7.70232963e+01] [ 9.96954442e-02 9.95016922e-01 1.46375655e-03 -7.21373078e-01] [ 2.75510598e-04 -1.49869010e-03 9.99998839e-01 -2.48767987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:-0.72, Z:-0.25 [[ 9.94986107e-01 -1.00012613e-01 -3.53267225e-04 7.70548512e+01] [ 1.00012835e-01 9.94985916e-01 6.77889077e-04 -7.21482573e-01] [ 2.83698455e-04 -7.09821470e-04 9.99999708e-01 -2.49699331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:-0.72, Z:-0.25 [[ 9.94809485e-01 -1.01737250e-01 -1.90268240e-03 7.70868874e+01] [ 1.01732966e-01 9.94809249e-01 -2.22762128e-03 -7.21130575e-01] [ 2.11943811e-03 2.02249326e-03 9.99995709e-01 -2.50078259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:-0.72, Z:-0.25 [[ 9.94408377e-01 -1.05556254e-01 -3.13967659e-03 7.71191702e+01] [ 1.05556524e-01 9.94413301e-01 -7.99780017e-05 -7.23962522e-01] [ 3.13057834e-03 -2.51882553e-04 9.99995068e-01 -2.49841529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:-0.73, Z:-0.25 [[ 9.94258866e-01 -1.07000639e-01 4.12826030e-04 7.71513000e+01] [ 1.06983399e-01 9.94154710e-01 1.45246469e-02 -7.29995889e-01] [-1.96455945e-03 -1.43970935e-02 9.99894427e-01 -2.52839392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:-0.72, Z:-0.25 [[ 9.94226068e-01 -1.07305061e-01 -3.86885080e-04 7.71824980e+01] [ 1.07296357e-01 9.94180223e-01 -9.65275266e-03 -7.19802247e-01] [ 1.42042271e-03 9.55550697e-03 9.99953336e-01 -2.46816913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-0.72, Z:-0.25 [[ 9.94318073e-01 -1.06447069e-01 -7.68472516e-04 7.72146882e+01] [ 1.06442065e-01 9.94306782e-01 -4.91029926e-03 -7.21944619e-01] [ 1.28678440e-03 4.80060150e-03 9.99987649e-01 -2.47269709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:-0.72, Z:-0.25 [[ 9.94347876e-01 -1.06171009e-01 -1.31886799e-04 7.72473343e+01] [ 1.06171010e-01 9.94347885e-01 -3.27869676e-06 -7.23309209e-01] [ 1.31489462e-04 -1.07423894e-05 9.99999991e-01 -2.48672842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:-0.72, Z:-0.25 [[ 9.94383929e-01 -1.05831842e-01 4.71677978e-04 7.72790664e+01] [ 1.05831848e-01 9.94384040e-01 1.19889793e-05 -7.22502178e-01] [-4.70297869e-04 3.79969039e-05 9.99999889e-01 -2.49743543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:-0.72, Z:-0.25 [[ 9.94428448e-01 -1.05411907e-01 6.25473360e-04 7.73113178e+01] [ 1.05411918e-01 9.94428644e-01 1.58283593e-05 -7.21588111e-01] [-6.23657123e-04 5.01921756e-05 9.99999804e-01 -2.49950588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:-0.72, Z:-0.25 [[ 9.94510249e-01 -1.04637498e-01 -5.98196290e-04 7.73432688e+01] [ 1.04637508e-01 9.94510428e-01 -1.49972687e-05 -7.19510870e-01] [ 5.96481725e-04 -4.76788314e-05 9.99999821e-01 -2.50231640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:-0.72, Z:-0.25 [[ 9.94552012e-01 -1.04232483e-01 -1.37321585e-03 7.73740653e+01] [ 1.04232534e-01 9.94552954e-01 -3.43614831e-05 -7.17914669e-01] [ 1.36931746e-03 -1.08959486e-04 9.99999057e-01 -2.49783642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:-0.72, Z:-0.25 [[ 9.94581123e-01 -1.03942689e-01 -2.07556685e-03 7.74051024e+01] [ 1.03942805e-01 9.94583275e-01 -5.19689089e-05 -7.16065811e-01] [ 2.06972586e-03 -1.64052944e-04 9.99997845e-01 -2.49911982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:-0.71, Z:-0.25 [[ 9.94570481e-01 -1.04035741e-01 -2.47441781e-03 7.74376186e+01] [ 1.04035907e-01 9.94573540e-01 -6.18372032e-05 -7.13671439e-01] [ 2.46742376e-03 -1.95926845e-04 9.99996937e-01 -2.50659641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:-0.71, Z:-0.25 [[ 9.94428121e-01 -1.05385913e-01 -2.55355242e-03 7.74692405e+01] [ 1.05386094e-01 9.94431379e-01 -6.36580983e-05 -7.09786937e-01] [ 2.54604132e-03 -2.05805513e-04 9.99996738e-01 -2.51659195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98589822699999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:77.50, Y:-0.71, Z:-0.25 [[ 9.94296634e-01 -1.06627723e-01 -2.17517260e-03 7.75012075e+01] [ 1.06627858e-01 9.94298998e-01 -5.41313184e-05 -7.06937826e-01] [ 2.16854384e-03 -1.78111407e-04 9.99997633e-01 -2.53123916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:-0.71, Z:-0.25 [[ 9.94205600e-01 -1.07476195e-01 -2.02310167e-03 7.75324932e+01] [ 1.07476314e-01 9.94207644e-01 -5.02897231e-05 -7.05845905e-01] [ 2.01678809e-03 -1.67437185e-04 9.99997952e-01 -2.51649261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:-0.71, Z:-0.25 [[ 9.94211408e-01 -1.07422448e-01 -2.02310504e-03 7.75651682e+01] [ 1.07422567e-01 9.94213453e-01 -5.01540429e-05 -7.05118047e-01] [ 2.01678591e-03 -1.67463414e-04 9.99997952e-01 -2.51691127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:-0.71, Z:-0.26 [[ 9.93801397e-01 -1.11145275e-01 2.34760061e-03 7.75974503e+01] [ 1.11048915e-01 9.93482611e-01 2.56990372e-02 -7.14450126e-01] [-5.18862693e-03 -2.52790406e-02 9.99666969e-01 -2.60078486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:-0.69, Z:-0.25 [[ 9.93481487e-01 -1.13951380e-01 -3.10116658e-03 7.76294459e+01] [ 1.13834439e-01 9.93164386e-01 -2.58113066e-02 -6.91337816e-01] [ 6.02120221e-03 2.52900357e-02 9.99662022e-01 -2.49603177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:-0.70, Z:-0.26 [[ 9.93203522e-01 -1.16292880e-01 -4.76766632e-03 7.76622307e+01] [ 1.16293643e-01 9.93214868e-01 -1.17861960e-04 -7.01018015e-01] [ 4.74902358e-03 -4.37388371e-04 9.99988628e-01 -2.55934542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:-0.70, Z:-0.26 [[ 9.92981048e-01 -1.18136481e-01 -5.69298563e-03 7.76947042e+01] [ 1.18137600e-01 9.92997224e-01 -1.40490080e-04 -6.99800224e-01] [ 5.66971594e-03 -5.33051671e-04 9.99983785e-01 -2.56611558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:-0.70, Z:-0.26 [[ 9.92941108e-01 -1.18431316e-01 -6.47913490e-03 7.77259320e+01] [ 1.18432773e-01 9.92962060e-01 -1.59697205e-04 -6.98813846e-01] [ 6.45244829e-03 -6.08771995e-04 9.99978997e-01 -2.57066140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:-0.70, Z:-0.26 [[ 9.93139227e-01 -1.16797899e-01 -5.72074140e-03 7.77578531e+01] [ 1.16799010e-01 9.93155563e-01 -1.40724634e-04 -6.97324904e-01] [ 5.69802249e-03 -5.28417777e-04 9.99983627e-01 -2.56213803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:-0.69, Z:-0.26 [[ 9.93377811e-01 -1.14789853e-01 -4.88002279e-03 7.77897444e+01] [ 1.14790639e-01 9.93389699e-01 -1.19809563e-04 -6.94546913e-01] [ 4.86151729e-03 -4.41164771e-04 9.99988085e-01 -2.55612416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:-0.69, Z:-0.25 [[ 9.93895839e-01 -1.10265511e-01 -3.54653077e-03 7.78207966e+01] [ 1.10265897e-01 9.93902120e-01 -8.69480610e-05 -6.88212028e-01] [ 3.53449183e-03 -3.04644082e-04 9.99993707e-01 -2.54669093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:-0.68, Z:-0.26 [[ 9.94113837e-01 -1.08289592e-01 -3.32302241e-03 7.78520374e+01] [ 1.08289920e-01 9.94119352e-01 -8.13544812e-05 -6.84021559e-01] [ 3.31229073e-03 -2.78974217e-04 9.99994475e-01 -2.55085881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.88, Y:-0.68, Z:-0.26 [[ 9.94275538e-01 -1.06788254e-01 -3.52461919e-03 7.78840685e+01] [ 1.06788615e-01 9.94281743e-01 -8.61169012e-05 -6.80094843e-01] [ 3.51366079e-03 -2.90765273e-04 9.99993785e-01 -2.56689949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:-0.67, Z:-0.26 [[ 9.94482734e-01 -1.04857320e-01 -3.00575368e-03 7.79151792e+01] [ 1.04857575e-01 9.94487247e-01 -7.33456680e-05 -6.73219711e-01] [ 2.99687453e-03 -2.42235040e-04 9.99995480e-01 -2.57254498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:-0.67, Z:-0.26 [[ 9.94531431e-01 -1.04407030e-01 -2.53081835e-03 7.79471706e+01] [ 1.04407209e-01 9.94534630e-01 -6.16171034e-05 -6.69063523e-01] [ 2.52341975e-03 -2.02955535e-04 9.99996796e-01 -2.57452599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:-0.66, Z:-0.26 [[ 9.94466477e-01 -1.05018870e-01 -2.73184461e-03 7.79793178e+01] [ 1.05019082e-01 9.94470205e-01 -6.63464037e-05 -6.64843684e-01] [ 2.72370569e-03 -2.20916538e-04 9.99996266e-01 -2.57352975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:-0.66, Z:-0.26 [[ 9.94346584e-01 -1.06131297e-01 -3.31936512e-03 7.80123873e+01] [ 1.06131616e-01 9.94352087e-01 -8.03935619e-05 -6.61270675e-01] [ 3.30914990e-03 -2.72350519e-04 9.99994488e-01 -2.56793654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:-0.66, Z:-0.25 [[ 9.93839310e-01 -1.10747238e-01 -4.29818958e-03 7.80433165e+01] [ 1.10792537e-01 9.93766968e-01 1.23380374e-02 -6.60693623e-01] [ 2.90499526e-03 -1.27382339e-02 9.99914646e-01 -2.53183442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:-0.65, Z:-0.25 [[ 9.93568673e-01 -1.13230188e-01 4.66054021e-04 7.80764254e+01] [ 1.13227135e-01 9.93490407e-01 -1.25070796e-02 -6.48558664e-01] [ 9.53158766e-04 1.24794124e-02 9.99921675e-01 -2.53738855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:-0.65, Z:-0.26 [[ 9.93223999e-01 -1.16210492e-01 1.09967444e-03 7.81088293e+01] [ 1.16210534e-01 9.93224603e-01 2.64455549e-05 -6.50594697e-01] [-1.09529696e-03 1.01527394e-04 9.99999395e-01 -2.56643402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:-0.65, Z:-0.26 [[ 9.92926716e-01 -1.18698132e-01 2.69989258e-03 7.81412044e+01] [ 1.18683807e-01 9.92919710e-01 4.96009250e-03 -6.49378525e-01] [-3.26953027e-03 -4.60457483e-03 9.99984054e-01 -2.58188472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:-0.64, Z:-0.26 [[ 9.92584119e-01 -1.21558345e-01 -5.79701619e-04 7.81736407e+01] [ 1.21554041e-01 9.92572531e-01 -4.93819075e-03 -6.40406922e-01] [ 1.17567420e-03 4.83110464e-03 9.99987639e-01 -2.56565998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:-0.64, Z:-0.26 [[ 9.92499926e-01 -1.22231833e-01 -1.80994868e-03 7.82066375e+01] [ 1.22231956e-01 9.92501560e-01 -4.27785054e-05 -6.40629092e-01] [ 1.80160578e-03 -1.78775904e-04 9.99998361e-01 -2.58511567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:-0.64, Z:-0.26 [[ 9.92442875e-01 -1.22686728e-01 -2.25997192e-03 7.82400581e+01] [ 1.22686921e-01 9.92445422e-01 -5.32845697e-05 -6.38695451e-01] [ 2.24943610e-03 -2.24387106e-04 9.99997445e-01 -2.58189409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:-0.64, Z:-0.26 [[ 9.92398479e-01 -1.23047248e-01 -2.15258379e-03 7.82717218e+01] [ 1.23047424e-01 9.92400790e-01 -5.06462928e-05 -6.36916409e-01] [ 2.14245774e-03 -2.14608587e-04 9.99997682e-01 -2.57854631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:78.30, Y:-0.63, Z:-0.26 [[ 9.92187316e-01 -1.24752596e-01 -1.05846775e-03 7.83043288e+01] [ 1.24752639e-01 9.92187875e-01 -2.47752494e-05 -6.33976445e-01] [ 1.05328964e-03 -1.07464957e-04 9.99999440e-01 -2.59096166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:-0.63, Z:-0.26 [[ 9.92135283e-01 -1.25166482e-01 -9.65889427e-04 7.83358965e+01] [ 1.25166518e-01 9.92135748e-01 -2.25647095e-05 -6.33374486e-01] [ 9.61117774e-04 -9.85097723e-05 9.99999533e-01 -2.57873394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:-0.63, Z:-0.26 [[ 9.92186576e-01 -1.24747782e-01 -1.94683666e-03 7.83689027e+01] [ 1.24747931e-01 9.92188466e-01 -4.54171110e-05 -6.31387365e-01] [ 1.93729456e-03 -1.97801597e-04 9.99998104e-01 -2.58656356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.40, Y:-0.63, Z:-0.26 [[ 9.92291295e-01 -1.23905610e-01 -2.32050788e-03 7.84020848e+01] [ 1.23905819e-01 9.92293981e-01 -5.39993939e-05 -6.29492807e-01] [ 2.30931683e-03 -2.33941301e-04 9.99997306e-01 -2.58384188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:-0.63, Z:-0.26 [[ 9.92437663e-01 -1.22725772e-01 -2.42264650e-03 7.84347972e+01] [ 1.22725996e-01 9.92440591e-01 -5.62181534e-05 -6.27647852e-01] [ 2.41123214e-03 -2.41528693e-04 9.99997064e-01 -2.57987329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88589822699998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.47, Y:-0.63, Z:-0.26 [[ 9.92606833e-01 -1.21343639e-01 -2.71945215e-03 7.84667150e+01] [ 1.21343918e-01 9.92610523e-01 -6.27462416e-05 -6.25435785e-01] [ 2.70697068e-03 -2.67706632e-04 9.99996300e-01 -2.58749424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:-0.62, Z:-0.26 [[ 9.92935359e-01 -1.18613610e-01 -3.19143995e-03 7.84984492e+01] [ 1.18613981e-01 9.92940440e-01 -7.35801835e-05 -6.23477896e-01] [ 3.17763740e-03 -3.05489030e-04 9.99994905e-01 -2.58552116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:-0.62, Z:-0.26 [[ 9.93092129e-01 -1.17292433e-01 -3.24177270e-03 7.85304946e+01] [ 1.17292809e-01 9.93097373e-01 -7.45662757e-05 -6.21718818e-01] [ 3.22814201e-03 -3.06185445e-04 9.99994743e-01 -2.57967084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:-0.62, Z:-0.26 [[ 9.93249093e-01 -1.15962150e-01 -3.00319561e-03 7.85637091e+01] [ 1.15962467e-01 9.93253594e-01 -6.88464372e-05 -6.19901906e-01] [ 2.99091842e-03 -2.79876312e-04 9.99995488e-01 -2.57690240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:78.60, Y:-0.62, Z:-0.26 [[ 9.93312699e-01 -1.15405379e-01 -3.38837519e-03 7.85969505e+01] [ 1.15405780e-01 9.93318428e-01 -7.74449532e-05 -6.17759771e-01] [ 3.37467308e-03 -3.14111028e-04 9.99994256e-01 -2.58233323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:-0.62, Z:-0.26 [[ 9.93275719e-01 -1.15695552e-01 -4.22905139e-03 7.86289170e+01] [ 1.15696181e-01 9.93284644e-01 -9.64584990e-05 -6.19159598e-01] [ 4.21181162e-03 -3.93475210e-04 9.99991053e-01 -2.57599180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:-0.62, Z:-0.26 [[ 9.93191649e-01 -1.16407984e-01 -4.41919616e-03 7.86608311e+01] [ 1.16408679e-01 9.93201394e-01 -1.00479041e-04 -6.19383735e-01] [ 4.40084835e-03 -4.14637842e-04 9.99990230e-01 -2.57302491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:-0.63, Z:-0.26 [[ 9.93131711e-01 -1.16993061e-01 1.42452592e-03 7.86918178e+01] [ 1.16930313e-01 9.92877261e-01 2.28483270e-02 -6.28980296e-01] [-4.08747510e-03 -2.25248278e-02 9.99737928e-01 -2.64625069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:-0.61, Z:-0.25 [[ 9.93031486e-01 -1.17830720e-01 -2.09492893e-03 7.87246922e+01] [ 1.17758478e-01 9.92806971e-01 -2.16161705e-02 -6.09687969e-01] [ 4.62690899e-03 2.12188423e-02 9.99764148e-01 -2.50950417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.155898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:78.76, Y:-0.62, Z:-0.26 [[ 9.93087895e-01 -1.17332915e-01 -3.06905512e-03 7.87566301e+01] [ 1.17333259e-01 9.93092595e-01 -6.85398010e-05 -6.17272512e-01] [ 3.05589789e-03 -2.92036192e-04 9.99995288e-01 -2.57783742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:-0.62, Z:-0.26 [[ 9.93298303e-01 -1.15527509e-01 -3.44611879e-03 7.87897595e+01] [ 1.15527931e-01 9.93304229e-01 -7.69034830e-05 -6.16066304e-01] [ 3.43192884e-03 -3.21734877e-04 9.99994059e-01 -2.56388913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:-0.61, Z:-0.26 [[ 9.93567152e-01 -1.13184041e-01 -3.69953551e-03 7.88221266e+01] [ 1.13184512e-01 9.93573983e-01 -8.24001519e-05 -6.14317751e-01] [ 3.68508861e-03 -3.36860037e-04 9.99993153e-01 -2.56758154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:-0.61, Z:-0.26 [[ 9.94087518e-01 -1.08540770e-01 -2.98450293e-03 7.88554825e+01] [ 1.08541056e-01 9.94091965e-01 -6.62045262e-05 -6.10296764e-01] [ 2.97405627e-03 -2.58128008e-04 9.99995544e-01 -2.56403546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.89, Y:-0.61, Z:-0.26 [[ 9.94385141e-01 -1.05806372e-01 -1.78971513e-03 7.88876432e+01] [ 1.05806471e-01 9.94386740e-01 -3.95539168e-05 -6.08033985e-01] [ 1.78385405e-03 -1.50031615e-04 9.99998398e-01 -2.55717331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:-0.60, Z:-0.26 [[ 9.94678207e-01 -1.03024580e-01 -1.09580788e-03 7.89202485e+01] [ 1.03024616e-01 9.94678806e-01 -2.40459612e-05 -6.04931663e-01] [ 1.09245420e-03 -8.89771919e-05 9.99999399e-01 -2.55504775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:-0.60, Z:-0.26 [[ 9.95038843e-01 -9.94845305e-02 -7.27017248e-04 7.89519298e+01] [ 9.94845454e-02 9.95039107e-01 -1.56772871e-05 -5.97879110e-01] [ 7.24970241e-04 -5.67274709e-05 9.99999736e-01 -2.57420336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:-0.59, Z:-0.26 [[ 9.95020220e-01 -9.96668243e-02 -1.13432049e-03 7.89848631e+01] [ 9.96668605e-02 9.95020862e-01 -2.46945434e-05 -5.93827626e-01] [ 1.13113378e-03 -8.84825920e-05 9.99999356e-01 -2.57387745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:-0.59, Z:-0.26 [[ 9.94894865e-01 -1.00913767e-01 -7.87342997e-04 7.90177687e+01] [ 1.00913785e-01 9.94895174e-01 -1.70277609e-05 -5.89320340e-01] [ 7.85042083e-04 -6.25129302e-05 9.99999690e-01 -2.58004969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:-0.59, Z:-0.26 [[ 9.94760581e-01 -1.02231844e-01 -1.90210065e-04 7.90501127e+01] [ 1.02231845e-01 9.94760599e-01 -3.98827776e-06 -5.86021217e-01] [ 1.89621207e-04 -1.54781443e-05 9.99999982e-01 -2.58344303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:-0.58, Z:-0.26 [[ 9.94484080e-01 -1.04886770e-01 4.24195283e-04 7.90823798e+01] [ 1.04886776e-01 9.94484170e-01 9.52568657e-06 -5.81502961e-01] [-4.22854612e-04 3.50193319e-05 9.99999910e-01 -2.59155069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:-0.58, Z:-0.26 [[ 9.94333361e-01 -1.06306947e-01 3.37413797e-05 7.91149286e+01] [ 1.06306947e-01 9.94333361e-01 9.20025277e-07 -5.78967400e-01] [-3.36479845e-05 2.67213122e-06 9.99999999e-01 -2.59635676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:-0.58, Z:-0.26 [[ 9.94210435e-01 -1.07443421e-01 -1.23393401e-03 7.91480642e+01] [ 1.07443470e-01 9.94211195e-01 -2.64278359e-05 -5.75895614e-01] [ 1.22963050e-03 -1.06303321e-04 9.99999238e-01 -2.60173346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:-0.57, Z:-0.26 [[ 9.94066133e-01 -1.08718487e-01 -3.57977543e-03 7.91805177e+01] [ 1.08718912e-01 9.94072529e-01 -7.61523120e-05 -5.71250007e-01] [ 3.56683558e-03 -3.13488856e-04 9.99993590e-01 -2.61252848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:-0.57, Z:-0.26 [[ 9.94052677e-01 -1.08839564e-01 -3.63653910e-03 7.92135679e+01] [ 1.08840004e-01 9.94059278e-01 -7.74326227e-05 -5.69518868e-01] [ 3.62336317e-03 -3.18828823e-04 9.99993385e-01 -2.61288073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:-0.57, Z:-0.26 [[ 9.94091344e-01 -1.08513100e-01 -2.70307825e-03 7.92470493e+01] [ 1.08513342e-01 9.94094991e-01 -5.73311427e-05 -5.67830700e-01] [ 2.69333773e-03 -2.36327662e-04 9.99996345e-01 -2.61242217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:-0.57, Z:-0.26 [[ 9.94163954e-01 -1.07868544e-01 -1.55234972e-03 7.92798338e+01] [ 1.07868623e-01 9.94165157e-01 -3.27346216e-05 -5.65692743e-01] [ 1.54682304e-03 -1.34906247e-04 9.99998795e-01 -2.60936471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66589822699999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.31, Y:-0.56, Z:-0.26 [[ 9.94323835e-01 -1.06390351e-01 -1.09772416e-03 7.93125396e+01] [ 1.06390390e-01 9.94324436e-01 -2.30122786e-05 -5.60542868e-01] [ 1.09394224e-03 -9.39056442e-05 9.99999397e-01 -2.61601440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:-0.56, Z:-0.26 [[ 9.94431323e-01 -1.05378427e-01 -1.31553446e-03 7.93443305e+01] [ 1.05378482e-01 9.94432187e-01 -2.73388631e-05 -5.59089076e-01] [ 1.31109074e-03 -1.11442403e-04 9.99999134e-01 -2.61393034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:-0.56, Z:-0.26 [[ 9.94520088e-01 -1.04521944e-01 -2.22680345e-03 7.93764045e+01] [ 1.04522102e-01 9.94522563e-01 -4.59714548e-05 -5.57462931e-01] [ 2.21941130e-03 -1.87030641e-04 9.99997520e-01 -2.62079378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:-0.56, Z:-0.26 [[ 9.94562173e-01 -1.04109365e-01 -2.70650732e-03 7.94091694e+01] [ 1.04109595e-01 9.94565829e-01 -5.60912660e-05 -5.55623076e-01] [ 2.69763933e-03 -2.25987129e-04 9.99996336e-01 -2.62268873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78589822699999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:79.44, Y:-0.55, Z:-0.26 [[ 9.94638350e-01 -1.03396218e-01 -1.94272084e-03 7.94414881e+01] [ 1.03396336e-01 9.94640235e-01 -3.98670768e-05 -5.52123989e-01] [ 1.93643042e-03 -1.61216893e-04 9.99998112e-01 -2.62825011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:-0.55, Z:-0.26 [[ 9.94647101e-01 -1.03326100e-01 -9.27853155e-04 7.94745912e+01] [ 1.03326127e-01 9.94647531e-01 -1.89352050e-05 -5.51351486e-01] [ 9.24843350e-04 -7.70376265e-05 9.99999569e-01 -2.61341231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:-0.55, Z:-0.26 [[ 9.94595883e-01 -1.03821119e-01 -4.52664348e-04 7.95076767e+01] [ 1.03821126e-01 9.94595985e-01 -9.10746764e-06 -5.50805099e-01] [ 4.51163690e-04 -3.79378724e-05 9.99999898e-01 -2.61807069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:-0.55, Z:-0.26 [[ 9.94296354e-01 -1.06652431e-01 -1.41035254e-04 7.95398381e+01] [ 1.06652431e-01 9.94296364e-01 -2.39078299e-06 -5.51415378e-01] [ 1.40485823e-04 -1.26646059e-05 9.99999990e-01 -2.62188069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:-0.56, Z:-0.27 [[ 9.94054006e-01 -1.08770767e-01 5.05501288e-03 7.95717856e+01] [ 1.08656348e-01 9.93895898e-01 1.90982309e-02 -5.60009080e-01] [-7.10148579e-03 -1.84354137e-02 9.99804833e-01 -2.68735670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:-0.54, Z:-0.26 [[ 9.93801380e-01 -1.11148276e-01 2.20851868e-03 7.96032437e+01] [ 1.11170183e-01 9.93620137e-01 -1.89792858e-02 -5.44788810e-01] [-8.49137447e-05 1.91071619e-02 9.99817438e-01 -2.55389373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:-0.55, Z:-0.26 [[ 9.93803933e-01 -1.11132418e-01 1.82465793e-03 7.96369159e+01] [ 1.11132536e-01 9.93805594e-01 3.69635493e-05 -5.52314088e-01] [-1.81746310e-03 1.66044342e-04 9.99998335e-01 -2.61668758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:-0.55, Z:-0.26 [[ 9.93522969e-01 -1.13603716e-01 2.51111635e-03 7.96702981e+01] [ 1.13603948e-01 9.93526115e-01 5.05957193e-05 -5.53990232e-01] [-2.50060753e-03 2.35004721e-04 9.99996846e-01 -2.61680136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.70, Y:-0.56, Z:-0.26 [[ 9.93070260e-01 -1.17508543e-01 1.78902049e-03 7.97035992e+01] [ 1.17508667e-01 9.93071856e-01 3.59851513e-05 -5.58110084e-01] [-1.78085446e-03 1.74489630e-04 9.99998399e-01 -2.62082529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:-0.56, Z:-0.26 [[ 9.93003052e-01 -1.18087556e-01 5.17938091e-04 7.97361889e+01] [ 1.18087567e-01 9.93003186e-01 1.07478116e-05 -5.59186974e-01] [-5.15583357e-04 5.04894391e-05 9.99999866e-01 -2.61481112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:-0.56, Z:-0.26 [[ 9.93044872e-01 -1.17736497e-01 -1.26742371e-05 7.97691677e+01] [ 1.17736497e-01 9.93044872e-01 -6.29385333e-08 -5.60312919e-01] [ 1.25934963e-05 -1.42971948e-06 1.00000000e+00 -2.60958241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:-0.56, Z:-0.26 [[ 9.93227239e-01 -1.16170099e-01 2.03937784e-03 7.98025899e+01] [ 1.16170258e-01 9.93229314e-01 4.04009591e-05 -5.63013116e-01] [-2.03026324e-03 1.96787718e-04 9.99997920e-01 -2.59872412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:-0.56, Z:-0.26 [[ 9.93390191e-01 -1.14734470e-01 3.45398091e-03 7.98360481e+01] [ 1.14734921e-01 9.93396141e-01 6.80674881e-05 -5.63843705e-01] [-3.43898099e-03 3.28674652e-04 9.99994033e-01 -2.59031324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:-0.56, Z:-0.26 [[ 9.93627005e-01 -1.12654465e-01 3.78765561e-03 7.98676116e+01] [ 1.12654993e-01 9.93634162e-01 7.43202555e-05 -5.63725999e-01] [-3.77191652e-03 3.52851705e-04 9.99992824e-01 -2.58651557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:-0.56, Z:-0.26 [[ 9.93931518e-01 -1.09964753e-01 2.80894402e-03 7.99004478e+01] [ 1.09965033e-01 9.93935455e-01 5.48749817e-05 -5.63298745e-01] [-2.79794336e-03 2.54343649e-04 9.99996053e-01 -2.58116113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:-0.57, Z:-0.26 [[ 9.94590419e-01 -1.03872976e-01 5.51189207e-04 7.99328463e+01] [ 1.03872986e-01 9.94590570e-01 1.11202221e-05 -5.65576789e-01] [-5.49362679e-04 4.61936024e-05 9.99999848e-01 -2.59588351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.97, Y:-0.57, Z:-0.26 [[ 9.94843859e-01 -1.01417566e-01 -4.16913284e-04 7.99661651e+01] [ 1.01417572e-01 9.94843946e-01 -7.79085509e-06 -5.67326616e-01] [ 4.15553786e-04 -3.45316486e-05 9.99999913e-01 -2.60349287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.00, Y:-0.57, Z:-0.26 [[ 9.95037232e-01 -9.94926951e-02 -1.45262049e-03 7.99994675e+01] [ 9.94927601e-02 9.95038286e-01 -2.76315384e-05 -5.69030883e-01] [ 1.44816214e-03 -1.17030813e-04 9.99998945e-01 -2.59769458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.03, Y:-0.57, Z:-0.26 [[ 9.95242988e-01 -9.73960479e-02 -2.32492789e-03 8.00312888e+01] [ 9.73962086e-02 9.95245687e-01 -4.42458891e-05 -5.70136560e-01] [ 2.31818383e-03 -1.82403751e-04 9.99997296e-01 -2.59492018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:-0.57, Z:-0.26 [[ 9.95650726e-01 -9.30953666e-02 -3.58949198e-03 8.00634097e+01] [ 9.30957224e-02 9.95657161e-01 -6.82081678e-05 -5.71273929e-01] [ 3.58025326e-03 -2.66254837e-04 9.99993555e-01 -2.59397455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:-0.57, Z:-0.26 [[ 9.95827213e-01 -9.11847834e-02 -3.67397716e-03 8.00962496e+01] [ 9.11851442e-02 9.95833954e-01 -6.95268753e-05 -5.70259810e-01] [ 3.66501100e-03 -2.65775383e-04 9.99993249e-01 -2.59375454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:-0.57, Z:-0.26 [[ 9.95979018e-01 -8.95214708e-02 -3.42088203e-03 8.01290496e+01] [ 8.95217748e-02 9.95984863e-01 -6.44719548e-05 -5.68460761e-01] [ 3.41291834e-03 -2.42030716e-04 9.99994147e-01 -2.58711332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:80.16, Y:-0.56, Z:-0.26 [[ 9.96345812e-01 -8.53689363e-02 -2.67727494e-03 8.01609203e+01] [ 8.53691080e-02 9.96349393e-01 -5.02893060e-05 -5.63699370e-01] [ 2.67179440e-03 -1.78451034e-04 9.99996415e-01 -2.58281522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:-0.56, Z:-0.26 [[ 9.96543261e-01 -8.30576484e-02 -1.71941681e-03 8.01937673e+01] [ 8.30577161e-02 9.96544738e-01 -3.20957190e-05 -5.62378069e-01] [ 1.71614157e-03 -1.10826061e-04 9.99998521e-01 -2.56776144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:-0.56, Z:-0.26 [[ 9.96698077e-01 -8.11916283e-02 -9.28343794e-04 8.02267259e+01] [ 8.11916474e-02 9.96698508e-01 -1.71691907e-05 -5.60365359e-01] [ 9.26672869e-04 -5.82612626e-05 9.99999569e-01 -2.57279578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:-0.55, Z:-0.26 [[ 9.96784624e-01 -8.01273662e-02 -1.33038227e-04 8.02581845e+01] [ 8.01273666e-02 9.96784633e-01 -2.31516837e-06 -5.54418377e-01] [ 1.32795969e-04 -8.35227855e-06 9.99999991e-01 -2.57885511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:-0.55, Z:-0.26 [[ 9.96741602e-01 -8.06548072e-02 -9.90818648e-04 8.02905477e+01] [ 8.06548287e-02 9.96742092e-01 -1.82662788e-05 -5.49912856e-01] [ 9.89063916e-04 -6.17075484e-05 9.99999509e-01 -2.57558035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.32, Y:-0.55, Z:-0.26 [[ 9.96676281e-01 -8.14438730e-02 -1.81260352e-03 8.03239777e+01] [ 8.14439464e-02 9.96677923e-01 -3.34010624e-05 -5.45532150e-01] [ 1.80930223e-03 -1.14335537e-04 9.99998357e-01 -2.59175411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.36, Y:-0.54, Z:-0.26 [[ 9.96578202e-01 -8.26364823e-02 -1.76026954e-03 8.03555433e+01] [ 8.26365535e-02 9.96579750e-01 -3.23671120e-05 -5.42006794e-01] [ 1.75692369e-03 -1.13206250e-04 9.99998450e-01 -2.59185983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:-0.54, Z:-0.26 [[ 9.96432587e-01 -8.43894428e-02 7.21826497e-04 8.03884410e+01] [ 8.43794593e-02 9.96392349e-01 9.07714952e-03 -5.41870776e-01] [-1.48523799e-03 -8.98386025e-03 9.99958541e-01 -2.62867676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:-0.53, Z:-0.25 [[ 9.96212574e-01 -8.69501726e-02 -4.17164734e-04 8.04209686e+01] [ 8.69427793e-02 9.96171601e-01 -9.11561250e-03 -5.26408021e-01] [ 1.20817174e-03 9.04481834e-03 9.99958365e-01 -2.54776561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:-0.53, Z:-0.26 [[ 9.96094728e-01 -8.82906967e-02 2.13524286e-04 8.04541467e+01] [ 8.82906978e-02 9.96094751e-01 4.08061375e-06 -5.26052575e-01] [-2.13050700e-04 1.47875303e-05 9.99999977e-01 -2.57522531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:-0.53, Z:-0.27 [[ 9.95804087e-01 -9.12399184e-02 7.03551292e-03 8.04864110e+01] [ 9.10274427e-02 9.95504109e-01 2.61834757e-02 -5.30223443e-01] [-9.39286020e-03 -2.54331873e-02 9.99632396e-01 -2.69244760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:-0.50, Z:-0.25 [[ 9.95777068e-01 -9.17973975e-02 1.12626419e-03 8.05188940e+01] [ 9.17957681e-02 9.95442211e-01 -2.58523041e-02 -5.04839751e-01] [ 1.25204332e-03 2.58465178e-02 9.99665139e-01 -2.50991350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:-0.51, Z:-0.26 [[ 9.95717397e-01 -9.24489397e-02 2.43043867e-04 8.05506493e+01] [ 9.24489413e-02 9.95717426e-01 4.72258981e-06 -5.12281938e-01] [-2.42439612e-04 1.77667834e-05 9.99999970e-01 -2.60249093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:-0.51, Z:-0.26 [[ 9.95676117e-01 -9.28927813e-02 -3.08826896e-05 8.05841120e+01] [ 9.28927813e-02 9.95676118e-01 -3.35343064e-07 -5.08878717e-01] [ 3.07803074e-05 -2.53488585e-06 1.00000000e+00 -2.60211047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:-0.50, Z:-0.26 [[ 9.95560296e-01 -9.41215121e-02 9.15915393e-04 8.06160734e+01] [ 9.41215362e-02 9.95560714e-01 1.67546439e-05 -5.04799311e-01] [-9.13426356e-04 6.95271056e-05 9.99999580e-01 -2.60153998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:-0.50, Z:-0.26 [[ 9.95431334e-01 -9.54779810e-02 6.43235909e-04 8.06493984e+01] [ 9.54779931e-02 9.95431541e-01 1.18722552e-05 -5.02810359e-01] [-6.41430851e-04 4.95968588e-05 9.99999793e-01 -2.59832783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:-0.50, Z:-0.26 [[ 9.95293514e-01 -9.69060445e-02 2.00004408e-04 8.06825051e+01] [ 9.69060457e-02 9.95293534e-01 4.07391859e-06 -5.01457954e-01] [-1.99457882e-04 1.53268916e-05 9.99999980e-01 -2.60438560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.72, Y:-0.50, Z:-0.26 [[ 9.94961521e-01 -1.00244842e-01 -1.59478864e-03 8.07150288e+01] [ 1.00244927e-01 9.94962790e-01 -2.68132243e-05 -4.99579252e-01] [ 1.58944324e-03 -1.33191344e-04 9.99998728e-01 -2.62378107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:-0.50, Z:-0.26 [[ 9.94769520e-01 -1.02110180e-01 -2.66695018e-03 8.07473487e+01] [ 1.02110424e-01 9.94773069e-01 -4.51494394e-05 -4.98745250e-01] [ 2.65762043e-03 -2.27410126e-04 9.99996443e-01 -2.63203343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:-0.50, Z:-0.26 [[ 9.94562339e-01 -1.04072010e-01 -3.84317115e-03 8.07808591e+01] [ 1.04072529e-01 9.94569708e-01 -6.50846739e-05 -4.97783890e-01] [ 3.82907510e-03 -3.35237776e-04 9.99992613e-01 -2.63225009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:-0.50, Z:-0.26 [[ 9.94477217e-01 -1.04854391e-01 -4.54100307e-03 8.08132220e+01] [ 1.04855129e-01 9.94487504e-01 -7.58474105e-05 -4.96073316e-01] [ 4.52392375e-03 -4.00718941e-04 9.99989687e-01 -2.62403184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:-0.49, Z:-0.26 [[ 9.94563092e-01 -1.04026164e-01 -4.77628363e-03 8.08459867e+01] [ 1.04026971e-01 9.94574473e-01 -7.98146183e-05 -4.94631290e-01] [ 4.75867259e-03 -4.17481644e-04 9.99988590e-01 -2.62593842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:-0.49, Z:-0.26 [[ 9.94764978e-01 -1.02089163e-01 -4.52125244e-03 8.08783115e+01] [ 1.02089871e-01 9.94775177e-01 -7.44553922e-05 -4.93101035e-01] [ 4.50523078e-03 -3.87508464e-04 9.99989776e-01 -2.62934130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:-0.49, Z:-0.26 [[ 9.94970951e-01 -1.00074475e-01 -4.23156260e-03 8.09112937e+01] [ 1.00075077e-01 9.94979886e-01 -6.96905642e-05 -4.90537081e-01] [ 4.21729392e-03 -3.54133868e-04 9.99991044e-01 -2.63097053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:-0.48, Z:-0.26 [[ 9.95440042e-01 -9.53647215e-02 -2.16620481e-03 8.09437140e+01] [ 9.53648700e-02 9.95442384e-01 -3.48700182e-05 -4.84872175e-01] [ 2.15965746e-03 -1.71868828e-04 9.99997653e-01 -2.62489498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:-0.48, Z:-0.26 [[ 9.95611285e-01 -9.35769790e-02 -1.23251791e-03 8.09755145e+01] [ 9.35770263e-02 9.95612043e-01 -1.93983728e-05 -4.81930452e-01] [ 1.22892492e-03 -9.60221220e-05 9.99999240e-01 -2.61787471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:-0.48, Z:-0.26 [[ 9.95683793e-01 -9.28080323e-02 -6.73035137e-04 8.10072327e+01] [ 9.28080465e-02 9.95684019e-01 -1.02353949e-05 -4.79169840e-01] [ 6.71080257e-04 -5.22718594e-05 9.99999773e-01 -2.61776024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:-0.48, Z:-0.26 [[ 9.95697379e-01 -9.26641466e-02 -2.92226319e-04 8.10398363e+01] [ 9.26641493e-02 9.95697422e-01 -4.44194611e-06 -4.76638726e-01] [ 2.91380602e-04 -2.26560692e-05 9.99999957e-01 -2.61630281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:-0.47, Z:-0.26 [[ 9.95643712e-01 -9.32361874e-02 7.82648221e-04 8.10726515e+01] [ 9.32362060e-02 9.95644018e-01 1.27925666e-05 -4.69654551e-01] [-7.80431749e-04 6.02343123e-05 9.99999694e-01 -2.60821205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31589822699999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:81.11, Y:-0.47, Z:-0.26 [[ 9.95619902e-01 -9.34853459e-02 1.22501187e-03 8.11052025e+01] [ 9.34853920e-02 9.95620651e-01 1.97652696e-05 -4.65442576e-01] [-1.22149488e-03 9.48420187e-05 9.99999249e-01 -2.62221655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.14, Y:-0.46, Z:-0.26 [[ 9.95636286e-01 -9.33059142e-02 1.54695757e-03 8.11378324e+01] [ 9.33059880e-02 9.95637480e-01 2.45229219e-05 -4.63316241e-01] [-1.54249707e-03 1.19924494e-04 9.99998803e-01 -2.60727321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:-0.46, Z:-0.26 [[ 9.95601138e-01 -9.36929632e-02 5.86161651e-05 8.11685189e+01] [ 9.36910628e-02 9.95584558e-01 5.77698056e-03 -4.61616108e-01] [-5.99619776e-04 -5.74607661e-03 9.99983311e-01 -2.59700341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:-0.46, Z:-0.26 [[ 9.95575799e-01 -9.39566471e-02 9.88102730e-04 8.12020074e+01] [ 9.39608071e-02 9.95559149e-01 -5.77474957e-03 -4.56930083e-01] [-4.41138606e-04 5.84204384e-03 9.99982838e-01 -2.58872556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:-0.46, Z:-0.26 [[ 9.95470893e-01 -9.50597552e-02 1.15963949e-03 8.12344785e+01] [ 9.50597983e-02 9.95471564e-01 1.80359593e-05 -4.58425947e-01] [-1.15610263e-03 9.22808231e-05 9.99999327e-01 -2.60878469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:-0.46, Z:-0.26 [[ 9.95216980e-01 -9.76537445e-02 2.62858081e-03 8.12676254e+01] [ 9.76539778e-02 9.95220427e-01 3.97465242e-05 -4.57241272e-01] [-2.61989871e-03 2.17134956e-04 9.99996544e-01 -2.60298784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:-0.46, Z:-0.26 [[ 9.95105128e-01 -9.87958523e-02 2.27235678e-03 8.12992586e+01] [ 9.87960306e-02 9.95107704e-01 3.39612329e-05 -4.55860404e-01] [-2.26459497e-03 1.90704833e-04 9.99997418e-01 -2.60545767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:-0.46, Z:-0.26 [[ 9.95070548e-01 -9.91657570e-02 8.70673315e-04 8.13328329e+01] [ 9.91657830e-02 9.95070926e-01 1.33095057e-05 -4.55480550e-01] [-8.67701548e-04 7.30971039e-05 9.99999621e-01 -2.61100654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:-0.46, Z:-0.26 [[ 9.95057200e-01 -9.93032966e-02 -1.55285187e-04 8.13648975e+01] [ 9.93032976e-02 9.95057212e-01 -1.68440729e-06 -4.57275208e-01] [ 1.54684912e-04 -1.37442495e-05 9.99999988e-01 -2.62270767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:-0.46, Z:-0.26 [[ 9.95037047e-01 -9.95032113e-02 6.21528646e-04 8.13973424e+01] [ 9.95032247e-02 9.95037240e-01 9.40986338e-06 -4.58090675e-01] [-6.19380459e-04 5.24809418e-05 9.99999807e-01 -2.61994060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.43, Y:-0.46, Z:-0.26 [[ 9.95010372e-01 -9.97562519e-02 1.74634725e-03 8.14300830e+01] [ 9.97563602e-02 9.95011893e-01 2.51914682e-05 -4.58500115e-01] [-1.74014929e-03 1.49143473e-04 9.99998475e-01 -2.61581655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:-0.46, Z:-0.26 [[ 9.94966565e-01 -1.00189776e-01 1.88257908e-03 8.14629511e+01] [ 1.00189903e-01 9.94968332e-01 2.67835606e-05 -4.58486350e-01] [-1.87579001e-03 1.61966669e-04 9.99998228e-01 -2.60895500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.49, Y:-0.46, Z:-0.26 [[ 9.95013242e-01 -9.97363490e-02 1.14373204e-03 8.14949992e+01] [ 9.97363957e-02 9.95013895e-01 1.62746347e-05 -4.60764884e-01] [-1.13965245e-03 9.78782346e-05 9.99999346e-01 -2.62347254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:-0.46, Z:-0.26 [[ 9.95056935e-01 -9.93036056e-02 6.99794817e-04 8.15283593e+01] [ 9.93036229e-02 9.95057179e-01 1.00727058e-05 -4.61731445e-01] [-6.97336113e-04 5.94692449e-05 9.99999755e-01 -2.62992920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:-0.46, Z:-0.26 [[ 9.95180333e-01 -9.80616851e-02 -1.07209181e-04 8.15614528e+01] [ 9.80616855e-02 9.95180338e-01 -1.18858060e-06 -4.61719301e-01] [ 1.06809023e-04 -9.33026093e-06 9.99999994e-01 -2.62629892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:-0.46, Z:-0.26 [[ 9.95434322e-01 -9.54467052e-02 -6.60512184e-04 8.15934203e+01] [ 9.54467206e-02 9.95434540e-01 -8.24904417e-06 -4.60466964e-01] [ 6.58283986e-04 -5.48323402e-05 9.99999782e-01 -2.62013636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:-0.46, Z:-0.26 [[ 9.96257642e-01 -8.64270384e-02 -1.03787426e-03 8.16262439e+01] [ 8.64270712e-02 9.96258180e-01 -1.32923526e-05 -4.56144392e-01] [ 1.03513954e-03 -7.64578247e-05 9.99999461e-01 -2.60767921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.66, Y:-0.47, Z:-0.28 [[ 9.96640871e-01 -8.13797812e-02 9.18179591e-03 8.16571500e+01] [ 8.09650944e-02 9.95955928e-01 3.89415381e-02 -4.70184542e-01] [-1.23137179e-02 -3.80673234e-02 9.99199305e-01 -2.78450086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.69, Y:-0.45, Z:-0.26 [[ 9.96651636e-01 -8.11354270e-02 1.01271326e-02 8.16905027e+01] [ 8.11375999e-02 9.96702890e-01 1.96792867e-04 -4.53153120e-01] [-1.01097092e-02 6.25557298e-04 9.99948700e-01 -2.64287631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:-0.43, Z:-0.24 [[ 9.97094420e-01 -7.61203891e-02 2.89902029e-03 8.17223808e+01] [ 7.61754759e-02 9.96309991e-01 -3.95436314e-02 -4.34215140e-01] [ 1.21753736e-04 3.96495685e-02 9.99213639e-01 -2.43946817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:-0.45, Z:-0.26 [[ 9.97649648e-01 -6.82024670e-02 6.60332224e-03 8.17557094e+01] [ 6.82033897e-02 9.97671434e-01 8.56224471e-05 -4.45110928e-01] [-6.59378563e-03 3.64947756e-04 9.99978194e-01 -2.58824311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:-0.44, Z:-0.26 [[ 9.97868402e-01 -6.48440258e-02 7.34201992e-03 8.17888169e+01] [ 6.48450835e-02 9.97895338e-01 9.41532834e-05 -4.42282492e-01] [-7.33267273e-03 3.82141308e-04 9.99973043e-01 -2.58779593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:-0.44, Z:-0.26 [[ 9.98062184e-01 -6.18222398e-02 7.06310944e-03 8.18208397e+01] [ 6.18231518e-02 9.98087115e-01 8.93518211e-05 -4.39620888e-01] [-7.05512246e-03 3.47485013e-04 9.99975052e-01 -2.59643384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:-0.43, Z:-0.26 [[ 9.98401187e-01 -5.62972671e-02 5.06832403e-03 8.18534008e+01] [ 5.62976688e-02 9.98414027e-01 6.34912458e-05 -4.34780442e-01] [-5.06386019e-03 2.21945092e-04 9.99987154e-01 -2.60355586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:81.89, Y:-0.43, Z:-0.26 [[ 9.98542372e-01 -5.37871172e-02 4.48078137e-03 8.18866839e+01] [ 5.37874079e-02 9.98552408e-01 5.56987261e-05 -4.31991368e-01] [-4.47729091e-03 1.85392077e-04 9.99989960e-01 -2.62559905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.92, Y:-0.43, Z:-0.26 [[ 9.98681394e-01 -5.11098650e-02 4.82232713e-03 8.19185998e+01] [ 5.11101726e-02 9.98693019e-01 5.95211399e-05 -4.30542646e-01] [-4.81906656e-03 1.87027317e-04 9.99988371e-01 -2.59762865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:-0.43, Z:-0.26 [[ 9.98780195e-01 -4.86636978e-02 8.36456645e-03 8.19505559e+01] [ 4.85829776e-02 9.98773044e-01 9.59688663e-03 -4.32606707e-01] [-8.82132349e-03 -9.17880476e-03 9.99918964e-01 -2.64121937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.98, Y:-0.42, Z:-0.26 [[ 9.99003738e-01 -4.40067324e-02 7.41205079e-03 8.19838910e+01] [ 4.40735142e-02 9.98986833e-01 -9.10128210e-03 -4.22706404e-01] [-7.00402346e-03 9.41888996e-03 9.99931112e-01 -2.56854366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:-0.43, Z:-0.26 [[ 9.99110959e-01 -4.16097702e-02 6.77626359e-03 8.20157663e+01] [ 4.16101778e-02 9.99133918e-01 8.08811443e-05 -4.26149685e-01] [-6.77376023e-03 2.01152295e-04 9.99977038e-01 -2.62238453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:-0.43, Z:-0.26 [[ 9.99208707e-01 -3.93170556e-02 6.01072769e-03 8.20491573e+01] [ 3.93173391e-02 9.99226772e-01 7.10415274e-05 -4.26388837e-01] [-6.00887317e-03 1.65340506e-04 9.99981933e-01 -2.63881552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:-0.43, Z:-0.26 [[ 9.99353474e-01 -3.56548355e-02 4.62249539e-03 8.20813526e+01] [ 3.56549654e-02 9.99364158e-01 5.43217606e-05 -4.27458953e-01] [-4.62149305e-03 1.10528273e-04 9.99989315e-01 -2.64495795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:-0.43, Z:-0.26 [[ 9.99394174e-01 -3.45937688e-02 3.81531165e-03 8.21147226e+01] [ 3.45938509e-02 9.99401453e-01 4.44906545e-05 -4.27837818e-01] [-3.81456710e-03 8.75226213e-05 9.99992721e-01 -2.64024939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.15, Y:-0.43, Z:-0.26 [[ 9.99413457e-01 -3.40566420e-02 3.58985008e-03 8.21475237e+01] [ 3.40567121e-02 9.99419901e-01 4.16303786e-05 -4.28367295e-01] [-3.58918540e-03 8.06525300e-05 9.99993556e-01 -2.64144098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:-0.43, Z:-0.26 [[ 9.99439198e-01 -3.33309402e-02 3.21534326e-03 8.21810206e+01] [ 3.33309932e-02 9.99444367e-01 3.70900153e-05 -4.30129344e-01] [-3.21479295e-03 7.01013693e-05 9.99994830e-01 -2.64359707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:-0.44, Z:-0.27 [[ 9.99474411e-01 -3.17034298e-02 6.76713222e-03 8.22118015e+01] [ 3.15885331e-02 9.99365429e-01 1.64591493e-02 -4.41075847e-01] [-7.28464948e-03 -1.62367348e-02 9.99841639e-01 -2.73645597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.24, Y:-0.43, Z:-0.26 [[ 9.99516974e-01 -3.09561724e-02 2.74495234e-03 8.22434257e+01] [ 3.09975606e-02 9.99381660e-01 -1.65966282e-02 -4.28571325e-01] [-2.22948695e-03 1.66736984e-02 9.99858499e-01 -2.59474060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:-0.44, Z:-0.27 [[ 9.99528472e-01 -3.05998803e-02 2.54577740e-03 8.22751461e+01] [ 3.05999062e-02 9.99531713e-01 2.87795303e-05 -4.36386667e-01] [-2.54546589e-03 4.91345895e-05 9.99996759e-01 -2.66418504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:-0.44, Z:-0.27 [[ 9.99535185e-01 -3.03596988e-02 2.77522534e-03 8.23079603e+01] [ 3.03597291e-02 9.99539037e-01 3.12069630e-05 -4.36455906e-01] [-2.77489350e-03 5.30626320e-05 9.99996149e-01 -2.65498677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:-0.44, Z:-0.27 [[ 9.99550175e-01 -2.96160489e-02 4.72625236e-03 8.23410976e+01] [ 2.96161311e-02 9.99561345e-01 5.26150856e-05 -4.38214208e-01] [-4.72573742e-03 8.73818914e-05 9.99988830e-01 -2.65400851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48589822699999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:82.37, Y:-0.45, Z:-0.28 [[ 9.99494382e-01 -2.97847784e-02 1.11286825e-02 8.23740438e+01] [ 2.95401530e-02 9.99331594e-01 2.15347252e-02 -4.48602464e-01] [-1.17626510e-02 -2.11950939e-02 9.99706161e-01 -2.77358192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:-0.43, Z:-0.26 [[ 9.99538630e-01 -2.93984891e-02 7.63257486e-03 8.24061019e+01] [ 2.95498277e-02 9.99352321e-01 -2.05364490e-02 -4.33636133e-01] [-7.02389083e-03 2.07525154e-02 9.99759970e-01 -2.57153444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:-0.45, Z:-0.27 [[ 9.99497597e-01 -3.06415610e-02 8.10231781e-03 8.24385071e+01] [ 3.06418532e-02 9.99530424e-01 8.81104060e-05 -4.45442015e-01] [-8.10121300e-03 1.60203894e-04 9.99967172e-01 -2.65344499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:-0.45, Z:-0.27 [[ 9.99483837e-01 -3.09852828e-02 8.48363161e-03 8.24710760e+01] [ 3.09856240e-02 9.99519826e-01 9.12538485e-05 -4.46744769e-01] [-8.48238552e-03 1.71663872e-04 9.99964009e-01 -2.65385617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:-0.45, Z:-0.27 [[ 9.99479410e-01 -3.09175815e-02 9.22022361e-03 8.25026925e+01] [ 3.09179939e-02 9.99521920e-01 9.78381346e-05 -4.48393358e-01] [-9.21884052e-03 1.87283617e-04 9.99957488e-01 -2.65704433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:-0.45, Z:-0.27 [[ 9.99487609e-01 -3.04894978e-02 9.74213783e-03 8.25357358e+01] [ 3.04899465e-02 9.99535068e-01 1.02497211e-04 -4.50696327e-01] [-9.74073349e-03 1.94592569e-04 9.99952539e-01 -2.66020597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:-0.45, Z:-0.27 [[ 9.99495694e-01 -3.00395620e-02 1.02948081e-02 8.25678154e+01] [ 3.00400534e-02 9.99548690e-01 1.06931440e-04 -4.54935428e-01] [-1.02933742e-02 2.02379072e-04 9.99947001e-01 -2.66263590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:-0.46, Z:-0.27 [[ 9.99500743e-01 -2.99837508e-02 9.96193599e-03 8.26010630e+01] [ 2.99842191e-02 9.99550367e-01 1.02378764e-04 -4.56865169e-01] [-9.96052647e-03 1.96373220e-04 9.99950373e-01 -2.66455213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:-0.46, Z:-0.27 [[ 9.99510353e-01 -2.97767026e-02 9.61256524e-03 8.26338009e+01] [ 2.97771359e-02 9.99556558e-01 9.80787618e-05 -4.59913249e-01] [-9.61122309e-03 1.88203924e-04 9.99953793e-01 -2.66675649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:-0.46, Z:-0.27 [[ 9.99515755e-01 -2.94854963e-02 9.94285257e-03 8.26666296e+01] [ 2.94859528e-02 9.99565190e-01 1.00705398e-04 -4.63469571e-01] [-9.94149866e-03 1.92517849e-04 9.99950564e-01 -2.67254432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:-0.47, Z:-0.27 [[ 9.99542051e-01 -2.82288648e-02 1.09004724e-02 8.27001557e+01] [ 2.82293473e-02 9.99601467e-01 1.09622124e-04 -4.70059799e-01] [-1.08992227e-02 1.98141301e-04 9.99940582e-01 -2.67606348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.73, Y:-0.47, Z:-0.27 [[ 9.99576135e-01 -2.70545398e-02 1.07518928e-02 8.27334485e+01] [ 2.70549493e-02 9.99633942e-01 1.07380948e-04 -4.72864225e-01] [-1.07508621e-02 1.83556482e-04 9.99942191e-01 -2.67254078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:-0.48, Z:-0.27 [[ 9.99619642e-01 -2.56400602e-02 1.01566653e-02 8.27659703e+01] [ 2.56403626e-02 9.99671227e-01 1.00460143e-04 -4.75927935e-01] [-1.01559018e-02 1.59998648e-04 9.99948415e-01 -2.67408300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:-0.48, Z:-0.27 [[ 9.99654308e-01 -2.44690212e-02 9.61928448e-03 8.27991421e+01] [ 2.44692463e-02 9.99700579e-01 9.43063452e-05 -4.79339525e-01] [-9.61871185e-03 1.41102897e-04 9.99953729e-01 -2.68450393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:-0.49, Z:-0.27 [[ 9.99685641e-01 -2.33549312e-02 9.11952059e-03 8.28308301e+01] [ 2.33550923e-02 9.99727229e-01 8.88436895e-05 -4.85464462e-01] [-9.11910799e-03 1.24171485e-04 9.99958412e-01 -2.68963882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:-0.49, Z:-0.27 [[ 9.99676462e-01 -2.34450793e-02 9.86406336e-03 8.28641203e+01] [ 2.34452788e-02 9.99725117e-01 9.54260735e-05 -4.86703371e-01] [-9.86358917e-03 1.35870516e-04 9.99951344e-01 -2.68254128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:-0.49, Z:-0.27 [[ 9.99660579e-01 -2.35638955e-02 1.11117119e-02 8.28961859e+01] [ 2.35641689e-02 9.99722321e-01 1.06333917e-04 -4.87789899e-01] [-1.11111321e-02 1.55540431e-04 9.99938257e-01 -2.68573497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99589822699998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:82.93, Y:-0.49, Z:-0.27 [[ 9.99614131e-01 -2.50610461e-02 1.19805587e-02 8.29295957e+01] [ 2.50614843e-02 9.99685905e-01 1.13578786e-04 -4.89142126e-01] [-1.19796421e-02 1.86715624e-04 9.99928224e-01 -2.70237935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:-0.49, Z:-0.27 [[ 9.99580801e-01 -2.64505953e-02 1.17723874e-02 8.29621970e+01] [ 2.64511243e-02 9.99650102e-01 1.10791790e-04 -4.90031062e-01] [-1.17711988e-02 2.00647537e-04 9.99930697e-01 -2.69609728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:-0.49, Z:-0.27 [[ 9.99537762e-01 -2.84060508e-02 1.08331997e-02 8.29940921e+01] [ 2.84066206e-02 9.99596445e-01 1.01300401e-04 -4.90023294e-01] [-1.08317054e-02 2.06481017e-04 9.99941314e-01 -2.70186558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:-0.49, Z:-0.27 [[ 9.99461749e-01 -3.10029061e-02 1.07252596e-02 8.30273040e+01] [ 3.10036215e-02 9.99519267e-01 9.96012636e-05 -4.90183019e-01] [-1.07231915e-02 2.32974236e-04 9.99942478e-01 -2.70786156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:-0.49, Z:-0.27 [[ 9.99235617e-01 -3.73810248e-02 1.14385228e-02 8.30593448e+01] [ 3.73822737e-02 9.99301033e-01 1.04679575e-04 -4.93612209e-01] [-1.14344407e-02 3.22998430e-04 9.99934572e-01 -2.70780053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.09, Y:-0.50, Z:-0.27 [[ 9.99133779e-01 -3.99885343e-02 1.15156066e-02 8.30920737e+01] [ 3.99899873e-02 9.99200075e-01 1.04148553e-04 -4.95471593e-01] [-1.15105597e-02 3.56450624e-04 9.99933688e-01 -2.71307521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.12, Y:-0.50, Z:-0.27 [[ 9.99149817e-01 -3.97396138e-02 1.09730242e-02 8.31241447e+01] [ 3.97409256e-02 9.99210013e-01 9.85516845e-05 -4.98877287e-01] [-1.09682721e-02 3.37610243e-04 9.99939790e-01 -2.69233963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:-0.50, Z:-0.27 [[ 9.99261592e-01 -3.68999643e-02 1.07080736e-02 8.31573293e+01] [ 3.69010581e-02 9.99318919e-01 9.54714973e-05 -4.99418598e-01] [-1.07043034e-02 2.99738246e-04 9.99942662e-01 -2.69083114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:-0.50, Z:-0.27 [[ 9.99401047e-01 -3.28252395e-02 1.09567409e-02 8.31894362e+01] [ 3.28261520e-02 9.99461072e-01 9.66021688e-05 -4.99587352e-01] [-1.09540070e-02 2.63123332e-04 9.99939968e-01 -2.69276756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.22, Y:-0.50, Z:-0.27 [[ 9.99702370e-01 -2.19655547e-02 1.06153357e-02 8.32228951e+01] [ 2.19658094e-02 9.99758718e-01 9.26070749e-05 -4.99766428e-01] [-1.06148086e-02 1.40594930e-04 9.99943651e-01 -2.69307161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:-0.50, Z:-0.27 [[ 9.99821303e-01 -1.57491193e-02 1.04559797e-02 8.32544318e+01] [ 1.57490338e-02 9.99875972e-01 9.05251686e-05 -4.99386352e-01] [-1.04561085e-02 7.41625854e-05 9.99945331e-01 -2.69164501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.29, Y:-0.50, Z:-0.27 [[ 9.99891873e-01 -1.00174703e-02 1.07653134e-02 8.32876612e+01] [ 1.00170548e-02 9.99949824e-01 9.25110516e-05 -4.98623924e-01] [-1.07657000e-02 1.53356865e-05 9.99942048e-01 -2.68624795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.32, Y:-0.50, Z:-0.27 [[ 9.99927942e-01 -4.79297420e-03 1.10062581e-02 8.33183939e+01] [ 4.79222915e-03 9.99988513e-01 9.40656520e-05 -4.98120991e-01] [-1.10065826e-02 -4.13143627e-05 9.99939425e-01 -2.68491772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:-0.50, Z:-0.27 [[ 9.99940896e-01 1.55030626e-03 1.07611217e-02 8.33499220e+01] [-1.55138034e-03 9.99998792e-01 9.14636440e-05 -4.97725903e-01] [-1.07609669e-02 -1.08152831e-04 9.99942093e-01 -2.69205265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:-0.50, Z:-0.27 [[ 9.99941310e-01 3.34949960e-03 1.03032910e-02 8.33825701e+01] [-3.35057456e-03 9.99994383e-01 8.70717331e-05 -4.98262707e-01] [-1.03029415e-02 -1.21588568e-04 9.99946916e-01 -2.69884620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:-0.50, Z:-0.27 [[ 9.99932634e-01 4.75082530e-03 1.05903921e-02 8.34154680e+01] [-4.75202467e-03 9.99988705e-01 8.80893610e-05 -4.99216444e-01] [-1.05898539e-02 -1.38409231e-04 9.99943916e-01 -2.71378537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:-0.50, Z:-0.27 [[ 9.99920237e-01 5.81722453e-03 1.12107133e-02 8.34485905e+01] [-5.81861102e-03 9.99983068e-01 9.10626523e-05 -5.00004915e-01] [-1.12099937e-02 -1.56286169e-04 9.99937154e-01 -2.72173613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:-0.50, Z:-0.27 [[ 9.99915236e-01 6.32168688e-03 1.13822723e-02 8.34804378e+01] [-6.32312483e-03 9.99980005e-01 9.03494931e-05 -5.01157905e-01] [-1.13814735e-02 -1.62313363e-04 9.99935216e-01 -2.72141568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:-0.50, Z:-0.27 [[ 9.99918809e-01 6.25613787e-03 1.11011745e-02 8.35126927e+01] [-6.25747998e-03 9.99980418e-01 8.61678345e-05 -5.02059693e-01] [-1.11004180e-02 -1.55626215e-04 9.99938376e-01 -2.71871787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.55, Y:-0.50, Z:-0.27 [[ 9.99916917e-01 5.84767480e-03 1.14875903e-02 8.35456709e+01] [-5.84906030e-03 9.99982890e-01 8.70148631e-05 -5.03723343e-01] [-1.14868849e-02 -1.54199242e-04 9.99934012e-01 -2.72148020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:-0.51, Z:-0.27 [[ 9.99900572e-01 3.29638327e-03 1.37105815e-02 8.35775306e+01] [-3.29808874e-03 9.99994556e-01 1.01782125e-04 -5.09097065e-01] [-1.37101713e-02 -1.46990719e-04 9.99906000e-01 -2.73298053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:-0.51, Z:-0.27 [[ 9.99890438e-01 1.52290813e-03 1.47238956e-02 8.36108280e+01] [-1.52464587e-03 9.99998832e-01 1.06797646e-04 -5.12394411e-01] [-1.47237157e-02 -1.29234672e-04 9.99891592e-01 -2.73262500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:-0.52, Z:-0.27 [[ 9.99881674e-01 7.29943851e-05 1.53828408e-02 8.36425669e+01] [-7.46769286e-05 9.99999991e-01 1.08803547e-04 -5.16244874e-01] [-1.53828328e-02 -1.09939416e-04 9.99881671e-01 -2.73673763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:-0.52, Z:-0.27 [[ 9.99880923e-01 -1.02778268e-03 1.53974901e-02 8.36761228e+01] [ 1.02626969e-03 9.99999468e-01 1.06163017e-04 -5.20091988e-01] [-1.53975910e-02 -9.03483982e-05 9.99881446e-01 -2.73797488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:-0.54, Z:-0.29 [[ 9.99768065e-01 -3.63053045e-04 2.15333290e-02 8.37081028e+01] [-2.82156630e-04 9.99551277e-01 2.99526989e-02 -5.40699683e-01] [-2.15345410e-02 -2.99518276e-02 9.99319344e-01 -2.87547745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:-0.52, Z:-0.27 [[ 9.99891299e-01 3.12762704e-03 1.44085789e-02 8.37388624e+01] [-2.71860247e-03 9.99595205e-01 -2.83202137e-02 -5.18840457e-01] [-1.44913215e-02 2.82779641e-02 9.99495052e-01 -2.67445359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:-0.53, Z:-0.28 [[ 9.99894338e-01 3.02146770e-03 1.42191261e-02 8.37715821e+01] [-3.02313059e-03 9.99995426e-01 9.54551626e-05 -5.30698188e-01] [-1.42187726e-02 -1.38431352e-04 9.99898899e-01 -2.76393469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:-0.53, Z:-0.28 [[ 9.99873506e-01 7.28383409e-03 1.41392316e-02 8.38028567e+01] [-7.28589552e-03 9.99973453e-01 9.42891363e-05 -5.32871100e-01] [-1.41381695e-02 -1.97294173e-04 9.99900032e-01 -2.76737193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:-0.54, Z:-0.28 [[ 9.99747636e-01 1.68572390e-02 1.48491633e-02 8.38346745e+01] [-1.68605588e-02 9.99857846e-01 9.83980115e-05 -5.35490569e-01] [-1.48453937e-02 -3.48738371e-04 9.99889740e-01 -2.75861839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:-0.54, Z:-0.28 [[ 9.99667036e-01 2.11647737e-02 1.47604146e-02 8.38663346e+01] [-2.11685163e-02 9.99775917e-01 9.73450606e-05 -5.36230467e-01] [-1.47550467e-02 -4.09768724e-04 9.99891054e-01 -2.75644803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:-0.54, Z:-0.28 [[ 9.99614942e-01 2.41177077e-02 1.37223950e-02 8.38954901e+01] [-2.41212211e-02 9.99709037e-01 9.05607498e-05 -5.36953068e-01] [-1.37162181e-02 -4.21526802e-04 9.99905839e-01 -2.76209682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:-0.54, Z:-0.28 [[ 9.99590766e-01 2.55624713e-02 1.28398184e-02 8.39250039e+01] [-2.55656701e-02 9.99673141e-01 8.50309605e-05 -5.37788586e-01] [-1.28334480e-02 -4.13254725e-04 9.99917563e-01 -2.77771781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:-0.54, Z:-0.28 [[ 9.99602543e-01 2.52123282e-02 1.26132631e-02 8.39541457e+01] [-2.52153921e-02 9.99682038e-01 8.39156166e-05 -5.40592004e-01] [-1.26071369e-02 -4.01930639e-04 9.99920446e-01 -2.79576082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:-0.54, Z:-0.28 [[ 9.99635414e-01 2.36871843e-02 1.29598235e-02 8.39835101e+01] [-2.36902958e-02 9.99719342e-01 8.66052814e-05 -5.42482102e-01] [-1.29541348e-02 -3.93595759e-04 9.99916014e-01 -2.79925790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.015898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:84.01, Y:-0.54, Z:-0.28 [[ 9.99689337e-01 2.13341405e-02 1.28873818e-02 8.40129298e+01] [-2.13370248e-02 9.99772336e-01 8.63409669e-05 -5.44442505e-01] [-1.28826058e-02 -3.61292530e-04 9.99916951e-01 -2.82032876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:-0.55, Z:-0.28 [[ 9.99739615e-01 1.92208944e-02 1.22987900e-02 8.40439043e+01] [-1.92233623e-02 9.99815211e-01 8.24619762e-05 -5.47872582e-01] [-1.22949324e-02 -3.18864601e-04 9.99924364e-01 -2.80261495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.07, Y:-0.55, Z:-0.28 [[ 9.99786841e-01 1.58681850e-02 1.32088526e-02 8.40738850e+01] [-1.58707380e-02 9.99874048e-01 8.84758395e-05 -5.54509178e-01] [-1.32057850e-02 -2.98091219e-04 9.99912755e-01 -2.79950268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:-0.56, Z:-0.28 [[ 9.99773731e-01 1.53565859e-02 1.47194170e-02 8.41052994e+01] [-1.53596967e-02 9.99882028e-01 9.83065145e-05 -5.58081314e-01] [-1.47161709e-02 -3.24370051e-04 9.99891659e-01 -2.79489438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:-0.56, Z:-0.28 [[ 9.99749777e-01 1.57355153e-02 1.58989647e-02 8.41367258e+01] [-1.57391655e-02 9.99876126e-01 1.04477400e-04 -5.64120552e-01] [-1.58953512e-02 -3.54687694e-04 9.99873598e-01 -2.79485735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.17, Y:-0.57, Z:-0.28 [[ 9.99733220e-01 1.69222044e-02 1.57202805e-02 8.41692352e+01] [-1.69258791e-02 9.99856742e-01 1.00723849e-04 -5.66769600e-01] [-1.57163240e-02 -3.66776545e-04 9.99876424e-01 -2.80519642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.20, Y:-0.57, Z:-0.28 [[ 9.99705125e-01 1.84518921e-02 1.57857526e-02 8.42011821e+01] [-1.84557486e-02 9.99829673e-01 9.86474722e-05 -5.69589481e-01] [-1.57812437e-02 -3.89956266e-04 9.99875392e-01 -2.81102760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:-0.57, Z:-0.28 [[ 9.99673574e-01 1.96913214e-02 1.62787598e-02 8.42336162e+01] [-1.96955449e-02 9.99806019e-01 9.91499765e-05 -5.72502598e-01] [-1.62736496e-02 -4.19736655e-04 9.99867487e-01 -2.81871438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:-0.58, Z:-0.28 [[ 9.99682950e-01 1.93496444e-02 1.61118408e-02 8.42652490e+01] [-1.93536980e-02 9.99812695e-01 9.56906324e-05 -5.79009447e-01] [-1.61069714e-02 -4.07483993e-04 9.99870191e-01 -2.82027008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:-0.58, Z:-0.28 [[ 9.99716648e-01 1.77913262e-02 1.58143422e-02 8.42964097e+01] [-1.77950094e-02 9.99841652e-01 9.22006446e-05 -5.82572900e-01] [-1.58101977e-02 -3.73590887e-04 9.99874941e-01 -2.82044146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:-0.59, Z:-0.28 [[ 9.99749206e-01 1.58883387e-02 1.57824545e-02 8.43288695e+01] [-1.58917353e-02 9.99873714e-01 8.98141960e-05 -5.86529611e-01] [-1.57790344e-02 -3.40602260e-04 9.99875445e-01 -2.82099169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:-0.59, Z:-0.28 [[ 9.99774947e-01 1.39803387e-02 1.59563383e-02 8.43607866e+01] [-1.39835229e-02 9.99902222e-01 8.80001888e-05 -5.90196454e-01] [-1.59535479e-02 -3.11106207e-04 9.99872686e-01 -2.82209314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.39, Y:-0.60, Z:-0.28 [[ 9.99782768e-01 1.04110174e-02 1.80562267e-02 8.43937660e+01] [-1.04144524e-02 9.99945763e-01 9.62173093e-05 -5.97099699e-01] [-1.80542457e-02 -2.84242121e-04 9.99836968e-01 -2.83921721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:-0.60, Z:-0.28 [[ 9.99790313e-01 8.79233560e-03 1.84939036e-02 8.44264281e+01] [-8.79559862e-03 9.99961313e-01 9.51037625e-05 -6.00952586e-01] [-1.84923520e-02 -2.57748774e-04 9.99828969e-01 -2.84554018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:-0.60, Z:-0.29 [[ 9.99811900e-01 7.25695922e-03 1.79861440e-02 8.44599451e+01] [-7.25973711e-03 9.99973644e-01 8.91577168e-05 -6.04427535e-01] [-1.79850229e-02 -2.19715623e-04 9.99838232e-01 -2.85010835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:-0.61, Z:-0.29 [[ 9.99872940e-01 4.97478515e-03 1.51445158e-02 8.44926063e+01] [-4.97645233e-03 9.99987615e-01 7.24013790e-05 -6.10942870e-01] [-1.51439681e-02 -1.47758141e-04 9.99885313e-01 -2.86603077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49589822699998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.53, Y:-0.61, Z:-0.29 [[ 9.99884996e-01 4.44280965e-03 1.45002246e-02 8.45253193e+01] [-4.44424312e-03 9.99990122e-01 6.66368339e-05 -6.13626303e-01] [-1.44997853e-02 -1.31071694e-04 9.99894864e-01 -2.88202969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:-0.62, Z:-0.29 [[ 9.99884987e-01 4.39483069e-03 1.45154816e-02 8.45569032e+01] [-4.39623145e-03 9.99990334e-01 6.45935510e-05 -6.16653442e-01] [-1.45150574e-02 -1.28399539e-04 9.99894643e-01 -2.87522140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:-0.62, Z:-0.29 [[ 9.99857665e-01 5.61109479e-03 1.59111691e-02 8.45901632e+01] [-5.61288894e-03 9.99984245e-01 6.81056983e-05 -6.19656336e-01] [-1.59105363e-02 -1.57403630e-04 9.99873407e-01 -2.86907386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:-0.62, Z:-0.29 [[ 9.99847201e-01 7.23072145e-03 1.59151447e-02 8.46224979e+01] [-7.23267499e-03 9.99973842e-01 6.51914947e-05 -6.20092635e-01] [-1.59142570e-02 -1.80290602e-04 9.99873344e-01 -2.86616305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:-0.62, Z:-0.29 [[ 9.99838135e-01 8.97702447e-03 1.55921790e-02 8.46543385e+01] [-8.97906976e-03 9.99959685e-01 6.11723191e-05 -6.19958054e-01] [-1.55910013e-02 -2.01165681e-04 9.99878433e-01 -2.87202141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:-0.62, Z:-0.29 [[ 9.99811100e-01 1.12666103e-02 1.58375232e-02 8.46869832e+01] [-1.12689615e-02 9.99936501e-01 5.92198288e-05 -6.18909222e-01] [-1.58358503e-02 -2.37681080e-04 9.99874577e-01 -2.89110021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:-0.62, Z:-0.29 [[ 9.99796401e-01 1.18126659e-02 1.63589981e-02 8.47188687e+01] [-1.18151985e-02 9.99930196e-01 5.81675579e-05 -6.18600825e-01] [-1.63571691e-02 -2.51440524e-04 9.99866181e-01 -2.89455256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:-0.62, Z:-0.29 [[ 9.99806361e-01 1.12176460e-02 1.61680039e-02 8.47516759e+01] [-1.12200125e-02 9.99937052e-01 5.56658092e-05 -6.18414041e-01] [-1.61663617e-02 -2.37060236e-04 9.99869288e-01 -2.89910801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:-0.62, Z:-0.29 [[ 9.99831336e-01 9.79560620e-03 1.55352841e-02 8.47832520e+01] [-9.79758697e-03 9.99952001e-01 5.13960521e-05 -6.17903037e-01] [-1.55340350e-02 -2.03595681e-04 9.99879319e-01 -2.90290770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.765898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.82, Y:-0.62, Z:-0.29 [[ 9.99901272e-01 6.00458550e-03 1.27039810e-02 8.48164090e+01] [-6.00557752e-03 9.99981966e-01 3.99392827e-05 -6.15625349e-01] [-1.27035120e-02 -1.16230082e-04 9.99919300e-01 -2.92975861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:-0.62, Z:-0.29 [[ 9.99913743e-01 4.88079874e-03 1.21936044e-02 8.48495733e+01] [-4.88160164e-03 9.99988084e-01 3.60830129e-05 -6.15958584e-01] [-1.21932830e-02 -9.56042199e-05 9.99925655e-01 -2.92483319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:-0.62, Z:-0.29 [[ 9.99918449e-01 3.68806218e-03 1.22267495e-02 8.48812538e+01] [-3.68875290e-03 9.99993196e-01 3.39412731e-05 -6.15572402e-01] [-1.22265412e-02 -7.90399630e-05 9.99925250e-01 -2.93016623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:-0.62, Z:-0.29 [[ 9.99913143e-01 2.50798121e-03 1.29389695e-02 8.49141029e+01] [-2.50862481e-03 9.99996853e-01 3.35114247e-05 -6.15304182e-01] [-1.29388447e-02 -6.59675338e-05 9.99916287e-01 -2.93217962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:-0.61, Z:-0.29 [[ 9.99901837e-01 6.52831698e-04 1.39960778e-02 8.49474249e+01] [-6.53365400e-04 9.99999786e-01 3.35598096e-05 -6.14768265e-01] [-1.39960529e-02 -4.27010682e-05 9.99902050e-01 -2.92798292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91589822699999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:84.98, Y:-0.61, Z:-0.29 [[ 9.99906326e-01 1.26182556e-04 1.36865966e-02 8.49796241e+01] [-1.26610362e-04 9.99999992e-01 3.03907617e-05 -6.14415338e-01] [-1.36865927e-02 -3.21207798e-05 9.99906334e-01 -2.94901325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:-0.62, Z:-0.29 [[ 9.99912191e-01 9.83990856e-05 1.32514548e-02 8.50124003e+01] [-9.87769705e-05 9.99999995e-01 2.78619677e-05 -6.16203095e-01] [-1.32514520e-02 -2.91684597e-05 9.99912195e-01 -2.94309244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:-0.62, Z:-0.30 [[ 9.99912430e-01 6.90100116e-04 1.32157792e-02 8.50456207e+01] [-6.90514524e-04 9.99999761e-01 2.67940190e-05 -6.17426309e-01] [-1.32157576e-02 -3.59173602e-05 9.99912667e-01 -2.95206106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:-0.62, Z:-0.30 [[ 9.99900032e-01 4.06036403e-03 1.35440123e-02 8.50776818e+01] [-4.06109647e-03 9.99991753e-01 2.65760984e-05 -6.19022312e-01] [-1.35437927e-02 -8.15769821e-05 9.99908275e-01 -2.95641197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:-0.62, Z:-0.30 [[ 9.99889020e-01 6.15118478e-03 1.35687074e-02 8.51107261e+01] [-6.15210031e-03 9.99981075e-01 2.57343993e-05 -6.18672743e-01] [-1.35682923e-02 -1.09207592e-04 9.99907941e-01 -2.95470343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.14, Y:-0.62, Z:-0.30 [[ 9.99870784e-01 8.41279075e-03 1.36981482e-02 8.51441172e+01] [-8.41390988e-03 9.99964602e-01 2.40698219e-05 -6.18652858e-01] [-1.36974608e-02 -1.39321696e-04 9.99906176e-01 -2.95340791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:-0.62, Z:-0.30 [[ 9.99818228e-01 1.26131433e-02 1.42975628e-02 8.51757227e+01] [-1.26147686e-02 9.99920430e-01 2.34944378e-05 -6.18608243e-01] [-1.42961288e-02 -2.03850613e-04 9.99897784e-01 -2.95129108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:-0.62, Z:-0.30 [[ 9.99770529e-01 1.49525351e-02 1.53398362e-02 8.52087160e+01] [-1.49546479e-02 9.99888173e-01 2.30308206e-05 -6.18735483e-01] [-1.53377764e-02 -2.52427385e-04 9.99882338e-01 -2.95771345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:-0.62, Z:-0.30 [[ 9.99728229e-01 1.66353982e-02 1.63319094e-02 8.52418109e+01] [-1.66379656e-02 9.99861579e-01 2.13286811e-05 -6.18206851e-01] [-1.63292939e-02 -2.93052632e-04 9.99866625e-01 -2.96149496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:-0.62, Z:-0.30 [[ 9.99726966e-01 1.61877188e-02 1.68508412e-02 8.52737194e+01] [-1.61903468e-02 9.99868928e-01 1.95361671e-05 -6.17705531e-01] [-1.68483162e-02 -2.92351795e-04 9.99858014e-01 -2.97633631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:-0.62, Z:-0.30 [[ 9.99751403e-01 1.45040731e-02 1.69340973e-02 8.53069409e+01] [-1.45064376e-02 9.99894776e-01 1.67954957e-05 -6.18619494e-01] [-1.69320718e-02 -2.62444745e-04 9.99856608e-01 -2.98398861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.34, Y:-0.62, Z:-0.30 [[ 9.99780351e-01 1.20447037e-02 1.71515281e-02 8.53387721e+01] [-1.20467251e-02 9.99927435e-01 1.45396816e-05 -6.19534241e-01] [-1.71501084e-02 -2.21156233e-04 9.99852902e-01 -2.98952024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27589822699998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:85.37, Y:-0.62, Z:-0.30 [[ 9.99855104e-01 5.80453757e-03 1.60024636e-02 8.53707137e+01] [-5.80545955e-03 9.99983148e-01 1.11614505e-05 -6.21390333e-01] [-1.60021292e-02 -1.04061489e-04 9.99871952e-01 -3.01594143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:-0.62, Z:-0.30 [[ 9.99873218e-01 3.13403507e-03 1.56117461e-02 8.54033037e+01] [-3.13454291e-03 9.99995087e-01 8.06000604e-06 -6.22946341e-01] [-1.56116442e-02 -5.69946724e-05 9.99878129e-01 -3.00507178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:-0.62, Z:-0.30 [[ 9.99882657e-01 5.08378210e-04 1.53105512e-02 8.54358963e+01] [-5.08514687e-04 9.99999871e-01 5.02091060e-06 -6.23128692e-01] [-1.53105467e-02 -1.28059616e-05 9.99882787e-01 -3.00774949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.47, Y:-0.62, Z:-0.30 [[ 9.99876256e-01 -4.24531632e-03 1.51476284e-02 8.54676966e+01] [ 4.24576139e-03 9.99990987e-01 2.77644229e-06 -6.22873645e-01] [-1.51475036e-02 6.15371169e-05 9.99885268e-01 -3.01311238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:-0.62, Z:-0.30 [[ 9.99872422e-01 -6.10187129e-03 1.47616886e-02 8.54997206e+01] [ 6.10252909e-03 9.99981379e-01 4.82869537e-07 -6.22475825e-01] [-1.47614167e-02 8.96008261e-05 9.99891040e-01 -3.01582144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:-0.62, Z:-0.30 [[ 9.99872869e-01 -7.58825933e-03 1.40237131e-02 8.55328417e+01] [ 7.58902020e-03 9.99971203e-01 -1.04002156e-06 -6.22205432e-01] [-1.40233013e-02 1.07466131e-04 9.99901663e-01 -3.01961771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:-0.62, Z:-0.30 [[ 9.99865778e-01 -9.00252054e-03 1.36887040e-02 8.55658973e+01] [ 9.00339077e-03 9.99959469e-01 -1.94801893e-06 -6.21842644e-01] [-1.36881316e-02 1.25192509e-04 9.99906305e-01 -3.03790694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:-0.62, Z:-0.30 [[ 9.99847615e-01 -1.17644239e-02 1.28974663e-02 8.55988640e+01] [ 1.17654376e-02 9.99930785e-01 -2.72436761e-06 -6.21026377e-01] [-1.28965415e-02 1.54468288e-04 9.99916824e-01 -3.04780463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:-0.62, Z:-0.31 [[ 9.99836688e-01 -1.33108259e-02 1.22237334e-02 8.56311213e+01] [ 1.33118615e-02 9.99911393e-01 -3.35569672e-06 -6.19791619e-01] [-1.22226056e-02 1.66075795e-04 9.99925287e-01 -3.05459373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.545898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.66, Y:-0.62, Z:-0.31 [[ 9.99829655e-01 -1.48335995e-02 1.09829922e-02 8.56636589e+01] [ 1.48345348e-02 9.99889962e-01 -3.69321951e-06 -6.18240550e-01] [-1.09817288e-02 1.66620170e-04 9.99939685e-01 -3.06166992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:-0.62, Z:-0.31 [[ 9.99802564e-01 -1.79164119e-02 8.59268609e-03 8.56959213e+01] [ 1.79171024e-02 9.99839476e-01 -3.37547599e-06 -6.15834403e-01] [-8.59124628e-03 1.57330846e-04 9.99963082e-01 -3.07476451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:-0.62, Z:-0.31 [[ 9.99776944e-01 -1.95060623e-02 8.09790497e-03 8.57292500e+01] [ 1.95067315e-02 9.99809726e-01 -3.66485165e-06 -6.15282193e-01] [-8.09629266e-03 1.61627692e-04 9.99967211e-01 -3.08764862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.76, Y:-0.61, Z:-0.31 [[ 9.99748349e-01 -2.10115689e-02 7.85827260e-03 8.57620790e+01] [ 2.10122498e-02 9.99779218e-01 -4.09340472e-06 -6.14588868e-01] [-7.85645163e-03 1.69212362e-04 9.99969123e-01 -3.09529687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:-0.61, Z:-0.31 [[ 9.99749562e-01 -2.09537618e-02 7.85827230e-03 8.57947629e+01] [ 2.09544450e-02 9.99780432e-01 -4.61450381e-06 -6.14695445e-01] [-7.85645018e-03 1.69279083e-04 9.99969123e-01 -3.09716167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:-0.61, Z:-0.31 [[ 9.99716215e-01 -2.24986319e-02 7.82949617e-03 8.58269129e+01] [ 2.24993610e-02 9.99746857e-01 -5.04895330e-06 -6.13064192e-01] [-7.82740060e-03 1.81206182e-04 9.99969349e-01 -3.10219121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.86, Y:-0.61, Z:-0.31 [[ 9.99676711e-01 -2.46558579e-02 6.20981599e-03 8.58589558e+01] [ 2.46563600e-02 9.99695986e-01 -4.29474065e-06 -6.08172363e-01] [-6.20782222e-03 1.57404811e-04 9.99980719e-01 -3.10695335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:-0.61, Z:-0.31 [[ 9.99660086e-01 -2.54583664e-02 5.62004956e-03 8.58910238e+01] [ 2.54587919e-02 9.99675872e-01 -4.17932942e-06 -6.06111301e-01] [-5.61812154e-03 1.47257581e-04 9.99984207e-01 -3.11260715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:-0.60, Z:-0.31 [[ 9.99640700e-01 -2.62777585e-02 5.28680569e-03 8.59224568e+01] [ 2.62781478e-02 9.99654670e-01 -4.16370553e-06 -6.04303272e-01] [-5.28487058e-03 1.43089671e-04 9.99986025e-01 -3.11479088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:-0.60, Z:-0.31 [[ 9.99586052e-01 -2.80821873e-02 6.25422555e-03 8.59541036e+01] [ 2.80827689e-02 9.99605601e-01 -5.17563820e-06 -6.00080345e-01] [-6.25161355e-03 1.80809466e-04 9.99980442e-01 -3.11972799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:-0.60, Z:-0.31 [[ 9.99560532e-01 -2.88336390e-02 6.88213961e-03 8.59873491e+01] [ 2.88343630e-02 9.99584203e-01 -5.98951695e-06 -5.97829329e-01] [-6.87910534e-03 2.04428997e-04 9.99976318e-01 -3.11883004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.875898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:86.02, Y:-0.59, Z:-0.31 [[ 9.99537447e-01 -2.95086175e-02 7.35749834e-03 8.60204572e+01] [ 2.95094673e-02 9.99564501e-01 -6.94166033e-06 -5.94912783e-01] [-7.35408932e-03 2.24054306e-04 9.99972933e-01 -3.13472672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:-0.59, Z:-0.31 [[ 9.99525909e-01 -2.97085923e-02 8.08432053e-03 8.60534586e+01] [ 2.97096296e-02 9.99558571e-01 -8.22749641e-06 -5.90973065e-01] [-8.08050745e-03 2.48405765e-04 9.99967321e-01 -3.13627291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.09, Y:-0.59, Z:-0.31 [[ 9.99529403e-01 -2.93448634e-02 8.93594168e-03 8.60862326e+01] [ 2.93461222e-02 9.99569310e-01 -9.75808756e-06 -5.88551309e-01] [-8.93180671e-03 2.71988732e-04 9.99960074e-01 -3.14152160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:-0.59, Z:-0.31 [[ 9.99547777e-01 -2.87308510e-02 8.87575416e-03 8.61194967e+01] [ 2.87320742e-02 9.99587149e-01 -1.03069826e-05 -5.85879342e-01] [-8.87179366e-03 2.65321148e-04 9.99960610e-01 -3.14033000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99589822699998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.15, Y:-0.58, Z:-0.32 [[ 9.99603259e-01 -2.71184493e-02 7.61008506e-03 8.61527636e+01] [ 2.71193054e-02 9.99632204e-01 -9.31350010e-06 -5.79509067e-01] [-7.60703353e-03 2.15690026e-04 9.99971043e-01 -3.15308476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02589822699998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:86.18, Y:-0.58, Z:-0.32 [[ 9.99638769e-01 -2.60724085e-02 6.52389783e-03 8.61846903e+01] [ 2.60730183e-02 9.99660041e-01 -8.42706070e-06 -5.76657881e-01] [-6.52146026e-03 1.78521725e-04 9.99978719e-01 -3.16839172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:-0.58, Z:-0.32 [[ 9.99663310e-01 -2.51505664e-02 6.38091272e-03 8.62177352e+01] [ 2.51511355e-02 9.99683660e-01 -8.94498230e-06 -5.75413044e-01] [-6.37866921e-03 1.69429171e-04 9.99979642e-01 -3.16923640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:-0.57, Z:-0.32 [[ 9.99683454e-01 -2.41834048e-02 6.93943050e-03 8.62510147e+01] [ 2.41840583e-02 9.99707523e-01 -1.02549973e-05 -5.73689457e-01] [-6.93715288e-03 1.78075343e-04 9.99975922e-01 -3.17513828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:86.28, Y:-0.57, Z:-0.32 [[ 9.99716379e-01 -2.23538677e-02 8.21380524e-03 8.62838632e+01] [ 2.23547274e-02 9.99750102e-01 -1.28515693e-05 -5.67966593e-01] [-8.21146535e-03 1.96465301e-04 9.99966266e-01 -3.18642954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-0.57, Z:-0.32 [[ 9.99737653e-01 -2.15269475e-02 7.82408446e-03 8.63164343e+01] [ 2.15277062e-02 9.99768252e-01 -1.27639645e-05 -5.65796288e-01] [-7.82199647e-03 1.81195208e-04 9.99969391e-01 -3.16970169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:-0.56, Z:-0.32 [[ 9.99753092e-01 -2.11324391e-02 6.86841207e-03 8.63496461e+01] [ 2.11330175e-02 9.99776673e-01 -1.16355004e-05 -5.63054113e-01] [-6.86663228e-03 1.56782900e-04 9.99976412e-01 -3.17892139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:-0.57, Z:-0.33 [[ 9.99728335e-01 -2.11476166e-02 9.79970182e-03 8.63814558e+01] [ 2.09763459e-02 9.99630937e-01 1.72621942e-02 -5.68823130e-01] [-1.01611394e-02 -1.70519427e-02 9.99802972e-01 -3.25132978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:-0.55, Z:-0.31 [[ 9.99756435e-01 -2.15486400e-02 4.76725719e-03 8.64128999e+01] [ 2.16281550e-02 9.99616236e-01 -1.73090613e-02 -5.51510751e-01] [-4.39244096e-03 1.74079524e-02 9.99838822e-01 -3.14922610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:-0.56, Z:-0.32 [[ 9.99678989e-01 -2.48094353e-02 5.13923707e-03 8.64446037e+01] [ 2.48098107e-02 9.99692189e-01 -9.30050781e-06 -5.56260485e-01] [-5.13742441e-03 1.36801021e-04 9.99986794e-01 -3.19736186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:-0.55, Z:-0.32 [[ 9.99630256e-01 -2.65623706e-02 5.81313087e-03 8.64773549e+01] [ 2.65628849e-02 9.99647144e-01 -1.12645355e-05 -5.54674552e-01] [-5.81078046e-03 1.65673897e-04 9.99983104e-01 -3.19261170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.325898227 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:86.51, Y:-0.55, Z:-0.32 [[ 9.99575655e-01 -2.83604732e-02 6.64788564e-03 8.65104733e+01] [ 2.83611889e-02 9.99597740e-01 -1.33845963e-05 -5.52312685e-01] [-6.64483187e-03 2.01920857e-04 9.99977902e-01 -3.20688825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:-0.55, Z:-0.32 [[ 9.99515198e-01 -3.03733083e-02 6.84328564e-03 8.65428166e+01] [ 3.03741176e-02 9.99538600e-01 -1.43403384e-05 -5.49857777e-01] [-6.83969259e-03 2.22192149e-04 9.99976584e-01 -3.21003133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:-0.56, Z:-0.33 [[ 9.99397876e-01 -3.15520254e-02 1.44345166e-02 8.65756741e+01] [ 3.10475536e-02 9.98941807e-01 3.39310345e-02 -5.63258687e-01] [-1.54898350e-02 -3.34624473e-02 9.99319934e-01 -3.34529132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:-0.54, Z:-0.32 [[ 9.99437631e-01 -3.18587811e-02 1.04613650e-02 8.66070633e+01] [ 3.20286346e-02 9.99350891e-01 -1.64912799e-02 -5.37501352e-01] [-9.92918239e-03 1.68170689e-02 9.99809281e-01 -3.19614807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:-0.53, Z:-0.32 [[ 9.99420853e-01 -3.37649028e-02 4.22961472e-03 8.66377413e+01] [ 3.38311624e-02 9.99287701e-01 -1.67195253e-02 -5.31732853e-01] [-3.66206882e-03 1.68529351e-02 9.99851273e-01 -3.19581589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:-0.54, Z:-0.32 [[ 9.99353638e-01 -3.57086078e-02 4.14742359e-03 8.66704403e+01] [ 3.57089552e-02 9.99362232e-01 -9.74121054e-06 -5.37416569e-01] [-4.14443065e-03 1.57835077e-04 9.99991399e-01 -3.24661664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:-0.54, Z:-0.32 [[ 9.99260471e-01 -3.81396600e-02 4.88641568e-03 8.67026443e+01] [ 3.81401736e-02 9.99272399e-01 -1.19300931e-05 -5.35993022e-01] [-4.88240531e-03 1.98290013e-04 9.99988061e-01 -3.24263855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:-0.54, Z:-0.33 [[ 9.99122047e-01 -4.07313899e-02 9.80246726e-03 8.67354512e+01] [ 4.05568949e-02 9.99025955e-01 1.73862155e-02 -5.43386848e-01] [-1.05010839e-02 -1.69733936e-02 9.99800796e-01 -3.30815085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:-0.53, Z:-0.32 [[ 9.99042926e-01 -4.33853025e-02 5.56304925e-03 8.67685221e+01] [ 4.34764620e-02 9.98901647e-01 -1.74727302e-02 -5.26789199e-01] [-4.79887938e-03 1.76978692e-02 9.99831864e-01 -3.19869635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:-0.54, Z:-0.33 [[ 9.98818873e-01 -4.83337292e-02 4.97093875e-03 8.68007749e+01] [ 4.83343932e-02 9.98831210e-01 -1.34546650e-05 -5.35153256e-01] [-4.96447846e-03 2.53706082e-04 9.99987645e-01 -3.26570643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:-0.54, Z:-0.33 [[ 9.98777710e-01 -4.91924759e-02 4.81529892e-03 8.68335371e+01] [ 4.91931101e-02 9.98789286e-01 -1.32722680e-05 -5.36182511e-01] [-4.80881608e-03 2.50135575e-04 9.99988406e-01 -3.27057969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-0.54, Z:-0.33 [[ 9.98824043e-01 -4.82508416e-02 4.73163267e-03 8.68658378e+01] [ 4.82514450e-02 9.98835221e-01 -1.33853577e-05 -5.37650309e-01] [-4.72547551e-03 2.41677731e-04 9.99988806e-01 -3.26966024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:-0.54, Z:-0.33 [[ 9.98897235e-01 -4.67649518e-02 4.16575191e-03 8.68990405e+01] [ 4.67654073e-02 9.98905900e-01 -1.19428282e-05 -5.38328776e-01] [-4.16063565e-03 2.06742743e-04 9.99991323e-01 -3.27030207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:-0.54, Z:-0.33 [[ 9.98974416e-01 -4.51917563e-02 2.79670055e-03 8.69320139e+01] [ 4.51919555e-02 9.98978322e-01 -8.04220635e-06 -5.38479003e-01] [-2.79347978e-03 1.34422325e-04 9.99996089e-01 -3.27218014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:-0.54, Z:-0.33 [[ 9.99051700e-01 -4.35172054e-02 1.39767413e-03 8.69652832e+01] [ 4.35172533e-02 9.99052676e-01 -3.87160708e-06 -5.39097059e-01] [-1.39618159e-03 6.46908747e-05 9.99999023e-01 -3.28131774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:-0.54, Z:-0.33 [[ 9.99177648e-01 -4.05291155e-02 1.19082903e-03 8.69975063e+01] [ 4.05291483e-02 9.99178357e-01 -3.37649597e-06 -5.38622687e-01] [-1.18971375e-03 5.16370057e-05 9.99999291e-01 -3.28001713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:-0.54, Z:-0.33 [[ 9.99250688e-01 -3.86569865e-02 1.92339772e-03 8.70307241e+01] [ 3.86570690e-02 9.99252536e-01 -5.75316099e-06 -5.38478342e-01] [-1.92173765e-03 8.01017686e-05 9.99998150e-01 -3.27399296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:-0.55, Z:-0.33 [[ 9.99298728e-01 -3.67425928e-02 7.21352247e-03 8.70629730e+01] [ 3.66105651e-02 9.99173677e-01 1.76530274e-02 -5.45764197e-01] [-7.85617976e-03 -1.73765567e-02 9.99818151e-01 -3.34018256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:-0.53, Z:-0.32 [[ 9.99385572e-01 -3.48615557e-02 3.62636517e-03 8.70947493e+01] [ 3.49204983e-02 9.99233183e-01 -1.77089003e-02 -5.28946173e-01] [-3.00622460e-03 1.78246539e-02 9.99836609e-01 -3.22090898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:-0.54, Z:-0.33 [[ 9.99475334e-01 -3.20209493e-02 4.86976503e-03 8.71257745e+01] [ 3.20011978e-02 9.99479498e-01 4.08120803e-03 -5.37658551e-01] [-4.99791446e-03 -3.92322844e-03 9.99979814e-01 -3.30366697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.16, Y:-0.53, Z:-0.33 [[ 9.99510649e-01 -3.10685563e-02 3.63411789e-03 8.71588503e+01] [ 3.10832479e-02 9.99508559e-01 -4.05857731e-03 -5.33372662e-01] [-3.50623780e-03 4.16955143e-03 9.99985160e-01 -3.28442082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:-0.53, Z:-0.33 [[ 9.99507829e-01 -3.10991435e-02 4.11618670e-03 8.71912860e+01] [ 3.10994643e-02 9.99516295e-01 -1.39479682e-05 -5.33763417e-01] [-4.11376191e-03 1.41952305e-04 9.99991528e-01 -3.30257617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:-0.53, Z:-0.33 [[ 9.99430959e-01 -3.33304978e-02 5.18038444e-03 8.72246135e+01] [ 3.33310380e-02 9.99444366e-01 -1.79426538e-05 -5.29257204e-01] [-5.17690801e-03 1.90600034e-04 9.99986582e-01 -3.30727110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:-0.53, Z:-0.33 [[ 9.99359520e-01 -3.53474009e-02 5.57768262e-03 8.72571887e+01] [ 3.53480608e-02 9.99375062e-01 -1.97296909e-05 -5.26624128e-01] [-5.57349952e-03 2.16877319e-04 9.99984444e-01 -3.31747093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.29, Y:-0.52, Z:-0.33 [[ 9.99269879e-01 -3.79337367e-02 4.55407316e-03 8.72903763e+01] [ 3.79342044e-02 9.99280239e-01 -1.63277993e-05 -5.23421122e-01] [-4.55017594e-03 1.89071020e-04 9.99989630e-01 -3.32566044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:-0.52, Z:-0.33 [[ 9.99049687e-01 -4.35488084e-02 1.79580446e-03 8.73224495e+01] [ 4.35488899e-02 9.99051297e-01 -6.32331841e-06 -5.15862901e-01] [-1.79382540e-03 8.45226000e-05 9.99998388e-01 -3.32834911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:-0.51, Z:-0.33 [[ 9.98931909e-01 -4.61936321e-02 1.09051092e-03 8.73554351e+01] [ 4.61936636e-02 9.98932503e-01 -3.67362309e-06 -5.12728522e-01] [-1.08917711e-03 5.40443939e-05 9.99999405e-01 -3.33351924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:-0.51, Z:-0.33 [[ 9.98804812e-01 -4.88663147e-02 1.01490572e-03 8.73880361e+01] [ 4.88663433e-02 9.98805327e-01 -3.45449162e-06 -5.10051475e-01] [-1.01352443e-03 5.30450940e-05 9.99999485e-01 -3.33697841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:-0.51, Z:-0.34 [[ 9.98701362e-01 -5.08794245e-02 2.62158895e-03 8.74177659e+01] [ 5.08719737e-02 9.98701160e-01 2.83450626e-03 -5.09459783e-01] [-2.76240197e-03 -2.69745986e-03 9.99992546e-01 -3.35703470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:-0.50, Z:-0.33 [[ 9.98389775e-01 -5.66087750e-02 3.64731381e-03 8.74521987e+01] [ 5.66191216e-02 9.98391928e-01 -2.79877512e-03 -5.01374606e-01] [-3.48301343e-03 3.00077617e-03 9.99989432e-01 -3.32453200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:-0.50, Z:-0.33 [[ 9.98260200e-01 -5.88334670e-02 3.89833587e-03 8.74838209e+01] [ 5.88339734e-02 9.98267781e-01 -1.52666549e-05 -4.99471362e-01] [-3.89068491e-03 2.44594683e-04 9.99992401e-01 -3.32644535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:-0.50, Z:-0.33 [[ 9.98147873e-01 -6.07267834e-02 3.61683073e-03 8.75154538e+01] [ 6.07272344e-02 9.98154398e-01 -1.49056885e-05 -4.96795192e-01] [-3.60925033e-03 2.34518209e-04 9.99993459e-01 -3.33113892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.55, Y:-0.49, Z:-0.33 [[ 9.98039075e-01 -6.25066690e-02 3.30480799e-03 8.75482544e+01] [ 6.25070568e-02 9.98044522e-01 -1.41037853e-05 -4.94554723e-01] [-3.29746393e-03 2.20649950e-04 9.99994539e-01 -3.33461072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:-0.49, Z:-0.34 [[ 9.97916793e-01 -6.43608156e-02 4.44514032e-03 8.75808966e+01] [ 6.43615375e-02 9.97926647e-01 -1.94086035e-05 -4.91165737e-01] [-4.43467482e-03 3.05464237e-04 9.99990120e-01 -3.35031765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:-0.49, Z:-0.33 [[ 9.97924924e-01 -6.42631111e-02 4.01231434e-03 8.76131640e+01] [ 6.42636981e-02 9.97932952e-01 -1.74154363e-05 -4.88741080e-01] [-4.00290153e-03 2.75225456e-04 9.99991950e-01 -3.34532846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:-0.49, Z:-0.33 [[ 9.97964319e-01 -6.37013760e-02 3.05829948e-03 8.76454027e+01] [ 6.37017151e-02 9.97968983e-01 -1.35094569e-05 -4.85722954e-01] [-3.05122745e-03 2.08300878e-04 9.99995323e-01 -3.34086005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.405898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:87.68, Y:-0.48, Z:-0.33 [[ 9.98076014e-01 -6.19378673e-02 2.82314025e-03 8.76789539e+01] [ 6.19381516e-02 9.98079989e-01 -1.33206937e-05 -4.79013330e-01] [-2.81689473e-03 1.88155154e-04 9.99996015e-01 -3.34342551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:-0.48, Z:-0.33 [[ 9.98174631e-01 -6.02710591e-02 3.84777106e-03 8.77121588e+01] [ 6.02715766e-02 9.98182016e-01 -1.85770324e-05 -4.77780901e-01] [-3.83965621e-03 2.50454350e-04 9.99992597e-01 -3.32835553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.465898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:87.74, Y:-0.48, Z:-0.33 [[ 9.98249559e-01 -5.90002396e-02 4.09748493e-03 8.77444275e+01] [ 5.90008158e-02 9.98257934e-01 -1.97732849e-05 -4.75687749e-01] [-4.08918022e-03 2.61493627e-04 9.99991605e-01 -3.34668730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:-0.47, Z:-0.34 [[ 9.98327081e-01 -5.76697085e-02 4.15265881e-03 8.77767388e+01] [ 5.76702918e-02 9.98335684e-01 -2.07565921e-05 -4.74879088e-01] [-4.14455045e-03 2.60206913e-04 9.99991377e-01 -3.35072192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:-0.47, Z:-0.34 [[ 9.98399581e-01 -5.64644151e-02 3.16961805e-03 8.78100693e+01] [ 5.64647510e-02 9.98404593e-01 -1.65026908e-05 -4.73673135e-01] [-3.16362941e-03 1.95447974e-04 9.99994977e-01 -3.36106727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:-0.47, Z:-0.34 [[ 9.98470034e-01 -5.52282814e-02 2.72544199e-03 8.78430702e+01] [ 5.52285254e-02 9.98473740e-01 -1.43044310e-05 -4.73149010e-01] [-2.72049225e-03 1.64804688e-04 9.99996286e-01 -3.37345257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:-0.47, Z:-0.34 [[ 9.98474367e-01 -5.51498918e-02 2.72544128e-03 8.78766048e+01] [ 5.51501359e-02 9.98478073e-01 -1.44374330e-05 -4.73449405e-01] [-2.72049714e-03 1.64723864e-04 9.99996286e-01 -3.37588851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:-0.47, Z:-0.34 [[ 9.98593285e-01 -5.28941805e-02 3.69548441e-03 8.79084471e+01] [ 5.28946145e-02 9.98600100e-01 -1.97527929e-05 -4.72676332e-01] [-3.68926629e-03 2.15196230e-04 9.99993171e-01 -3.36980522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:-0.47, Z:-0.34 [[ 9.98674158e-01 -5.13310022e-02 3.87995366e-03 8.79412080e+01] [ 5.13314730e-02 9.98681671e-01 -2.17814312e-05 -4.71728584e-01] [-3.87372054e-03 2.20916289e-04 9.99992473e-01 -3.35770409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:87.97, Y:-0.47, Z:-0.34 [[ 9.98789502e-01 -4.90855729e-02 3.18396974e-03 8.79733922e+01] [ 4.90858783e-02 9.98794562e-01 -1.78200414e-05 -4.69436276e-01] [-3.17925696e-03 1.74086422e-04 9.99994931e-01 -3.35256533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:-0.47, Z:-0.34 [[ 9.98941953e-01 -4.58578945e-02 3.46822123e-03 8.80060935e+01] [ 4.58582398e-02 9.98947957e-01 -2.00540564e-05 -4.68130476e-01] [-3.46365288e-03 1.79079359e-04 9.99993986e-01 -3.35612874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:-0.47, Z:-0.34 [[ 9.99178717e-01 -4.02699543e-02 4.49693371e-03 8.80383014e+01] [ 4.02704791e-02 9.99188815e-01 -2.61725599e-05 -4.66137119e-01] [-4.49223190e-03 2.07244740e-04 9.99989888e-01 -3.37690439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:-0.47, Z:-0.34 [[ 9.99240165e-01 -3.85527410e-02 5.72524683e-03 8.80714044e+01] [ 3.85535717e-02 9.99256534e-01 -3.47604572e-05 -4.66026449e-01] [-5.71965019e-03 2.55462759e-04 9.99983610e-01 -3.38618307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:-0.47, Z:-0.34 [[ 9.99264753e-01 -3.78306600e-02 6.22848819e-03 8.81036409e+01] [ 3.78316322e-02 9.99284127e-01 -3.82982054e-05 -4.65296958e-01] [-6.22258054e-03 2.73903921e-04 9.99980602e-01 -3.38719711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:-0.46, Z:-0.34 [[ 9.99251439e-01 -3.81870421e-02 6.18969525e-03 8.81359742e+01] [ 3.81880112e-02 9.99270571e-01 -3.84093913e-05 -4.60762539e-01] [-6.18371356e-03 2.74752791e-04 9.99980843e-01 -3.39248112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:-0.46, Z:-0.34 [[ 9.99219810e-01 -3.90296932e-02 6.03778136e-03 8.81695133e+01] [ 3.90306325e-02 9.99238014e-01 -3.77684878e-05 -4.58141702e-01] [-6.03170656e-03 2.73397446e-04 9.99981772e-01 -3.39991617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:-0.46, Z:-0.34 [[ 9.99189778e-01 -3.98695585e-02 5.49596674e-03 8.82026938e+01] [ 3.98703516e-02 9.99204861e-01 -3.47706626e-05 -4.55993932e-01] [-5.49021039e-03 2.53868617e-04 9.99984896e-01 -3.41129397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:-0.45, Z:-0.34 [[ 9.99150532e-01 -4.09368050e-02 4.73202511e-03 8.82348518e+01] [ 4.09374056e-02 9.99161713e-01 -3.00759919e-05 -4.53579751e-01] [-4.72682710e-03 2.23767274e-04 9.99988803e-01 -3.42227282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:-0.45, Z:-0.34 [[ 9.99018125e-01 -4.41333931e-02 3.87670282e-03 8.82683194e+01] [ 4.41338218e-02 9.99025628e-01 -2.50712813e-05 -4.48008055e-01] [-3.87181899e-03 1.96140376e-04 9.99992485e-01 -3.42984962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:-0.45, Z:-0.34 [[ 9.98935240e-01 -4.59556937e-02 4.05723544e-03 8.83010051e+01] [ 4.59561794e-02 9.98943456e-01 -2.65237636e-05 -4.45377954e-01] [-4.05172988e-03 2.12950562e-04 9.99991769e-01 -3.42992922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:-0.44, Z:-0.34 [[ 9.98839450e-01 -4.79683622e-02 4.33474310e-03 8.83330208e+01] [ 4.79689357e-02 9.98848828e-01 -2.83693210e-05 -4.43343716e-01] [-4.32839224e-03 2.36269410e-04 9.99990605e-01 -3.43324757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:-0.44, Z:-0.34 [[ 9.98743698e-01 -4.99476658e-02 4.03199587e-03 8.83665180e+01] [ 4.99481816e-02 9.98751810e-01 -2.72848265e-05 -4.41613935e-01] [-4.02560036e-03 2.28641410e-04 9.99991871e-01 -3.43397724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:88.40, Y:-0.44, Z:-0.34 [[ 9.98648484e-01 -5.19184352e-02 2.38340839e-03 8.83989202e+01] [ 5.19186204e-02 9.98651319e-01 -1.58830042e-05 -4.35319873e-01] [-2.37936931e-03 1.39604813e-04 9.99997160e-01 -3.44900734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09589822699999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:88.43, Y:-0.43, Z:-0.35 [[ 9.98640067e-01 -5.21083104e-02 1.65517559e-03 8.84323021e+01] [ 5.21084003e-02 9.98641434e-01 -1.12089189e-05 -4.32911485e-01] [-1.65234285e-03 9.74422279e-05 9.99998630e-01 -3.45281095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:-0.43, Z:-0.34 [[ 9.98662645e-01 -5.16762696e-02 1.57637063e-03 8.84651636e+01] [ 5.16763507e-02 9.98663885e-01 -1.07239716e-05 -4.31737673e-01] [-1.57371025e-03 9.21707114e-05 9.99998757e-01 -3.44504391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:-0.43, Z:-0.34 [[ 9.98663414e-01 -5.16740869e-02 1.08353312e-03 8.84971075e+01] [ 5.16741244e-02 9.98664000e-01 -6.64825280e-06 -4.30273299e-01] [-1.08174198e-03 6.26299923e-05 9.99999413e-01 -3.44977664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:-0.43, Z:-0.34 [[ 9.98670034e-01 -5.15568906e-02 2.22981195e-04 8.85292064e+01] [ 5.15568920e-02 9.98670059e-01 -5.19386789e-07 -4.28670854e-01] [-2.22657865e-04 1.20149134e-05 9.99999975e-01 -3.44834534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:-0.42, Z:-0.34 [[ 9.98737405e-01 -5.02202184e-02 1.23498960e-03 8.85618728e+01] [ 5.02202676e-02 9.98738166e-01 -8.81097963e-06 -4.23306296e-01] [-1.23298876e-03 7.08213632e-05 9.99999237e-01 -3.43820001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24589822699998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:88.59, Y:-0.42, Z:-0.34 [[ 9.98800940e-01 -4.89120093e-02 2.07291075e-03 8.85948793e+01] [ 4.89121459e-02 9.98803085e-01 -1.52281608e-05 -4.20217036e-01] [-2.06968481e-03 1.16600414e-04 9.99997851e-01 -3.44618268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:-0.42, Z:-0.34 [[ 9.98904988e-01 -4.67008460e-02 2.80285423e-03 8.86266339e+01] [ 4.67010869e-02 9.98908909e-01 -2.04987108e-05 -4.18975156e-01] [-2.79883875e-03 1.51372603e-04 9.99996072e-01 -3.44313212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:-0.41, Z:-0.34 [[ 9.99030640e-01 -4.40181104e-02 4.32732977e-04 8.86590973e+01] [ 4.40181155e-02 9.99030733e-01 -2.19370525e-06 -4.14728517e-01] [-4.32216981e-04 2.12396689e-05 9.99999906e-01 -3.44261426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.69, Y:-0.41, Z:-0.34 [[ 9.99053463e-01 -4.34755432e-02 -1.43383107e-03 8.86921696e+01] [ 4.34756051e-02 9.99054489e-01 1.19874685e-05 -4.13263473e-01] [ 1.43195420e-03 -7.43127951e-05 9.99998972e-01 -3.44102478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:-0.41, Z:-0.34 [[ 9.99059828e-01 -4.32914312e-02 -2.30492686e-03 8.87247360e+01] [ 4.32915902e-02 9.99062479e-01 1.91256645e-05 -4.11514771e-01] [ 2.30193796e-03 -1.18891632e-04 9.99997343e-01 -3.43863392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:-0.41, Z:-0.34 [[ 9.99072005e-01 -4.29946186e-02 -2.56726813e-03 8.87566517e+01] [ 4.29948164e-02 9.99075295e-01 2.18668104e-05 -4.10329578e-01] [ 2.56395401e-03 -1.32225740e-04 9.99996704e-01 -3.44091833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:-0.41, Z:-0.34 [[ 9.99109411e-01 -4.21907781e-02 -5.68744716e-04 8.87893167e+01] [ 4.21907879e-02 9.99109572e-01 5.20053769e-06 -4.08086141e-01] [ 5.68018875e-04 -2.91916938e-05 9.99999838e-01 -3.44409006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:-0.41, Z:-0.34 [[ 9.99114345e-01 -4.20626158e-02 1.12354042e-03 8.88220748e+01] [ 4.20626523e-02 9.99114975e-01 -8.86386684e-06 -4.06875839e-01] [-1.12217322e-03 5.61151066e-05 9.99999369e-01 -3.44644274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48589822699999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:88.85, Y:-0.40, Z:-0.35 [[ 9.99083286e-01 -4.27715019e-02 1.78495410e-03 8.88549996e+01] [ 4.27715959e-02 9.99084876e-01 -1.44922893e-05 -4.04343853e-01] [-1.78270079e-03 9.08243396e-05 9.99998407e-01 -3.45388172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:-0.40, Z:-0.34 [[ 9.99073708e-01 -4.29867412e-02 1.96605759e-03 8.88876671e+01] [ 4.29868560e-02 9.99075638e-01 -1.61453553e-05 -4.04158708e-01] [-1.96354621e-03 1.00645034e-04 9.99998067e-01 -3.44678299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:-0.40, Z:-0.35 [[ 9.98958797e-01 -4.56213983e-02 9.88593510e-05 8.89201545e+01] [ 4.56213984e-02 9.98958802e-01 3.98719228e-07 -4.01887975e-01] [-9.87746090e-05 4.11179777e-06 9.99999995e-01 -3.45310052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-0.40, Z:-0.35 [[ 9.98874272e-01 -4.74335896e-02 -4.92692209e-04 8.89528504e+01] [ 4.74335977e-02 9.98874393e-01 4.78817015e-06 -4.01822649e-01] [ 4.91910511e-04 -2.81529440e-05 9.99999879e-01 -3.45665126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:-0.40, Z:-0.35 [[ 9.98777984e-01 -4.94130928e-02 -9.40258849e-04 8.89854427e+01] [ 4.94131237e-02 9.98778425e-01 9.57836354e-06 -4.02397406e-01] [ 9.38636956e-04 -5.60277854e-05 9.99999558e-01 -3.45452040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:-0.41, Z:-0.35 [[ 9.98549571e-01 -5.38325044e-02 -9.03180414e-04 8.90184672e+01] [ 5.38325341e-02 9.98549978e-01 8.56430487e-06 -4.05013854e-01] [ 9.01409744e-04 -5.71723734e-05 9.99999592e-01 -3.45590584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:-0.41, Z:-0.35 [[ 9.98446817e-01 -5.57129440e-02 -1.46668148e-04 8.90509049e+01] [ 5.57129450e-02 9.98446828e-01 2.12801939e-06 -4.06593965e-01] [ 1.46321789e-04 -1.02960287e-05 9.99999989e-01 -3.45830415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:-0.41, Z:-0.35 [[ 9.98382815e-01 -5.68452021e-02 6.14157743e-04 8.90839483e+01] [ 5.68452160e-02 9.98383003e-01 -5.12751532e-06 -4.08198374e-01] [-6.12873177e-04 4.00311527e-05 9.99999811e-01 -3.45789471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:-0.41, Z:-0.35 [[ 9.98355384e-01 -5.73212337e-02 8.95801219e-04 8.91173542e+01] [ 5.73212636e-02 9.98355785e-01 -7.74652805e-06 -4.09521714e-01] [-8.93884288e-04 5.90822458e-05 9.99999599e-01 -3.45688603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:-0.41, Z:-0.35 [[ 9.98370667e-01 -5.70428954e-02 1.45602193e-03 8.91490722e+01] [ 5.70429739e-02 9.98371724e-01 -1.24167779e-05 -4.11340039e-01] [-1.45294283e-03 9.54523677e-05 9.99998940e-01 -3.46082359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:-0.41, Z:-0.35 [[ 9.98402644e-01 -5.64865184e-02 1.19745347e-03 8.91821851e+01] [ 5.64865718e-02 9.98403359e-01 -1.08001039e-05 -4.12582817e-01] [-1.19493150e-03 7.84228935e-05 9.99999283e-01 -3.45387019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:-0.41, Z:-0.34 [[ 9.98513613e-01 -5.44964052e-02 -8.40461813e-04 8.92147880e+01] [ 5.44964316e-02 9.98513965e-01 8.47408013e-06 -4.14639651e-01] [ 8.38751051e-04 -5.42636541e-05 9.99999647e-01 -3.44917884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:-0.42, Z:-0.34 [[ 9.98588482e-01 -5.31026304e-02 -1.07465006e-03 8.92468723e+01] [ 5.31026730e-02 9.98589058e-01 1.11496802e-05 -4.15644950e-01] [ 1.07254171e-03 -6.82007327e-05 9.99999423e-01 -3.44647377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:-0.42, Z:-0.35 [[ 9.98667753e-01 -5.16013573e-02 -1.41346383e-04 8.92792730e+01] [ 5.16013582e-02 9.98667762e-01 2.55840972e-06 -4.16913693e-01] [ 1.41026058e-04 -9.84866660e-06 9.99999990e-01 -3.45122635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:-0.42, Z:-0.35 [[ 9.98732515e-01 -5.02968951e-02 1.89378539e-03 8.93125925e+01] [ 5.02970196e-02 9.98734304e-01 -1.81400854e-05 -4.19960026e-01] [-1.89047604e-03 1.13368854e-04 9.99998207e-01 -3.46121987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:-0.42, Z:-0.35 [[ 9.98718291e-01 -5.05786901e-02 1.88991172e-03 8.93454985e+01] [ 5.05788148e-02 9.98720072e-01 -1.82183245e-05 -4.21288603e-01] [-1.88657131e-03 1.13784469e-04 9.99998214e-01 -3.46774622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.38, Y:-0.42, Z:-0.35 [[ 9.98665496e-01 -5.16408763e-02 6.68847528e-04 8.93785248e+01] [ 5.16408920e-02 9.98665719e-01 -6.17504991e-06 -4.22348011e-01] [-6.67636213e-04 4.07066922e-05 9.99999776e-01 -3.46625776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:-0.42, Z:-0.35 [[ 9.98597275e-01 -5.29350099e-02 -1.16944960e-03 8.94106115e+01] [ 5.29350613e-02 9.98597957e-01 1.30662178e-05 -4.23280162e-01] [ 1.16711832e-03 -7.49527759e-05 9.99999316e-01 -3.46896957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:-0.43, Z:-0.35 [[ 9.98509916e-01 -5.44200692e-02 -4.05020502e-03 8.94437981e+01] [ 5.44206845e-02 9.98518096e-01 4.17869503e-05 -4.26790665e-01] [ 4.04192895e-03 -2.62139614e-04 9.99991797e-01 -3.47715205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:-0.43, Z:-0.35 [[ 9.98524265e-01 -5.41738706e-02 -3.80574024e-03 8.94764621e+01] [ 5.41744132e-02 9.98531487e-01 3.95441915e-05 -4.28773396e-01] [ 3.79800920e-03 -2.45659579e-04 9.99992757e-01 -3.48284381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.51, Y:-0.45, Z:-0.36 [[ 9.98515965e-01 -5.42043264e-02 5.26872733e-03 8.95083560e+01] [ 5.40138894e-02 9.98049687e-01 3.12941095e-02 -4.45246293e-01] [-6.95472779e-03 -3.09630835e-02 9.99496333e-01 -3.63767281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:-0.42, Z:-0.34 [[ 9.98611615e-01 -5.26506566e-02 -1.65880080e-03 8.95407648e+01] [ 5.25767220e-02 9.98160454e-01 -3.01893283e-02 -4.17799152e-01] [ 3.24523731e-03 3.00601996e-02 9.99542822e-01 -3.35285546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:-0.43, Z:-0.35 [[ 9.98735100e-01 -5.01952313e-02 -2.93907436e-03 8.95724014e+01] [ 5.01955418e-02 9.98739409e-01 3.19216587e-05 -4.31309750e-01] [ 2.93376708e-03 -1.79409711e-04 9.99995680e-01 -3.48993123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:-0.43, Z:-0.35 [[ 9.98779064e-01 -4.92102102e-02 -4.32857044e-03 8.96046171e+01] [ 4.92108773e-02 9.98788410e-01 4.76878561e-05 -4.31381213e-01] [ 4.32097926e-03 -2.60642381e-04 9.99990631e-01 -3.50650602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:-0.43, Z:-0.35 [[ 9.98770974e-01 -4.92698149e-02 -5.38770062e-03 8.96378682e+01] [ 4.92996351e-02 9.98768616e-01 5.54963550e-03 -4.33915188e-01] [ 5.10763677e-03 -5.80842653e-03 9.99970087e-01 -3.51777423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:-0.43, Z:-0.35 [[ 9.98791748e-01 -4.89488110e-02 -4.36552208e-03 8.96692513e+01] [ 4.89247825e-02 9.98787592e-01 -5.45089168e-03 -4.29061163e-01] [ 4.62704395e-03 5.23072341e-03 9.99975615e-01 -3.49297638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:-0.43, Z:-0.35 [[ 9.98733433e-01 -5.03029631e-02 -1.06882264e-03 8.97016521e+01] [ 5.03030053e-02 9.98734002e-01 1.25728825e-05 -4.31639150e-01] [ 1.06683706e-03 -6.63219491e-05 9.99999429e-01 -3.49985513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:-0.43, Z:-0.35 [[ 9.98688440e-01 -5.11895226e-02 -1.01584965e-03 8.97348725e+01] [ 5.11895609e-02 9.98688955e-01 1.17175431e-05 -4.32107062e-01] [ 1.01391801e-03 -6.37030726e-05 9.99999484e-01 -3.49388392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:-0.43, Z:-0.35 [[ 9.98642700e-01 -5.20601591e-02 -1.58025994e-03 8.97665443e+01] [ 5.20602541e-02 9.98643945e-01 1.90121348e-05 -4.32415681e-01] [ 1.57712725e-03 -1.01255064e-04 9.99998751e-01 -3.49428775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:-0.43, Z:-0.35 [[ 9.98602778e-01 -5.28106174e-02 -1.87913898e-03 8.97996960e+01] [ 5.28107512e-02 9.98604538e-01 2.16420063e-05 -4.32292703e-01] [ 1.87537378e-03 -1.20850509e-04 9.99998234e-01 -3.49656269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.83, Y:-0.43, Z:-0.35 [[ 9.98565405e-01 -5.35200391e-02 -1.65427124e-03 8.98313447e+01] [ 5.35201458e-02 9.98566770e-01 2.02526185e-05 -4.32051364e-01] [ 1.65081637e-03 -1.08760402e-04 9.99998631e-01 -3.49282267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:-0.43, Z:-0.35 [[ 9.98472901e-01 -5.52435998e-02 -1.05324358e-04 8.98647023e+01] [ 5.52436003e-02 9.98472906e-01 1.79536202e-06 -4.32467216e-01] [ 1.05064336e-04 -7.61111705e-06 9.99999994e-01 -3.50272169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:-0.43, Z:-0.35 [[ 9.98433575e-01 -5.59455602e-02 7.01078913e-04 8.98970261e+01] [ 5.59455786e-02 9.98433820e-01 -6.68711267e-06 -4.33511867e-01] [-6.99606783e-04 4.58989032e-05 9.99999754e-01 -3.51075840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:-0.43, Z:-0.35 [[ 9.98440548e-01 -5.58209669e-02 7.01073428e-04 8.99305874e+01] [ 5.58209857e-02 9.98440793e-01 -7.16454846e-06 -4.34023473e-01] [-6.99580377e-04 4.62879854e-05 9.99999754e-01 -3.51362253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:-0.43, Z:-0.35 [[ 9.98367792e-01 -5.71087174e-02 5.88891427e-04 8.99624751e+01] [ 5.71087309e-02 9.98367965e-01 -6.01572478e-06 -4.34881134e-01] [-5.87586785e-04 3.96367479e-05 9.99999827e-01 -3.51109096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53589822699999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:90.00, Y:-0.44, Z:-0.35 [[ 9.98284394e-01 -5.85505458e-02 -3.18865396e-04 8.99955777e+01] [ 5.85505504e-02 9.98284445e-01 4.86305843e-06 -4.35115334e-01] [ 3.18033630e-04 -2.35244598e-05 9.99999949e-01 -3.51712687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:-0.44, Z:-0.35 [[ 9.98165817e-01 -6.05177738e-02 -1.61259758e-03 9.00282956e+01] [ 6.05178847e-02 9.98167113e-01 2.00045387e-05 -4.37913221e-01] [ 1.60843124e-03 -1.17558841e-04 9.99998700e-01 -3.50844563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.06, Y:-0.44, Z:-0.35 [[ 9.98079951e-01 -6.19211954e-02 -1.47530965e-03 9.00601042e+01] [ 6.19212906e-02 9.98081035e-01 1.88935695e-05 -4.40605464e-01] [ 1.47130867e-03 -1.10210371e-04 9.99998912e-01 -3.52162997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:-0.44, Z:-0.35 [[ 9.97971186e-01 -6.36519808e-02 -1.39210620e-03 9.00926531e+01] [ 6.36520669e-02 9.97972151e-01 1.75822630e-05 -4.43758014e-01] [ 1.38816408e-03 -1.06157029e-04 9.99999031e-01 -3.52628630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-0.45, Z:-0.35 [[ 9.97680686e-01 -6.80678062e-02 1.48732981e-04 9.01257861e+01] [ 6.80678070e-02 9.97680697e-01 -2.85256711e-07 -4.49675604e-01] [-1.48368608e-04 1.04085230e-05 9.99999989e-01 -3.52686884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-0.45, Z:-0.35 [[ 9.97521477e-01 -7.03602084e-02 5.87316784e-04 9.01582914e+01] [ 7.03602243e-02 9.97521648e-01 -6.38301206e-06 -4.53383279e-01] [-5.85412097e-04 4.76909323e-05 9.99999828e-01 -3.52740372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-0.46, Z:-0.36 [[ 9.97369117e-01 -7.24132165e-02 3.34212990e-03 9.01914636e+01] [ 7.23739857e-02 9.97320630e-01 1.06568220e-02 -4.62654837e-01] [-4.10486985e-03 -1.03869019e-02 9.99937629e-01 -3.57987642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-0.46, Z:-0.35 [[ 9.97279754e-01 -7.37093885e-02 -1.35601343e-04 9.02240553e+01] [ 7.37037523e-02 9.97223122e-01 -1.06678171e-02 -4.57717862e-01] [ 9.21543066e-04 1.06288036e-02 9.99943088e-01 -3.50201219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-0.47, Z:-0.36 [[ 9.97287070e-01 -7.36104134e-02 -8.07890000e-05 9.02568814e+01] [ 7.36104138e-02 9.97287074e-01 2.58162110e-06 -4.68047147e-01] [ 8.03797912e-05 -8.52152906e-06 9.99999997e-01 -3.55867827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-0.47, Z:-0.36 [[ 9.97596942e-01 -6.92734150e-02 1.23880807e-03 9.02884819e+01] [ 6.92734864e-02 9.97597706e-01 -1.48133678e-05 -4.74856533e-01] [-1.23480592e-03 1.00594324e-04 9.99999233e-01 -3.55280514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-0.48, Z:-0.35 [[ 9.97860670e-01 -6.53486899e-02 1.90591942e-03 9.03218780e+01] [ 6.53488538e-02 9.97862479e-01 -2.37865652e-05 -4.76786812e-01] [-1.90029106e-03 1.48285328e-04 9.99998183e-01 -3.54105172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-0.48, Z:-0.35 [[ 9.98089801e-01 -6.17357539e-02 2.33364239e-03 9.03536617e+01] [ 6.17359918e-02 9.98092514e-01 -2.99726111e-05 -4.78426324e-01] [-2.32734062e-03 1.73985085e-04 9.99997277e-01 -3.53253467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89589822699999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.39, Y:-0.48, Z:-0.35 [[ 9.98290843e-01 -5.84106475e-02 1.89442582e-03 9.03855717e+01] [ 5.84107992e-02 9.98292631e-01 -2.47784591e-05 -4.80263645e-01] [-1.88974401e-03 1.35391035e-04 9.99998205e-01 -3.54070606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.42, Y:-0.48, Z:-0.35 [[ 9.98447178e-01 -5.56775394e-02 1.80105082e-03 9.04181959e+01] [ 5.56776728e-02 9.98448795e-01 -2.39835744e-05 -4.83126256e-01] [-1.79692167e-03 1.24224650e-04 9.99998378e-01 -3.54416579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-0.50, Z:-0.37 [[ 9.98511992e-01 -5.37935374e-02 8.94749684e-03 9.04500280e+01] [ 5.35336264e-02 9.98197805e-01 2.71162975e-02 -5.02784287e-01] [-1.03900533e-02 -2.65969563e-02 9.99592241e-01 -3.68096158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-0.48, Z:-0.35 [[ 9.98588015e-01 -5.30544981e-02 2.68279427e-03 9.04820466e+01] [ 5.31078329e-02 9.98220379e-01 -2.71225460e-02 -4.82395591e-01] [-1.23904685e-03 2.72267267e-02 9.99628516e-01 -3.46388238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-0.50, Z:-0.36 [[ 9.98559563e-01 -5.36143040e-02 2.07519167e-03 9.05142867e+01] [ 5.36144778e-02 9.98561709e-01 -2.81335363e-05 -4.99135351e-01] [-2.07069858e-03 1.39353329e-04 9.99997846e-01 -3.58013711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-0.50, Z:-0.36 [[ 9.98513972e-01 -5.44962770e-02 5.97323050e-05 9.05458212e+01] [ 5.44962771e-02 9.98513974e-01 2.11641618e-07 -5.03318469e-01] [-5.96550749e-05 3.04386114e-06 9.99999998e-01 -3.59094118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-0.51, Z:-0.36 [[ 9.98397568e-01 -5.64501844e-02 -3.95899050e-03 9.05778043e+01] [ 5.64508540e-02 9.98405377e-01 5.74985627e-05 -5.11153734e-01] [ 3.94943160e-03 -2.80894820e-04 9.99992162e-01 -3.59831266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-0.51, Z:-0.36 [[ 9.98368991e-01 -5.68918716e-02 -4.76150593e-03 9.06107261e+01] [ 5.68928411e-02 9.98380288e-01 6.83100693e-05 -5.14620961e-01] [ 4.74990738e-03 -3.39094256e-04 9.99988662e-01 -3.60019301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-0.52, Z:-0.36 [[ 9.98373072e-01 -5.68619811e-02 -4.23376361e-03 9.06427243e+01] [ 5.68627482e-02 9.98382003e-01 6.09434274e-05 -5.18006393e-01] [ 4.22344803e-03 -3.01587711e-04 9.99991036e-01 -3.60214070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-0.52, Z:-0.36 [[ 9.98541205e-01 -5.39699619e-02 -1.64500884e-03 9.06758863e+01] [ 5.39700746e-02 9.98542553e-01 2.42024665e-05 -5.21072391e-01] [ 1.64130512e-03 -1.12948410e-04 9.99998647e-01 -3.58626145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-0.52, Z:-0.36 [[ 9.98671973e-01 -5.15153161e-02 -6.80239455e-04 9.07075750e+01] [ 5.15153354e-02 9.98672204e-01 1.08402674e-05 -5.22241479e-01] [ 6.78777795e-04 -4.58686349e-05 9.99999769e-01 -3.58658055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:-0.52, Z:-0.36 [[ 9.98807854e-01 -4.88133873e-02 -3.50960142e-04 9.07392067e+01] [ 4.88133922e-02 9.98807916e-01 5.59344747e-06 -5.23941147e-01] [ 3.50268733e-04 -2.27183343e-05 9.99999938e-01 -3.59298431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-0.53, Z:-0.36 [[ 9.98921030e-01 -4.64342296e-02 -7.99374982e-04 9.07726062e+01] [ 4.64342542e-02 9.98921348e-01 1.22738088e-05 -5.25988574e-01] [ 7.97942809e-04 -4.93789468e-05 9.99999680e-01 -3.59991922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:-0.53, Z:-0.36 [[ 9.98987341e-01 -4.49823426e-02 -9.38648888e-04 9.08048132e+01] [ 4.49823759e-02 9.98987781e-01 1.43667994e-05 -5.28272303e-01] [ 9.37052517e-04 -5.65749078e-05 9.99999559e-01 -3.60907044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-0.53, Z:-0.36 [[ 9.98996281e-01 -4.47705050e-02 -1.42543717e-03 9.08362918e+01] [ 4.47705810e-02 9.98997295e-01 2.14575298e-05 -5.31952996e-01] [ 1.42304722e-03 -8.52536429e-05 9.99998984e-01 -3.61915197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-0.53, Z:-0.36 [[ 9.98955457e-01 -4.56514586e-02 -1.98476296e-03 9.08691990e+01] [ 4.56516078e-02 9.98957421e-01 2.99463271e-05 -5.33839292e-01] [ 1.98132660e-03 -1.20522667e-04 9.99998030e-01 -3.61539039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:-0.54, Z:-0.36 [[ 9.98902841e-01 -4.67650131e-02 -2.47937843e-03 9.09020890e+01] [ 4.67652495e-02 9.98905907e-01 3.74315984e-05 -5.36162320e-01] [ 2.47491527e-03 -1.53339281e-04 9.99996926e-01 -3.61593364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:-0.54, Z:-0.37 [[ 9.98830501e-01 -4.83457785e-02 -5.61883578e-04 9.09340060e+01] [ 4.83488312e-02 9.98793110e-01 8.64375133e-03 -5.42344288e-01] [ 1.43316559e-04 -8.66080889e-03 9.99962484e-01 -3.65190122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-0.54, Z:-0.36 [[ 9.98858352e-01 -4.77210095e-02 -2.16725287e-03 9.09641795e+01] [ 4.76984384e-02 9.98816734e-01 -9.48634251e-03 -5.37360027e-01] [ 2.61738627e-03 9.37213788e-03 9.99952655e-01 -3.57844034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-0.54, Z:-0.36 [[ 9.98939353e-01 -4.60364774e-02 -9.01380720e-04 9.09969949e+01] [ 4.60365089e-02 9.98939758e-01 1.42852643e-05 -5.42399852e-01] [ 8.99767394e-04 -5.57665342e-05 9.99999594e-01 -3.61009562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:-0.54, Z:-0.36 [[ 9.99053452e-01 -4.34994194e-02 1.59765076e-05 9.10292869e+01] [ 4.34994194e-02 9.99053452e-01 2.13010562e-07 -5.42356963e-01] [-1.59706509e-05 4.82159869e-07 1.00000000e+00 -3.61174104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52589822699998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:91.06, Y:-0.54, Z:-0.36 [[ 9.99150274e-01 -4.12089417e-02 7.44294132e-04 9.10622937e+01] [ 4.12089612e-02 9.99150550e-01 -1.08914028e-05 -5.41375849e-01] [-7.43213068e-04 4.15537361e-05 9.99999723e-01 -3.61744925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:-0.54, Z:-0.36 [[ 9.99252900e-01 -3.86461961e-02 3.37897240e-04 9.10955763e+01] [ 3.86461998e-02 9.99252957e-01 -4.67009014e-06 -5.40174206e-01] [-3.37464335e-04 1.77250454e-05 9.99999943e-01 -3.61929289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:-0.54, Z:-0.36 [[ 9.99244031e-01 -3.88763009e-02 2.14483981e-05 9.11286699e+01] [ 3.88763009e-02 9.99244031e-01 2.15521210e-07 -5.40978490e-01] [-2.14405624e-05 6.18476098e-07 1.00000000e+00 -3.62233711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:-0.54, Z:-0.36 [[ 9.99208274e-01 -3.97840683e-02 2.29074587e-04 9.11608505e+01] [ 3.97840701e-02 9.99208300e-01 -3.10885975e-06 -5.42608545e-01] [-2.28769546e-04 1.22199178e-05 9.99999974e-01 -3.62111739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:-0.56, Z:-0.38 [[ 9.99089576e-01 -4.16153635e-02 9.39045120e-03 9.11932284e+01] [ 4.12944257e-02 9.98630829e-01 3.21129058e-02 -5.60391120e-01] [-1.07139843e-02 -3.16958961e-02 9.99440134e-01 -3.77303285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:-0.53, Z:-0.35 [[ 9.99068986e-01 -4.31041232e-02 1.78787028e-03 9.12259033e+01] [ 4.31391673e-02 9.98564872e-01 -3.17365428e-02 -5.34172429e-01] [-4.17328602e-04 3.17841229e-02 9.99494670e-01 -3.52479994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:-0.55, Z:-0.36 [[ 9.98930664e-01 -4.61768415e-02 2.28652296e-03 9.12573632e+01] [ 4.61770434e-02 9.98933271e-01 -3.55634924e-05 -5.51709686e-01] [-2.28244165e-03 1.41110333e-04 9.99997385e-01 -3.63470602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:-0.56, Z:-0.36 [[ 9.98667659e-01 -5.15934329e-02 1.01248635e-03 9.12904609e+01] [ 5.15934749e-02 9.98668170e-01 -1.54406198e-05 -5.56435999e-01] [-1.01034126e-03 6.76577368e-05 9.99999487e-01 -3.63426337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:-0.56, Z:-0.37 [[ 9.98553566e-01 -5.37596185e-02 8.23902567e-04 9.13235413e+01] [ 5.37555226e-02 9.98544541e-01 4.37532937e-03 -5.60791927e-01] [-1.05791945e-03 -4.32471143e-03 9.99990089e-01 -3.65657798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:-0.56, Z:-0.36 [[ 9.98501658e-01 -5.46897829e-02 -1.86206032e-03 9.13548213e+01] [ 5.46812290e-02 9.98494297e-01 -4.37067903e-03 -5.59399625e-01] [ 2.09828809e-03 4.26231051e-03 9.99988715e-01 -3.63356148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:-0.57, Z:-0.37 [[ 9.98429642e-01 -5.59767649e-02 2.20286714e-03 9.13871085e+01] [ 5.59400751e-02 9.98333382e-01 1.41832990e-02 -5.70730949e-01] [-2.99313099e-03 -1.40377976e-02 9.99896985e-01 -3.71444534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:-0.56, Z:-0.36 [[ 9.98448664e-01 -5.56731885e-02 -8.72854620e-04 9.14178258e+01] [ 5.56551717e-02 9.98348645e-01 -1.42297185e-02 -5.60592899e-01] [ 1.66362703e-03 1.41590646e-02 9.99898371e-01 -3.61250842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:-0.57, Z:-0.36 [[ 9.98631109e-01 -5.23056075e-02 1.77602762e-04 9.14501879e+01] [ 5.23056087e-02 9.98631125e-01 -2.29819097e-06 -5.71833362e-01] [-1.77239438e-04 1.15846656e-05 9.99999984e-01 -3.64122116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:-0.57, Z:-0.36 [[ 9.98795622e-01 -4.90638856e-02 -1.99142379e-04 9.14817481e+01] [ 4.90638874e-02 9.98795642e-01 3.83554539e-06 -5.74137886e-01] [ 1.98714353e-04 -1.36016252e-05 9.99999980e-01 -3.64895888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:-0.58, Z:-0.37 [[ 9.98946319e-01 -4.58754668e-02 -1.30132201e-03 9.15142366e+01] [ 4.58755339e-02 9.98947163e-01 2.17709262e-05 -5.76120569e-01] [ 1.29895318e-03 -8.14468284e-05 9.99999153e-01 -3.65656918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:-0.58, Z:-0.37 [[ 9.99054945e-01 -4.34022250e-02 -2.33763017e-03 9.15470464e+01] [ 4.34024346e-02 9.99057670e-01 3.90116434e-05 -5.77583563e-01] [ 2.33373415e-03 -1.40433616e-04 9.99997267e-01 -3.66557114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:-0.58, Z:-0.37 [[ 9.99134819e-01 -4.15354821e-02 -2.10182212e-03 9.15802614e+01] [ 4.15356479e-02 9.99137022e-01 3.52946653e-05 -5.78858403e-01] [ 2.09854231e-03 -1.22564672e-04 9.99997791e-01 -3.66666069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:-0.58, Z:-0.37 [[ 9.99225097e-01 -3.93441451e-02 -1.11516941e-03 9.16123790e+01] [ 3.93441908e-02 9.99225717e-01 1.90828728e-05 -5.79473887e-01] [ 1.11355515e-03 -6.29435235e-05 9.99999378e-01 -3.66011866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:-0.58, Z:-0.36 [[ 9.99441106e-01 -3.34286679e-02 2.75623784e-06 9.16447145e+01] [ 3.34286679e-02 9.99441106e-01 4.51250934e-07 -5.78564007e-01] [-2.76978210e-06 -3.58861370e-07 1.00000000e+00 -3.64784562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-0.58, Z:-0.37 [[ 9.99527384e-01 -3.05289753e-02 3.60413929e-03 9.16768869e+01] [ 3.04830410e-02 9.99461102e-01 1.21774112e-02 -5.83768206e-01] [-3.97396091e-03 -1.20617908e-02 9.99919357e-01 -3.69984397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:-0.57, Z:-0.36 [[ 9.99618034e-01 -2.76292111e-02 6.41952515e-04 9.17094447e+01] [ 2.76350112e-02 9.99542752e-01 -1.22716243e-02 -5.72922621e-01] [-3.02603686e-04 1.22846773e-02 9.99924495e-01 -3.61430160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:-0.58, Z:-0.37 [[ 9.99650184e-01 -2.64188523e-02 1.24681864e-03 9.17424115e+01] [ 2.64188982e-02 9.99650960e-01 -2.03489217e-05 -5.79148664e-01] [-1.24584586e-03 5.32813782e-05 9.99999223e-01 -3.65981581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:-0.58, Z:-0.37 [[ 9.99657597e-01 -2.61176074e-02 1.59964238e-03 9.17739767e+01] [ 2.61176831e-02 9.99658875e-01 -2.64745501e-05 -5.80356924e-01] [-1.59840525e-03 6.82444378e-05 9.99998720e-01 -3.66520089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:-0.58, Z:-0.37 [[ 9.99642858e-01 -2.66642705e-02 1.78118315e-03 9.18066469e+01] [ 2.66643655e-02 9.99644442e-01 -2.95640131e-05 -5.81819235e-01] [-1.77976154e-03 7.70475731e-05 9.99998413e-01 -3.67305460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:-0.58, Z:-0.37 [[ 9.99610240e-01 -2.78692409e-02 1.63504840e-03 9.18400914e+01] [ 2.78693226e-02 9.99611575e-01 -2.72046335e-05 -5.83529531e-01] [-1.63365513e-03 7.27617215e-05 9.99998663e-01 -3.68073567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:-0.58, Z:-0.37 [[ 9.99561402e-01 -2.96084743e-02 5.84167657e-04 9.18724485e+01] [ 2.96084849e-02 9.99561573e-01 -9.47090578e-06 -5.84867045e-01] [-5.83631123e-04 2.67630711e-05 9.99999829e-01 -3.68192067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:-0.59, Z:-0.37 [[ 9.99457289e-01 -3.29319068e-02 -7.85765389e-04 9.19058275e+01] [ 3.29319280e-02 9.99457597e-01 1.40748386e-05 -5.85591465e-01] [ 7.84875676e-04 -3.99439692e-05 9.99999691e-01 -3.68047152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:-0.59, Z:-0.37 [[ 9.99416160e-01 -3.41436767e-02 -1.24423162e-03 9.19375107e+01] [ 3.41437304e-02 9.99416933e-01 2.18991584e-05 -5.85762594e-01] [ 1.24275843e-03 -6.43690817e-05 9.99999226e-01 -3.67897516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:-0.59, Z:-0.37 [[ 9.99388755e-01 -3.49352875e-02 -1.28140625e-03 9.19691383e+01] [ 3.49353451e-02 9.99389574e-01 2.26099130e-05 -5.85985620e-01] [ 1.27983417e-03 -6.73624626e-05 9.99999179e-01 -3.67746026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:-0.59, Z:-0.37 [[ 9.99390611e-01 -3.48821526e-02 -1.28140587e-03 9.20018196e+01] [ 3.48822102e-02 9.99391430e-01 2.26314526e-05 -5.86639067e-01] [ 1.27983661e-03 -6.73159301e-05 9.99999179e-01 -3.68027208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:-0.59, Z:-0.37 [[ 9.99384875e-01 -3.50540764e-02 -1.04094128e-03 9.20350012e+01] [ 3.50541148e-02 9.99385415e-01 1.86811004e-05 -5.86330264e-01] [ 1.03964669e-03 -5.51588844e-05 9.99999458e-01 -3.67450945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:-0.59, Z:-0.37 [[ 9.99380357e-01 -3.51893091e-02 -7.83399598e-04 9.20678000e+01] [ 3.51893311e-02 9.99380664e-01 1.42604370e-05 -5.85970779e-01] [ 7.82412595e-04 -4.18189085e-05 9.99999693e-01 -3.67967347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48589822699999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.10, Y:-0.59, Z:-0.37 [[ 9.99365558e-01 -3.55865913e-02 -1.44093483e-03 9.21004527e+01] [ 3.55866654e-02 9.99366594e-01 2.58281786e-05 -5.85567381e-01] [ 1.43910299e-03 -7.70898577e-05 9.99998962e-01 -3.68472381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-0.59, Z:-0.37 [[ 9.99337242e-01 -3.63487056e-02 -1.96166925e-03 9.21327876e+01] [ 3.63536323e-02 9.99335768e-01 2.53714956e-03 -5.86937805e-01] [ 1.86814415e-03 -2.60678185e-03 9.99994857e-01 -3.69268109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:-0.59, Z:-0.37 [[ 9.99307240e-01 -3.70596672e-02 -3.40883681e-03 9.21648912e+01] [ 3.70516096e-02 9.99310478e-01 -2.39729923e-03 -5.85002566e-01] [ 3.49532946e-03 2.26933558e-03 9.99991316e-01 -3.68624942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:-0.59, Z:-0.37 [[ 9.99234422e-01 -3.90312217e-02 -2.67099334e-03 9.21972212e+01] [ 3.90314906e-02 9.99237980e-01 4.86179872e-05 -5.87362171e-01] [ 2.66706037e-03 -1.52833618e-04 9.99996432e-01 -3.70105262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:-0.59, Z:-0.37 [[ 9.99224190e-01 -3.93421464e-02 -1.79243109e-03 9.22289830e+01] [ 3.93422678e-02 9.99225793e-01 3.25559798e-05 -5.88290962e-01] [ 1.78976255e-03 -1.03049027e-04 9.99998393e-01 -3.69963720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63589822699998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:92.26, Y:-0.59, Z:-0.37 [[ 9.99239131e-01 -3.89865440e-02 -1.09913802e-03 9.22610572e+01] [ 3.89865898e-02 9.99239734e-01 2.02161209e-05 -5.88960330e-01] [ 1.09751423e-03 -6.30523822e-05 9.99999396e-01 -3.69817040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:-0.59, Z:-0.37 [[ 9.99287465e-01 -3.77432313e-02 1.04689933e-04 9.22943677e+01] [ 3.77432317e-02 9.99287470e-01 -1.29817936e-06 -5.90566728e-01] [-1.04566341e-04 5.24859078e-06 9.99999995e-01 -3.68451457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:-0.59, Z:-0.37 [[ 9.99339893e-01 -3.63091786e-02 1.19256021e-03 9.23263221e+01] [ 3.63092295e-02 9.99340602e-01 -2.10553771e-05 -5.91855176e-01] [-1.19100933e-03 6.43424206e-05 9.99999289e-01 -3.68058214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:-0.59, Z:-0.37 [[ 9.99394867e-01 -3.47061310e-02 2.32057254e-03 9.23588096e+01] [ 3.47063208e-02 9.99397553e-01 -4.15606968e-05 -5.93231043e-01] [-2.31773211e-03 1.22074082e-04 9.99997307e-01 -3.67471241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:-0.59, Z:-0.37 [[ 9.99504892e-01 -3.11001442e-02 4.76987522e-03 9.23906414e+01] [ 3.11009089e-02 9.99516246e-01 -8.62109642e-05 -5.94394725e-01] [-4.76488660e-03 2.34515735e-04 9.99988620e-01 -3.67124393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:-0.60, Z:-0.37 [[ 9.99560861e-01 -2.91351162e-02 5.40645465e-03 9.24237027e+01] [ 2.91360718e-02 9.99575450e-01 -9.80536733e-05 -5.95667825e-01] [-5.40130253e-03 2.55533465e-04 9.99985380e-01 -3.66931492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:-0.60, Z:-0.37 [[ 9.99617041e-01 -2.72533917e-02 4.79824688e-03 9.24568941e+01] [ 2.72541237e-02 9.99628534e-01 -8.72246194e-05 -5.97476386e-01] [-4.79408732e-03 2.17963230e-04 9.99988485e-01 -3.66536825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:-0.60, Z:-0.37 [[ 9.99652628e-01 -2.60408860e-02 4.06138430e-03 9.24886216e+01] [ 2.60414018e-02 9.99660862e-01 -7.41563699e-05 -5.99182342e-01] [-4.05807583e-03 1.79894751e-04 9.99991750e-01 -3.67478954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:-0.60, Z:-0.37 [[ 9.99678760e-01 -2.51408228e-02 3.21172623e-03 9.25206477e+01] [ 2.51411400e-02 9.99683910e-01 -5.84344144e-05 -6.00485995e-01] [-3.20924195e-03 1.39162102e-04 9.99994841e-01 -3.67277432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:-0.60, Z:-0.37 [[ 9.99695787e-01 -2.44991119e-02 2.85075100e-03 9.25536877e+01] [ 2.44993606e-02 9.99699844e-01 -5.23332966e-05 -6.01813154e-01] [-2.84861322e-03 1.22158953e-04 9.99995935e-01 -3.67470209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.935898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.59, Y:-0.60, Z:-0.37 [[ 9.99715594e-01 -2.36739720e-02 2.87641883e-03 9.25852641e+01] [ 2.36742225e-02 9.99719725e-01 -5.30645980e-05 -6.03434690e-01] [-2.87435639e-03 1.21146485e-04 9.99995862e-01 -3.68314211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:-0.61, Z:-0.37 [[ 9.99722019e-01 -2.33727514e-02 3.09829929e-03 9.26177728e+01] [ 2.33730414e-02 9.99726812e-01 -5.74277245e-05 -6.05025820e-01] [-3.09611063e-03 1.29828438e-04 9.99995199e-01 -3.67559649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:-0.61, Z:-0.37 [[ 9.99717904e-01 -2.35581347e-02 3.02102243e-03 9.26501382e+01] [ 2.35584107e-02 9.99722461e-01 -5.57786871e-05 -6.07056392e-01] [-3.01886993e-03 1.26933439e-04 9.99995435e-01 -3.68245588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:-0.61, Z:-0.37 [[ 9.99700493e-01 -2.43454259e-02 2.49476087e-03 9.26820440e+01] [ 2.43456177e-02 9.99703600e-01 -4.65380014e-05 -6.10107749e-01] [-2.49288844e-03 1.07260557e-04 9.99996887e-01 -3.68950400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:-0.62, Z:-0.37 [[ 9.99659821e-01 -2.60375872e-02 1.51176203e-03 9.27141208e+01] [ 2.60376595e-02 9.99660962e-01 -2.81193946e-05 -6.16991714e-01] [-1.51051732e-03 6.74725739e-05 9.99998857e-01 -3.69803556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:-0.62, Z:-0.37 [[ 9.99651020e-01 -2.63604585e-02 1.72148255e-03 9.27459549e+01] [ 2.63605528e-02 9.99652500e-01 -3.21323859e-05 -6.20660702e-01] [-1.72003731e-03 7.75004041e-05 9.99998518e-01 -3.69774187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:-0.62, Z:-0.37 [[ 9.99664433e-01 -2.58238868e-02 2.03649950e-03 9.27778143e+01] [ 2.58240181e-02 9.99666504e-01 -3.81778845e-05 -6.23870926e-01] [-2.03483443e-03 9.07556733e-05 9.99997926e-01 -3.70214830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:-0.63, Z:-0.37 [[ 9.99685799e-01 -2.50208973e-02 1.50236952e-03 9.28096487e+01] [ 2.50209678e-02 9.99686926e-01 -2.81251371e-05 -6.26613976e-01] [-1.50119546e-03 6.57070396e-05 9.99998871e-01 -3.70165859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:-0.63, Z:-0.37 [[ 9.99715073e-01 -2.38592232e-02 7.14451944e-04 9.28416884e+01] [ 2.38592387e-02 9.99715328e-01 -1.31981018e-05 -6.29029179e-01] [-7.13933663e-04 3.02406207e-05 9.99999745e-01 -3.70559825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-0.63, Z:-0.37 [[ 9.99777649e-01 -2.10712496e-02 -8.08758908e-04 9.28731221e+01] [ 2.10712692e-02 9.99777976e-01 1.57203668e-05 -6.32149237e-01] [ 8.08248096e-04 -3.27584480e-05 9.99999673e-01 -3.69913282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:-0.63, Z:-0.37 [[ 9.99801612e-01 -1.98772934e-02 -1.27682508e-03 9.29056969e+01] [ 1.98773413e-02 9.99802426e-01 2.47982028e-05 -6.33929785e-01] [ 1.27607989e-03 -5.01731710e-05 9.99999185e-01 -3.69454601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:-0.64, Z:-0.37 [[ 9.99822427e-01 -1.88119017e-02 -1.10756252e-03 9.29377721e+01] [ 1.88119372e-02 9.99823040e-01 2.16187727e-05 -6.35855220e-01] [ 1.10695983e-03 -4.24503302e-05 9.99999386e-01 -3.69271104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:-0.64, Z:-0.37 [[ 9.99834590e-01 -1.81855350e-02 -2.81457359e-04 9.29693315e+01] [ 1.81855373e-02 9.99834629e-01 5.70089680e-06 -6.37763516e-01] [ 2.81307140e-04 -1.08184071e-05 9.99999960e-01 -3.70059683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:-0.65, Z:-0.38 [[ 9.99788335e-01 -1.86194327e-02 8.75225147e-03 9.30002418e+01] [ 1.83696590e-02 9.99444674e-01 2.78010799e-02 -6.52153655e-01] [-9.26503145e-03 -2.76344195e-02 9.99575159e-01 -3.81409782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.355898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:93.03, Y:-0.63, Z:-0.36 [[ 9.99814017e-01 -1.92769056e-02 5.77110720e-04 9.30325030e+01] [ 1.92855073e-02 9.99421490e-01 -2.80134877e-02 -6.27570026e-01] [-3.67634979e-05 2.80194076e-02 9.99607379e-01 -3.64403126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:-0.64, Z:-0.37 [[ 9.99749862e-01 -2.23297864e-02 1.26227995e-03 9.30640985e+01] [ 2.23298345e-02 9.99750658e-01 -2.39951081e-05 -6.41297272e-01] [-1.26142941e-03 5.21756085e-05 9.99999203e-01 -3.72434574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:-0.64, Z:-0.37 [[ 9.99751112e-01 -2.22737628e-02 1.26228044e-03 9.30967776e+01] [ 2.22738108e-02 9.99751908e-01 -2.39703906e-05 -6.42015425e-01] [-1.26143337e-03 5.20802204e-05 9.99999203e-01 -3.72718811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:-0.64, Z:-0.37 [[ 9.99723870e-01 -2.34693603e-02 1.17147665e-03 9.31279903e+01] [ 2.34694027e-02 9.99724555e-01 -2.24462482e-05 -6.42630062e-01] [-1.17062718e-03 4.99339076e-05 9.99999314e-01 -3.72634655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.16, Y:-0.64, Z:-0.37 [[ 9.99674476e-01 -2.55135620e-02 3.29415913e-06 9.31587507e+01] [ 2.55135620e-02 9.99674476e-01 2.21891400e-07 -6.40895749e-01] [-3.29874803e-06 -1.37773432e-07 1.00000000e+00 -3.72594685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:-0.64, Z:-0.37 [[ 9.99661056e-01 -2.60304779e-02 -4.33678016e-04 9.31910806e+01] [ 2.60304842e-02 9.99661150e-01 8.83662179e-06 -6.39685700e-01] [ 4.33301043e-04 -2.01224754e-05 9.99999906e-01 -3.73427483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:-0.64, Z:-0.37 [[ 9.99645776e-01 -2.66051490e-02 -6.99510545e-04 9.32227164e+01] [ 2.66051655e-02 9.99646020e-01 1.43164804e-05 -6.38292037e-01] [ 6.98882040e-04 -3.29220030e-05 9.99999755e-01 -3.73686541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:-0.64, Z:-0.37 [[ 9.99630807e-01 -2.71516777e-02 -1.01769150e-03 9.32549937e+01] [ 2.71517124e-02 9.99631324e-01 2.03497343e-05 -6.37715830e-01] [ 1.01676377e-03 -4.79742882e-05 9.99999482e-01 -3.74109997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:-0.64, Z:-0.37 [[ 9.99617093e-01 -2.76332167e-02 -1.43963504e-03 9.32858859e+01] [ 2.76332864e-02 9.99618127e-01 2.85701863e-05 -6.37527339e-01] [ 1.43829580e-03 -6.83410940e-05 9.99998963e-01 -3.74205225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:-0.64, Z:-0.37 [[ 9.99590321e-01 -2.85371099e-02 -2.19612003e-03 9.33176948e+01] [ 2.85372745e-02 9.99592728e-01 4.36292925e-05 -6.37158759e-01] [ 2.19398056e-03 -1.06282699e-04 9.99997588e-01 -3.74945356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.655898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.35, Y:-0.63, Z:-0.38 [[ 9.99513282e-01 -3.10141874e-02 -3.36438271e-03 9.33500343e+01] [ 3.10145874e-02 9.99518930e-01 6.67868121e-05 -6.34339527e-01] [ 3.36069287e-03 -1.71099247e-04 9.99994338e-01 -3.75518371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:-0.63, Z:-0.37 [[ 9.99449349e-01 -3.30812179e-02 -2.57535789e-03 9.33814012e+01] [ 3.30814594e-02 9.99452657e-01 5.12046717e-05 -6.33499748e-01] [ 2.57225437e-03 -1.36373073e-04 9.99996682e-01 -3.74922543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:-0.63, Z:-0.38 [[ 9.99356539e-01 -3.58266578e-02 -1.71978801e-03 9.34135943e+01] [ 3.58267700e-02 9.99358015e-01 3.44727397e-05 -6.32529172e-01] [ 1.71744889e-03 -9.60650072e-05 9.99998521e-01 -3.75181526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:-0.63, Z:-0.37 [[ 9.99233583e-01 -3.91285443e-02 -1.09748166e-03 9.34457598e+01] [ 3.91285923e-02 9.99234183e-01 2.23085497e-05 -6.32568613e-01] [ 1.09576829e-03 -6.52343644e-05 9.99999398e-01 -3.74801752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:-0.63, Z:-0.37 [[ 9.99106547e-01 -4.22497009e-02 -1.03508054e-03 9.34778848e+01] [ 4.22497453e-02 9.99107081e-01 2.11189905e-05 -6.33463713e-01] [ 1.03326402e-03 -6.48320108e-05 9.99999464e-01 -3.74977818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:-0.63, Z:-0.38 [[ 9.98979189e-01 -4.51328860e-02 -1.89827844e-03 9.35106014e+01] [ 4.51330404e-02 9.98980984e-01 3.85546824e-05 -6.34530853e-01] [ 1.89460399e-03 -1.24190403e-04 9.99998198e-01 -3.75082711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:-0.64, Z:-0.38 [[ 9.98784520e-01 -4.91722262e-02 -3.40222244e-03 9.35422889e+01] [ 4.91727465e-02 9.98790286e-01 6.94015964e-05 -6.37940136e-01] [ 3.39469410e-03 -2.36613862e-04 9.99994210e-01 -3.76136532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.58, Y:-0.64, Z:-0.38 [[ 9.98728301e-01 -5.03589279e-02 -2.39964504e-03 9.35751214e+01] [ 5.03591903e-02 9.98731170e-01 4.90071491e-05 -6.39918962e-01] [ 2.39413235e-03 -1.69789008e-04 9.99997120e-01 -3.76105022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.61, Y:-0.64, Z:-0.38 [[ 9.98668918e-01 -5.15740001e-02 -7.17518585e-04 9.36081705e+01] [ 5.15740243e-02 9.98669174e-01 1.51523053e-05 -6.40995897e-01] [ 7.15782228e-04 -5.21374573e-05 9.99999742e-01 -3.75613261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:-0.64, Z:-0.37 [[ 9.98594866e-01 -5.29893086e-02 6.53234419e-04 9.36403927e+01] [ 5.29893279e-02 9.98595079e-01 -1.22734502e-05 -6.41259673e-01] [-6.51666314e-04 4.68706572e-05 9.99999787e-01 -3.74560127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.67, Y:-0.64, Z:-0.37 [[ 9.98542019e-01 -5.39716470e-02 9.47848556e-04 9.36735000e+01] [ 5.39716891e-02 9.98542466e-01 -1.88009549e-05 -6.41941750e-01] [-9.45452316e-04 6.99305309e-05 9.99999551e-01 -3.74606884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:-0.65, Z:-0.38 [[ 9.98523449e-01 -5.43223325e-02 -7.78338397e-05 9.37059593e+01] [ 5.43223329e-02 9.98523452e-01 2.55139239e-06 -6.46984758e-01] [ 7.75803167e-05 -6.77574088e-06 9.99999997e-01 -3.76582016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:-0.65, Z:-0.38 [[ 9.98560433e-01 -5.36368570e-02 3.87196720e-04 9.37383402e+01] [ 5.36368638e-02 9.98560507e-01 -6.99713338e-06 -6.51425768e-01] [-3.86264049e-04 2.77550782e-05 9.99999925e-01 -3.77264943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:-0.66, Z:-0.38 [[ 9.98595684e-01 -5.29688977e-02 9.77958381e-04 9.37710296e+01] [ 5.29689423e-02 9.98596160e-01 -1.96734821e-05 -6.55761868e-01] [-9.75543401e-04 7.14472753e-05 9.99999522e-01 -3.77132408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:-0.66, Z:-0.38 [[ 9.98588779e-01 -5.30929974e-02 1.25846101e-03 9.38027153e+01] [ 5.30930716e-02 9.98589568e-01 -2.55770099e-05 -6.59698518e-01] [-1.25532808e-03 9.23564758e-05 9.99999208e-01 -3.77286736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:-0.66, Z:-0.38 [[ 9.98532723e-01 -5.41493591e-02 4.97362501e-04 9.38348286e+01] [ 5.41493705e-02 9.98532847e-01 -9.41725906e-06 -6.63545983e-01] [-4.96122855e-04 3.63353077e-05 9.99999876e-01 -3.77049615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:-0.67, Z:-0.38 [[ 9.98456959e-01 -5.55288060e-02 -5.03342442e-04 9.38670203e+01] [ 5.55288186e-02 9.98457085e-01 1.10375143e-05 -6.68227537e-01] [ 5.01952927e-04 -3.89704941e-05 9.99999873e-01 -3.78286741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:-0.68, Z:-0.38 [[ 9.98319287e-01 -5.78780512e-02 -2.95512550e-03 9.39000925e+01] [ 5.78784888e-02 9.98323633e-01 6.27374114e-05 -6.76707099e-01] [ 2.94654050e-03 -2.33670166e-04 9.99995632e-01 -3.78742536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:-0.68, Z:-0.38 [[ 9.98342265e-01 -5.74616019e-02 -3.29944501e-03 9.39329422e+01] [ 5.74621458e-02 9.98347683e-01 7.02025675e-05 -6.80834389e-01] [ 3.28995933e-03 -2.59679381e-04 9.99994554e-01 -3.78930136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:-0.68, Z:-0.38 [[ 9.98423062e-01 -5.60287626e-02 -3.48804560e-03 9.39649914e+01] [ 5.60293620e-02 9.98429119e-01 7.42785535e-05 -6.84688296e-01] [ 3.47840456e-03 -2.69594391e-04 9.99993914e-01 -3.78811583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:-0.69, Z:-0.38 [[ 9.98525151e-01 -5.40981405e-02 -4.57310189e-03 9.39976703e+01] [ 5.40991518e-02 9.98535564e-01 9.76379094e-05 -6.87789131e-01] [ 4.56112284e-03 -3.44894841e-04 9.99989539e-01 -3.77919839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:-0.69, Z:-0.38 [[ 9.98528530e-01 -5.40357455e-02 -4.57309674e-03 9.40303488e+01] [ 5.40367572e-02 9.98538942e-01 9.78790527e-05 -6.88566595e-01] [ 4.56112622e-03 -3.44850345e-04 9.99989539e-01 -3.78204040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:-0.69, Z:-0.38 [[ 9.98666108e-01 -5.13547730e-02 -5.35652058e-03 9.40611664e+01] [ 5.13561250e-02 9.98680397e-01 1.15058369e-04 -6.91522381e-01] [ 5.34354330e-03 -3.89995034e-04 9.99985647e-01 -3.79036825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:-0.69, Z:-0.38 [[ 9.98800837e-01 -4.86089211e-02 -5.83613271e-03 9.40936850e+01] [ 4.86104790e-02 9.98817804e-01 1.25308062e-04 -6.94057172e-01] [ 5.82314217e-03 -4.08855004e-04 9.99982962e-01 -3.78427758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:-0.70, Z:-0.38 [[ 9.98985503e-01 -4.47766639e-02 -4.79747076e-03 9.41260623e+01] [ 4.47776740e-02 9.98996972e-01 1.03297008e-04 -6.96704849e-01] [ 4.78803346e-03 -3.18011796e-04 9.99988487e-01 -3.76861511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:-0.70, Z:-0.38 [[ 9.99036875e-01 -4.36671806e-02 -4.30104641e-03 9.41567929e+01] [ 4.36679826e-02 9.99046094e-01 9.26947101e-05 -6.97352951e-01] [ 4.29289590e-03 -2.80423453e-04 9.99990746e-01 -3.76179533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:-0.70, Z:-0.38 [[ 9.99079396e-01 -4.27412380e-02 -3.68067820e-03 9.41894416e+01] [ 4.27418202e-02 9.99086148e-01 7.96226664e-05 -6.96858211e-01] [ 3.67391143e-03 -2.36868251e-04 9.99993223e-01 -3.76162102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:-0.70, Z:-0.38 [[ 9.99114993e-01 -4.19488836e-02 -3.08590512e-03 9.42227005e+01] [ 4.19492905e-02 9.99119739e-01 6.72460820e-05 -6.95662758e-01] [ 3.08036782e-03 -1.96638099e-04 9.99995236e-01 -3.76513538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:-0.69, Z:-0.38 [[ 9.99143532e-01 -4.13053278e-02 -2.46413681e-03 9.42550302e+01] [ 4.13055858e-02 9.99146559e-01 5.38575837e-05 -6.94309869e-01] [ 2.45980920e-03 -1.55594071e-04 9.99996963e-01 -3.77065124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:-0.69, Z:-0.38 [[ 9.99148917e-01 -4.11990188e-02 -2.02028158e-03 9.42877158e+01] [ 4.11991926e-02 9.99150952e-01 4.44902641e-05 -6.90978968e-01] [ 2.01673331e-03 -1.27686369e-04 9.99997958e-01 -3.75897755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:-0.69, Z:-0.38 [[ 9.99089679e-01 -4.26026265e-02 -2.19779820e-03 9.43192872e+01] [ 4.26028368e-02 9.99092086e-01 4.89440463e-05 -6.90158173e-01] [ 2.19371764e-03 -1.42531929e-04 9.99997584e-01 -3.75857309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:-0.69, Z:-0.38 [[ 9.98981853e-01 -4.50324222e-02 -2.70892854e-03 9.43511284e+01] [ 4.50327492e-02 9.98985509e-01 5.97826834e-05 -6.90335589e-01] [ 2.70348820e-03 -1.81712315e-04 9.99996329e-01 -3.76209924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:-0.69, Z:-0.38 [[ 9.98823586e-01 -4.83197104e-02 -4.08033776e-03 9.43828119e+01] [ 4.83204793e-02 9.98831879e-01 9.00141351e-05 -6.91432494e-01] [ 4.07122198e-03 -2.87072118e-04 9.99991671e-01 -3.77099442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:-0.69, Z:-0.38 [[ 9.98624378e-01 -5.22121825e-02 -4.82073681e-03 9.44156586e+01] [ 5.22133026e-02 9.98635950e-01 1.06704962e-04 -6.93246830e-01] [ 4.80858978e-03 -3.58264766e-04 9.99988374e-01 -3.79565606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:-0.70, Z:-0.38 [[ 9.98407350e-01 -5.62089899e-02 -4.82831312e-03 9.44479893e+01] [ 5.62101608e-02 9.98418953e-01 1.07042583e-04 -6.95175403e-01] [ 4.81466258e-03 -3.78272359e-04 9.99988338e-01 -3.80800174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:-0.70, Z:-0.38 [[ 9.98049007e-01 -6.24098476e-02 -1.78642460e-03 9.44797855e+01] [ 6.24100182e-02 9.98050594e-01 3.98756352e-05 -6.97267711e-01] [ 1.78045350e-03 -1.51288630e-04 9.99998404e-01 -3.80003610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:-0.70, Z:-0.38 [[ 9.97961667e-01 -6.38078826e-02 -1.03221314e-03 9.45128390e+01] [ 6.38079407e-02 9.97962197e-01 2.34792798e-05 -6.99664096e-01] [ 1.02861153e-03 -8.92948161e-05 9.99999467e-01 -3.78467761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:-0.70, Z:-0.38 [[ 9.97954884e-01 -6.39108409e-02 -1.20581305e-03 9.45457564e+01] [ 6.39109203e-02 9.97955607e-01 2.74134724e-05 -7.02256209e-01] [ 1.20159587e-03 -1.04422030e-04 9.99999273e-01 -3.77837490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:-0.70, Z:-0.38 [[ 9.97986777e-01 -6.33966218e-02 -1.80604040e-03 9.45787840e+01] [ 6.33967989e-02 9.97988399e-01 4.09001897e-05 -7.03921439e-01] [ 1.79981443e-03 -1.55315028e-04 9.99998368e-01 -3.77241980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:-0.70, Z:-0.38 [[ 9.98073745e-01 -6.19838773e-02 -2.60741884e-03 9.46111795e+01] [ 6.19842410e-02 9.98077126e-01 5.88294699e-05 -7.04907073e-01] [ 2.59875863e-03 -2.20335027e-04 9.99996599e-01 -3.77260693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:-0.71, Z:-0.38 [[ 9.98202166e-01 -5.98745739e-02 -2.73319801e-03 9.46439186e+01] [ 5.98749663e-02 9.98205883e-01 6.19170300e-05 -7.05136833e-01] [ 2.72458708e-03 -2.25455852e-04 9.99996263e-01 -3.77793890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:-0.70, Z:-0.38 [[ 9.98531524e-01 -5.41345713e-02 -2.05997933e-03 9.46765307e+01] [ 5.41347827e-02 9.98533636e-01 4.69667348e-05 -7.03163723e-01] [ 2.05441612e-03 -1.58414299e-04 9.99997877e-01 -3.77899361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:-0.70, Z:-0.38 [[ 9.98710913e-01 -5.07507392e-02 -9.35468249e-04 9.47088856e+01] [ 5.07507816e-02 9.98711349e-01 2.16091415e-05 -7.01946523e-01] [ 9.33166076e-04 -6.90570302e-05 9.99999562e-01 -3.77752640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:-0.70, Z:-0.38 [[ 9.98891841e-01 -4.70643141e-02 -2.01555400e-04 9.47415976e+01] [ 4.70643161e-02 9.98891861e-01 5.16227627e-06 -6.99846689e-01] [ 2.01089090e-04 -1.46426227e-05 9.99999980e-01 -3.77323963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:-0.70, Z:-0.38 [[ 9.99058359e-01 -4.33865538e-02 -5.06843808e-05 9.47739630e+01] [ 4.33865540e-02 9.99058360e-01 2.10000134e-06 -6.97166126e-01] [ 5.05455426e-05 -4.29704451e-06 9.99999999e-01 -3.76717411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:-0.69, Z:-0.38 [[ 9.99199417e-01 -4.00064406e-02 -1.01311220e-04 9.48061108e+01] [ 4.00064411e-02 9.99199422e-01 2.69240858e-06 -6.94428153e-01] [ 1.01122399e-04 -6.74335443e-06 9.99999995e-01 -3.76078971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:-0.69, Z:-0.38 [[ 9.99303398e-01 -3.73190035e-02 -1.02345558e-04 9.48392647e+01] [ 3.73190040e-02 9.99303403e-01 2.93580633e-06 -6.92075189e-01] [ 1.02164703e-04 -6.75319555e-06 9.99999995e-01 -3.75744019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:-0.69, Z:-0.38 [[ 9.99445343e-01 -3.32807773e-02 1.18136980e-03 9.48712771e+01] [ 3.32808319e-02 9.99446039e-01 -2.65741397e-05 -6.89665220e-01] [-1.17983096e-03 6.58763699e-05 9.99999302e-01 -3.76318063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:-0.69, Z:-0.38 [[ 9.99504356e-01 -3.14075820e-02 2.14638411e-03 9.49047621e+01] [ 3.14077589e-02 9.99506653e-01 -4.87339797e-05 -6.89685582e-01] [-2.14379459e-03 1.16122940e-04 9.99997695e-01 -3.76651224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:-0.69, Z:-0.38 [[ 9.99550588e-01 -2.97656685e-02 3.55336629e-03 9.49368783e+01] [ 2.97661454e-02 9.99556887e-01 -8.13697957e-05 -6.89511877e-01] [-3.54936973e-03 1.87103245e-04 9.99993683e-01 -3.76574862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:-0.69, Z:-0.38 [[ 9.99590604e-01 -2.80640553e-02 5.57081312e-03 9.49703279e+01] [ 2.80652040e-02 9.99606086e-01 -1.28125817e-04 -6.89391887e-01] [-5.56502297e-03 2.84419370e-04 9.99984475e-01 -3.76139972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:-0.69, Z:-0.38 [[ 9.99635911e-01 -2.61244623e-02 6.74971053e-03 9.50021114e+01] [ 2.61261088e-02 9.99658643e-01 -1.55864971e-04 -6.89675069e-01] [-6.74333458e-03 3.32151894e-04 9.99977208e-01 -3.75203895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:-0.69, Z:-0.37 [[ 9.99679714e-01 -2.43072319e-02 7.04468608e-03 9.50353962e+01] [ 2.43089834e-02 9.99704480e-01 -1.63086305e-04 -6.89801922e-01] [-7.03864006e-03 3.34283228e-04 9.99975173e-01 -3.74967653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:-0.69, Z:-0.38 [[ 9.99775795e-01 -2.05624678e-02 5.05424347e-03 9.50669613e+01] [ 2.05633227e-02 9.99788546e-01 -1.17236655e-04 -6.90727365e-01] [-5.05076405e-03 2.21142409e-04 9.99987220e-01 -3.75743940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:-0.69, Z:-0.38 [[ 9.99801505e-01 -1.93805954e-02 4.61986176e-03 9.50979595e+01] [ 1.93812986e-02 9.99812159e-01 -1.07490527e-04 -6.92130295e-01] [-4.61691074e-03 1.97008111e-04 9.99989323e-01 -3.77112546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.13, Y:-0.69, Z:-0.38 [[ 9.99815746e-01 -1.86793562e-02 4.42210418e-03 9.51298233e+01] [ 1.86799940e-02 9.99825508e-01 -1.02984650e-04 -6.94299964e-01] [-4.41940887e-03 1.85570554e-04 9.99990217e-01 -3.78194563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:-0.70, Z:-0.38 [[ 9.99825182e-01 -1.81081801e-02 4.65818909e-03 9.51615957e+01] [ 1.81088826e-02 9.99836015e-01 -1.08669991e-04 -6.96718387e-01] [-4.65545740e-03 1.93005593e-04 9.99989145e-01 -3.78866588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:-0.70, Z:-0.38 [[ 9.99833990e-01 -1.75243277e-02 4.98910762e-03 9.51941950e+01] [ 1.75251281e-02 9.99846416e-01 -1.16758743e-04 -6.99036805e-01] [-4.98629526e-03 2.04174110e-04 9.99987548e-01 -3.79247229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:-0.70, Z:-0.38 [[ 9.99856340e-01 -1.62875092e-02 4.69226369e-03 9.52263903e+01] [ 1.62882045e-02 9.99867332e-01 -1.09995143e-04 -7.01478206e-01] [-4.68984963e-03 1.86407892e-04 9.99988985e-01 -3.79431412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:-0.70, Z:-0.38 [[ 9.99915844e-01 -1.27196851e-02 2.55220554e-03 9.52583325e+01] [ 1.27198790e-02 9.99919097e-01 -5.97525408e-05 -7.04662272e-01] [-2.55123903e-03 9.22112580e-05 9.99996741e-01 -3.79383604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:-0.71, Z:-0.38 [[ 9.99946073e-01 -1.03013950e-02 1.31603771e-03 9.52892941e+01] [ 1.03014444e-02 9.99946938e-01 -3.07630889e-05 -7.06845978e-01] [-1.31565097e-03 4.43185192e-05 9.99999134e-01 -3.79413542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:-0.71, Z:-0.38 [[ 9.99972072e-01 -7.39422854e-03 1.08633852e-03 9.53215202e+01] [ 7.39426038e-03 9.99972662e-01 -2.52925325e-05 -7.09366142e-01] [-1.08612180e-03 3.33244960e-05 9.99999410e-01 -3.79907221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:-0.71, Z:-0.38 [[ 9.99990621e-01 -4.18063836e-03 1.13178205e-03 9.53534183e+01] [ 4.18067094e-03 9.99991261e-01 -2.64168978e-05 -7.11910654e-01] [-1.13166172e-03 3.11482583e-05 9.99999359e-01 -3.80278598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:-0.71, Z:-0.38 [[ 9.99997509e-01 -1.08512143e-03 1.95047048e-03 9.53850261e+01] [ 1.08521333e-03 9.99999410e-01 -4.60603505e-05 -7.14373733e-01] [-1.95041935e-03 4.81769123e-05 9.99998097e-01 -3.81211150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:-0.72, Z:-0.38 [[ 9.99995361e-01 1.84782391e-03 2.42161764e-03 9.54161363e+01] [-1.84769076e-03 9.99998291e-01 -5.72189433e-05 -7.17594154e-01] [-2.42171923e-03 5.27442773e-05 9.99997066e-01 -3.81950749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:-0.72, Z:-0.38 [[ 9.99971476e-01 6.48306761e-03 3.87513499e-03 9.54476408e+01] [-6.48276000e-03 9.99978982e-01 -9.19362619e-05 -7.23620739e-01] [-3.87564957e-03 6.68120694e-05 9.99992487e-01 -3.82271924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:-0.73, Z:-0.38 [[ 9.99956965e-01 8.43808289e-03 3.85577232e-03 9.54776687e+01] [-8.43779209e-03 9.99964397e-01 -9.16805805e-05 -7.26217598e-01] [-3.85640865e-03 5.91424298e-05 9.99992562e-01 -3.82279471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:-0.73, Z:-0.38 [[ 9.99940126e-01 1.04645989e-02 3.19937390e-03 9.55075786e+01] [-1.04644093e-02 9.99945244e-01 -7.59985523e-05 -7.28531582e-01] [-3.19999401e-03 4.25144441e-05 9.99994879e-01 -3.82718271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:-0.73, Z:-0.38 [[ 9.99919960e-01 1.24616064e-02 2.18691440e-03 9.55368534e+01] [-1.24615221e-02 9.99922351e-01 -5.21811945e-05 -7.30576016e-01] [-2.18739485e-03 2.49247359e-05 9.99997607e-01 -3.83464019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:-0.73, Z:-0.39 [[ 9.99900637e-01 1.40259735e-02 1.41035429e-03 9.55642427e+01] [-1.40259397e-02 9.99901631e-01 -3.38599938e-05 -7.33335209e-01] [-1.41069048e-03 1.40750851e-05 9.99999005e-01 -3.85257084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:-0.74, Z:-0.39 [[ 9.99880147e-01 1.54419396e-02 1.11239384e-03 9.55929140e+01] [-1.54419194e-02 9.99880766e-01 -2.67409587e-05 -7.36707973e-01] [-1.11267413e-03 9.56025776e-06 9.99999381e-01 -3.85583602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:-0.74, Z:-0.39 [[ 9.99812868e-01 1.92340721e-02 2.06883744e-03 9.56203999e+01] [-1.92340111e-02 9.99815008e-01 -4.93619828e-05 -7.41935440e-01] [-2.06940415e-03 9.56070322e-06 9.99997859e-01 -3.85056600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:-0.74, Z:-0.39 [[ 9.99767461e-01 2.13960351e-02 2.68954176e-03 9.56489231e+01] [-2.13959409e-02 9.99771079e-01 -6.38005862e-05 -7.44133076e-01] [-2.69029115e-03 6.24047342e-06 9.99996381e-01 -3.85001257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84589822699999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:95.68, Y:-0.75, Z:-0.39 [[ 9.99724770e-01 2.31848606e-02 3.58427564e-03 9.56772714e+01] [-2.31847059e-02 9.99731195e-01 -8.47229528e-05 -7.46032416e-01] [-3.58527646e-03 1.59925807e-06 9.99993573e-01 -3.86323689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:-0.75, Z:-0.39 [[ 9.99686119e-01 2.47062397e-02 4.15502622e-03 9.57064156e+01] [-2.47060462e-02 9.99694754e-01 -9.78960949e-05 -7.48178881e-01] [-4.15617656e-03 -4.78890234e-06 9.99991363e-01 -3.85570166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:-0.75, Z:-0.39 [[ 9.99643397e-01 2.63394001e-02 4.39494097e-03 9.57341223e+01] [-2.63391997e-02 9.99653058e-01 -1.03476591e-04 -7.50065439e-01] [-4.39614169e-03 -1.23195372e-05 9.99990337e-01 -3.86420812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:-0.75, Z:-0.39 [[ 9.99560766e-01 2.95329490e-02 2.46595402e-03 9.57622257e+01] [-2.95328956e-02 9.99563807e-01 -5.80623630e-05 -7.52567317e-01] [-2.46659314e-03 -1.47899026e-05 9.99996958e-01 -3.86361617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:-0.75, Z:-0.39 [[ 9.99507309e-01 3.13084924e-02 2.21769196e-03 9.57907449e+01] [-3.13084537e-02 9.99509769e-01 -5.21543624e-05 -7.53764971e-01] [-2.21823765e-03 -1.73038396e-05 9.99997540e-01 -3.86360634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:-0.75, Z:-0.39 [[ 9.99448830e-01 3.30450839e-02 3.17147388e-03 9.58196095e+01] [-3.30450145e-02 9.99453862e-01 -7.42674932e-05 -7.54604853e-01] [-3.17219599e-03 -3.05748414e-05 9.99994968e-01 -3.86588029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:-0.76, Z:-0.39 [[ 9.99395257e-01 3.44670499e-02 4.59808345e-03 9.58472757e+01] [-3.44669208e-02 9.99405833e-01 -1.07332650e-04 -7.55561840e-01] [-4.59905086e-03 -5.12140369e-05 9.99989423e-01 -3.86719481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:-0.76, Z:-0.39 [[ 9.99362976e-01 3.52173609e-02 5.77754460e-03 9.58764287e+01] [-3.52171730e-02 9.99379674e-01 -1.34292421e-04 -7.56595011e-01] [-5.77869006e-03 -6.92619139e-05 9.99983301e-01 -3.86215964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:-0.76, Z:-0.39 [[ 9.99354740e-01 3.53517859e-02 6.35252860e-03 9.59040683e+01] [-3.53515634e-02 9.99374927e-01 -1.47340018e-04 -7.58361439e-01] [-6.35376654e-03 -7.73268722e-05 9.99979812e-01 -3.86260769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:-0.76, Z:-0.39 [[ 9.99416727e-01 3.36371739e-02 5.89454594e-03 9.59325115e+01] [-3.36369545e-02 9.99434108e-01 -1.36373070e-04 -7.62572214e-01] [-5.89579747e-03 -6.19810469e-05 9.99982618e-01 -3.86692099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:-0.77, Z:-0.39 [[ 9.99456203e-01 3.23868174e-02 6.19612642e-03 9.59617800e+01] [-3.23865530e-02 9.99475408e-01 -1.43037974e-04 -7.65018514e-01] [-6.19750852e-03 -5.77109866e-05 9.99980794e-01 -3.86894757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:-0.77, Z:-0.39 [[ 9.99477077e-01 3.15185570e-02 7.22174275e-03 9.59905995e+01] [-3.15181781e-02 9.99503165e-01 -1.66300598e-04 -7.66719389e-01] [-7.22339629e-03 -6.14025387e-05 9.99973909e-01 -3.86303699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:-0.77, Z:-0.39 [[ 9.99478205e-01 3.14827498e-02 7.22175108e-03 9.60199143e+01] [-3.14823726e-02 9.99504293e-01 -1.65937999e-04 -7.67312204e-01] [-7.22339539e-03 -6.15064444e-05 9.99973909e-01 -3.86558867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:-0.77, Z:-0.39 [[ 9.99460801e-01 3.17938103e-02 8.20130807e-03 9.60473639e+01] [-3.17933369e-02 9.99494446e-01 -1.88121248e-04 -7.69293514e-01] [-8.20314296e-03 -7.27271379e-05 9.99966351e-01 -3.85857880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.265898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:96.08, Y:-0.77, Z:-0.39 [[ 9.99419364e-01 3.27963584e-02 9.23762587e-03 9.60760841e+01] [-3.27958063e-02 9.99462051e-01 -2.11284778e-04 -7.71642278e-01] [-9.23958586e-03 -9.17932896e-05 9.99957310e-01 -3.86678938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:-0.78, Z:-0.39 [[ 9.99366039e-01 3.43683594e-02 9.29176720e-03 9.61046419e+01] [-3.43678728e-02 9.99409228e-01 -2.12086853e-04 -7.75854814e-01] [-9.29356696e-03 -1.07385876e-04 9.99956808e-01 -3.85759700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:-0.79, Z:-0.39 [[ 9.99278816e-01 3.66708133e-02 9.85388079e-03 9.61337416e+01] [-3.66703828e-02 9.99327390e-01 -2.24430431e-04 -7.85210459e-01] [-9.85548302e-03 -1.37077004e-04 9.99951424e-01 -3.87194640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-0.79, Z:-0.39 [[ 9.99258846e-01 3.72331140e-02 9.77005561e-03 9.61620414e+01] [-3.72327221e-02 9.99306597e-01 -2.22059644e-04 -7.89819545e-01] [-9.77154899e-03 -1.41870702e-04 9.99952247e-01 -3.87301703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38589822699998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:96.19, Y:-0.79, Z:-0.39 [[ 9.99245173e-01 3.76944592e-02 9.39207648e-03 9.61893741e+01] [-3.76941216e-02 9.99289301e-01 -2.13027311e-04 -7.93993352e-01] [-9.39343150e-03 -1.41159561e-04 9.99955871e-01 -3.88639222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:96.22, Y:-0.80, Z:-0.39 [[ 9.99223485e-01 3.84766558e-02 8.48369305e-03 9.62172635e+01] [-3.84764125e-02 9.99259490e-01 -1.91945787e-04 -7.97760467e-01] [-8.48479622e-03 -1.34625335e-04 9.99963994e-01 -3.88760206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:-0.81, Z:-0.39 [[ 9.99199569e-01 3.94033075e-02 6.89931413e-03 9.62456721e+01] [-3.94031710e-02 9.99223381e-01 -1.55766850e-04 -8.06198683e-01] [-6.90009372e-03 -1.16212684e-04 9.99976187e-01 -3.89312319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:-0.81, Z:-0.39 [[ 9.99205325e-01 3.93823732e-02 6.14385925e-03 9.62737311e+01] [-3.93822659e-02 9.99224208e-01 -1.38495099e-04 -8.11146489e-01] [-6.14454716e-03 -1.03574059e-04 9.99981117e-01 -3.90362371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:-0.82, Z:-0.39 [[ 9.99206862e-01 3.94354407e-02 5.52209463e-03 9.63025034e+01] [-3.94353565e-02 9.99222116e-01 -1.24169050e-04 -8.16118558e-01] [-5.52269575e-03 -9.36952036e-05 9.99984745e-01 -3.90903520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-0.82, Z:-0.39 [[ 9.99187574e-01 3.99813525e-02 5.06787664e-03 9.63306563e+01] [-3.99812894e-02 9.99200422e-01 -1.13792627e-04 -8.20779250e-01] [-5.06837406e-03 -8.89200643e-05 9.99987152e-01 -3.91295168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:-0.83, Z:-0.39 [[ 9.99155625e-01 4.07600913e-02 5.16262520e-03 9.63589081e+01] [-4.07600380e-02 9.99168958e-01 -1.15573069e-04 -8.26054762e-01] [-5.16304561e-03 -9.49533169e-05 9.99986667e-01 -3.91969770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:-0.84, Z:-0.39 [[ 9.99085042e-01 4.25046312e-02 4.73666492e-03 9.63861426e+01] [-4.25046066e-02 9.99096265e-01 -1.05904673e-04 -8.35762961e-01] [-4.73688567e-03 -9.55223043e-05 9.99988776e-01 -3.92027480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:-0.84, Z:-0.39 [[ 9.99039309e-01 4.36623815e-02 3.74900254e-03 9.64133644e+01] [-4.36623748e-02 9.99046340e-01 -8.36722168e-05 -8.40680788e-01] [-3.74908060e-03 -8.00985203e-05 9.99992969e-01 -3.92124424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:-0.85, Z:-0.39 [[ 9.99009866e-01 4.44243004e-02 2.40173188e-03 9.64423910e+01] [-4.44243000e-02 9.99012752e-01 -5.35060033e-05 -8.45072116e-01] [-2.40173774e-03 -5.32422322e-05 9.99997114e-01 -3.92398838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:-0.85, Z:-0.39 [[ 9.98987973e-01 4.49554878e-02 1.42589349e-03 9.64699695e+01] [-4.49554878e-02 9.98988990e-01 -3.20135328e-05 -8.49422553e-01] [-1.42589108e-03 -3.21206031e-05 9.99998983e-01 -3.93337923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:-0.85, Z:-0.39 [[ 9.98970430e-01 4.53481218e-02 1.27592771e-03 9.64975073e+01] [-4.53481221e-02 9.98971244e-01 -2.86709081e-05 -8.54047273e-01] [-1.27591527e-03 -2.92195363e-05 9.99999186e-01 -3.93608072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74589822699998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:96.53, Y:-0.86, Z:-0.39 [[ 9.98974026e-01 4.52341211e-02 2.18406659e-03 9.65263599e+01] [-4.52341232e-02 9.98976412e-01 -4.84324215e-05 -8.58376671e-01] [-2.18402180e-03 -5.04116060e-05 9.99997614e-01 -3.94529838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77589822699998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.55, Y:-0.86, Z:-0.39 [[ 9.99001504e-01 4.45012423e-02 3.95414805e-03 9.65543462e+01] [-4.45012455e-02 9.99009325e-01 -8.72250230e-05 -8.64887868e-01] [-3.95411240e-03 -8.88265840e-05 9.99992179e-01 -3.92325614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:-0.87, Z:-0.39 [[ 9.99078622e-01 4.27432939e-02 3.86232086e-03 9.65817467e+01] [-4.27432850e-02 9.99086085e-01 -8.48739934e-05 -8.68226667e-01] [-3.86241881e-03 -8.02924888e-05 9.99992538e-01 -3.93427497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:-0.87, Z:-0.39 [[ 9.99188070e-01 4.01968570e-02 2.72259783e-03 9.66105452e+01] [-4.01968433e-02 9.99191779e-01 -5.97702309e-05 -8.71669501e-01] [-2.72279994e-03 -4.97181367e-05 9.99996292e-01 -3.94307646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.64, Y:-0.88, Z:-0.39 [[ 9.99278720e-01 3.79275871e-02 1.88075943e-03 9.66378067e+01] [-3.79275763e-02 9.99280490e-01 -4.14089194e-05 -8.75441171e-01] [-1.88097675e-03 -2.99535949e-05 9.99998231e-01 -3.94941760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.67, Y:-0.88, Z:-0.40 [[ 9.99378288e-01 3.52354550e-02 1.22473352e-03 9.66662663e+01] [-3.52354484e-02 9.99379038e-01 -2.69820373e-05 -8.78739013e-01] [-1.22492373e-03 -1.61887724e-05 9.99999250e-01 -3.95000024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92589822699999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:96.69, Y:-0.88, Z:-0.40 [[ 9.99470377e-01 3.25180078e-02 1.24293339e-03 9.66945264e+01] [-3.25179990e-02 9.99471150e-01 -2.73183051e-05 -8.82235724e-01] [-1.24316440e-03 -1.31138702e-05 9.99999227e-01 -3.95220117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:96.72, Y:-0.89, Z:-0.40 [[ 9.99668480e-01 2.56319738e-02 2.43548604e-03 9.67220206e+01] [-2.56319204e-02 9.99671447e-01 -5.31218286e-05 -8.88033953e-01] [-2.43604747e-03 -9.32196682e-06 9.99997033e-01 -3.95222781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.75, Y:-0.89, Z:-0.39 [[ 9.99756600e-01 2.18756962e-02 2.86277673e-03 9.67512998e+01] [-2.18756086e-02 9.99760698e-01 -6.19027419e-05 -8.90413381e-01] [-2.86344583e-03 -7.37308444e-07 9.99995900e-01 -3.94972669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.015898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.78, Y:-0.89, Z:-0.40 [[ 9.99815146e-01 1.89446910e-02 3.28206271e-03 9.67803332e+01] [-1.89445611e-02 9.99820533e-01 -7.06616129e-05 -8.91693781e-01] [-3.28281236e-03 8.47131322e-06 9.99994612e-01 -3.95461311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.045898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.81, Y:-0.89, Z:-0.40 [[ 9.99863745e-01 1.60764468e-02 3.74680652e-03 9.68110871e+01] [-1.60762570e-02 9.99870765e-01 -8.07869078e-05 -8.90631951e-01] [-3.74762107e-03 2.05412758e-05 9.99992977e-01 -3.96321870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.075898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:96.84, Y:-0.89, Z:-0.40 [[ 9.99863005e-01 1.60100337e-02 4.20123836e-03 9.68409768e+01] [-1.60097939e-02 9.99871831e-01 -9.06923771e-05 -8.89849377e-01] [-4.20215188e-03 2.34189923e-05 9.99991171e-01 -3.96741259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.105898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:96.87, Y:-0.89, Z:-0.40 [[ 9.99853641e-01 1.64873064e-02 4.56793461e-03 9.68702518e+01] [-1.64870292e-02 9.99864075e-01 -9.83276883e-05 -8.89347727e-01] [-4.56893487e-03 2.30016258e-05 9.99989562e-01 -3.96337846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13589822699998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:96.90, Y:-0.89, Z:-0.40 [[ 9.99835988e-01 1.74237687e-02 4.94064957e-03 9.69001372e+01] [-1.74234552e-02 9.99848194e-01 -1.06476046e-04 -8.88986132e-01] [-4.94175476e-03 2.03753962e-05 9.99987789e-01 -3.96217774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16589822699999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:96.93, Y:-0.89, Z:-0.40 [[ 9.99819000e-01 1.83174204e-02 5.14193374e-03 9.69311447e+01] [-1.83170927e-02 9.99832222e-01 -1.10813926e-04 -8.88677818e-01] [-5.14310086e-03 1.66085914e-05 9.99986774e-01 -3.96276140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19589822699999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:96.96, Y:-0.89, Z:-0.40 [[ 9.99808670e-01 1.89219499e-02 4.95814451e-03 9.69609245e+01] [-1.89216530e-02 9.99820964e-01 -1.06803514e-04 -8.88242202e-01] [-4.95927776e-03 1.29667897e-05 9.99987703e-01 -3.96395462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:96.99, Y:-0.89, Z:-0.40 [[ 9.99827716e-01 1.81380117e-02 3.94348080e-03 9.69902428e+01] [-1.81378170e-02 9.99835493e-01 -8.51498675e-05 -8.87101210e-01] [-3.94437651e-03 1.36090647e-05 9.99992221e-01 -3.97004264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.02, Y:-0.89, Z:-0.40 [[ 9.99857272e-01 1.64100603e-02 4.01816763e-03 9.70202212e+01] [-1.64098445e-02 9.99865346e-01 -8.66642525e-05 -8.87353040e-01] [-4.01904874e-03 2.07143769e-05 9.99991923e-01 -3.98711519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:97.05, Y:-0.89, Z:-0.40 [[ 9.99894555e-01 1.39203477e-02 4.13546378e-03 9.70503900e+01] [-1.39200982e-02 9.99903107e-01 -8.90910469e-05 -8.87115436e-01] [-4.13630326e-03 3.15155906e-05 9.99991445e-01 -3.97923249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31589822699999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:97.08, Y:-0.89, Z:-0.40 [[ 9.99921355e-01 1.17586635e-02 4.36095921e-03 9.70813072e+01] [-1.17583665e-02 9.99930864e-01 -9.37343552e-05 -8.86310625e-01] [-4.36175990e-03 4.24492270e-05 9.99990487e-01 -3.97969045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:97.11, Y:-0.89, Z:-0.40 [[ 9.99938404e-01 1.03223213e-02 4.07903097e-03 9.71117387e+01] [-1.03220495e-02 9.99946722e-01 -8.76745963e-05 -8.85156957e-01] [-4.07971866e-03 4.55652362e-05 9.99991677e-01 -3.97579407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:-0.88, Z:-0.40 [[ 9.99948112e-01 9.50813405e-03 3.65639355e-03 9.71424101e+01] [-9.50791023e-03 9.99954796e-01 -7.85904376e-05 -8.83990237e-01] [-3.65697552e-03 4.38216980e-05 9.99993312e-01 -3.98026165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.405898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:97.17, Y:-0.88, Z:-0.40 [[ 9.99960476e-01 8.29293028e-03 3.20512502e-03 9.71727084e+01] [-8.29275226e-03 9.99965612e-01 -6.88259259e-05 -8.81480664e-01] [-3.20558558e-03 4.22438979e-05 9.99994861e-01 -3.98102361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.435898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:97.20, Y:-0.88, Z:-0.40 [[ 9.99965521e-01 7.32389003e-03 3.91375191e-03 9.72027746e+01] [-7.32361691e-03 9.99973178e-01 -8.41125160e-05 -8.81020995e-01] [-3.91426297e-03 5.54467962e-05 9.99992338e-01 -3.98227475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.465898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:97.23, Y:-0.88, Z:-0.40 [[ 9.99972430e-01 5.20402761e-03 5.29692086e-03 9.72337492e+01] [-5.20349728e-03 9.99986455e-01 -1.13897151e-04 -8.80186556e-01] [-5.29744184e-03 8.63314974e-05 9.99985965e-01 -3.98254286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49589822699998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:97.27, Y:-0.88, Z:-0.40 [[ 9.99977716e-01 2.65944654e-03 6.12336772e-03 9.72652156e+01] [-2.65869106e-03 9.99996457e-01 -1.31513907e-04 -8.80085984e-01] [-6.12369577e-03 1.15230833e-04 9.99981243e-01 -3.98391483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52589822699998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:97.30, Y:-0.88, Z:-0.40 [[ 9.99981761e-01 -5.21537755e-04 6.01719530e-03 9.72971931e+01] [ 5.22329991e-04 9.99999855e-01 -1.30091285e-04 -8.80588352e-01] [-6.01712658e-03 1.33231873e-04 9.99981888e-01 -3.98980950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55589822699999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:97.33, Y:-0.88, Z:-0.40 [[ 9.99975241e-01 -4.22271006e-03 5.62909941e-03 9.73305321e+01] [ 4.22346599e-03 9.99991074e-01 -1.22409925e-04 -8.81658428e-01] [-5.62853226e-03 1.46181205e-04 9.99984149e-01 -4.00282516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:97.36, Y:-0.88, Z:-0.40 [[ 9.99930093e-01 -1.06380879e-02 5.16146336e-03 9.73626893e+01] [ 1.06388146e-02 9.99943400e-01 -1.13375125e-04 -8.84419782e-01] [-5.15996512e-03 1.68279052e-04 9.99986673e-01 -4.00357146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61589822699999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:97.39, Y:-0.89, Z:-0.40 [[ 9.99900991e-01 -1.30989736e-02 5.14050016e-03 9.73946942e+01] [ 1.30997315e-02 9.99914188e-01 -1.13799605e-04 -8.86405229e-01] [-5.13856839e-03 1.81127510e-04 9.99986781e-01 -4.00505983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64589822699999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:97.43, Y:-0.89, Z:-0.40 [[ 9.99876576e-01 -1.49313946e-02 4.88728720e-03 9.74257531e+01] [ 1.49321028e-02 9.99888504e-01 -1.08452873e-04 -8.88203564e-01] [-4.88512293e-03 1.81416962e-04 9.99988051e-01 -3.99752339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:97.46, Y:-0.89, Z:-0.40 [[ 9.99858641e-01 -1.63011397e-02 4.11964738e-03 9.74564616e+01] [ 1.63016549e-02 9.99867115e-01 -9.15180531e-05 -8.89969024e-01] [-4.11760809e-03 1.58662186e-04 9.99991510e-01 -3.99651504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:97.49, Y:-0.89, Z:-0.40 [[ 9.99847707e-01 -1.72053942e-02 2.92175502e-03 9.74872342e+01] [ 1.72056572e-02 9.99851970e-01 -6.49230224e-05 -8.91987674e-01] [-2.92020549e-03 1.15183850e-04 9.99995730e-01 -3.99415528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:97.52, Y:-0.90, Z:-0.40 [[ 9.99835072e-01 -1.79017716e-02 3.05853813e-03 9.75197956e+01] [ 1.79020633e-02 9.99839743e-01 -6.80184348e-05 -8.95146768e-01] [-3.05683033e-03 1.22761360e-04 9.99995320e-01 -3.99610413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.765898227 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:97.55, Y:-0.90, Z:-0.40 [[ 9.99842113e-01 -1.72616567e-02 4.21702936e-03 9.75505040e+01] [ 1.72622072e-02 9.99850993e-01 -9.41799202e-05 -8.96695045e-01] [-4.21477529e-03 1.66960285e-04 9.99991104e-01 -3.99921227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.795898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:97.58, Y:-0.90, Z:-0.40 [[ 9.99864584e-01 -1.56146665e-02 5.19575042e-03 9.75823839e+01] [ 1.56154810e-02 9.99878064e-01 -1.16245552e-04 -8.98038164e-01] [-5.19330174e-03 1.97363953e-04 9.99986495e-01 -4.00000412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.825898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:97.61, Y:-0.90, Z:-0.40 [[ 9.99893764e-01 -1.35296639e-02 5.42294304e-03 9.76149459e+01] [ 1.35305221e-02 9.99908451e-01 -1.21594469e-04 -8.98649553e-01] [-5.42080144e-03 1.94956802e-04 9.99985288e-01 -4.00315002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.855898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:97.65, Y:-0.90, Z:-0.40 [[ 9.99924566e-01 -1.11808746e-02 5.08424606e-03 9.76461187e+01] [ 1.11815999e-02 9.99937477e-01 -1.14255229e-04 -8.98716588e-01] [-5.08265071e-03 1.71096616e-04 9.99987069e-01 -4.00837321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88589822699998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:97.68, Y:-0.90, Z:-0.40 [[ 9.99947093e-01 -9.26365736e-03 4.47161157e-03 9.76777545e+01] [ 9.26419980e-03 9.99957081e-01 -1.00608899e-04 -8.98573560e-01] [-4.47048765e-03 1.42029479e-04 9.99989997e-01 -4.01654036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91589822699999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:97.71, Y:-0.90, Z:-0.40 [[ 9.99958916e-01 -8.21367076e-03 3.83438666e-03 9.77097136e+01] [ 8.21406203e-03 9.99966260e-01 -8.63053186e-05 -8.97709491e-01] [-3.83354841e-03 1.17797663e-04 9.99992645e-01 -4.03940014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94589822699999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:97.74, Y:-0.90, Z:-0.40 [[ 9.99955959e-01 -8.59653803e-03 3.76549039e-03 9.77422868e+01] [ 8.59691871e-03 9.99963042e-01 -8.49223497e-05 -8.98997629e-01] [-3.76462119e-03 1.17290224e-04 9.99992907e-01 -4.03576773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97589822699999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:97.77, Y:-0.90, Z:-0.40 [[ 9.99944577e-01 -9.66946897e-03 4.16475206e-03 9.77736223e+01] [ 9.66994516e-03 9.99953241e-01 -9.42178500e-05 -8.99560721e-01] [-4.16364628e-03 1.34485552e-04 9.99991323e-01 -4.03454940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00589822699999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:97.80, Y:-0.90, Z:-0.40 [[ 9.99925806e-01 -1.10312979e-02 5.16649564e-03 9.78044728e+01] [ 1.10320502e-02 9.99939138e-01 -1.17132407e-04 -8.99713515e-01] [-5.16488908e-03 1.74120756e-04 9.99986647e-01 -4.03846906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:97.84, Y:-0.90, Z:-0.40 [[ 9.99865441e-01 -1.48657346e-02 6.93614627e-03 9.78369603e+01] [ 1.48671849e-02 9.99889465e-01 -1.57576168e-04 -8.97964755e-01] [-6.93303710e-03 2.60675934e-04 9.99975932e-01 -4.03418553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:97.87, Y:-0.90, Z:-0.40 [[ 9.99822541e-01 -1.76840853e-02 6.49309848e-03 9.78689358e+01] [ 1.76854173e-02 9.99843590e-01 -1.47783311e-04 -8.98342960e-01] [-6.48946948e-03 2.62590242e-04 9.99978909e-01 -4.04204224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:97.90, Y:-0.90, Z:-0.40 [[ 9.99823541e-01 -1.76274258e-02 6.49309231e-03 9.79016040e+01] [ 1.76287584e-02 9.99844590e-01 -1.48053499e-04 -8.99177210e-01] [-6.48947342e-03 2.62492529e-04 9.99978909e-01 -4.04488448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.125898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:97.93, Y:-0.90, Z:-0.41 [[ 9.99767586e-01 -2.08995463e-02 5.28995501e-03 9.79341394e+01] [ 2.09004778e-02 9.99781554e-01 -1.20861352e-04 -9.00148086e-01] [-5.28627349e-03 2.31395849e-04 9.99986001e-01 -4.05626258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.155898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:97.97, Y:-0.90, Z:-0.41 [[ 9.99694921e-01 -2.43935799e-02 3.87533595e-03 9.79656087e+01] [ 2.43941057e-02 9.99702416e-01 -8.84775770e-05 -9.01385708e-01] [-3.87202443e-03 1.82985939e-04 9.99992487e-01 -4.06809370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.185898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:98.00, Y:-0.90, Z:-0.41 [[ 9.99614680e-01 -2.76776143e-02 2.10755706e-03 9.79965435e+01] [ 2.76777774e-02 9.99616896e-01 -4.82487777e-05 -9.02977302e-01] [-2.10541423e-03 1.06562682e-04 9.99997778e-01 -4.07598294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.215898227 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:98.03, Y:-0.90, Z:-0.41 [[ 9.99528736e-01 -3.06791165e-02 1.04776918e-03 9.80274320e+01] [ 3.06791583e-02 9.99529284e-01 -2.38775175e-05 -9.04505420e-01] [-1.04654343e-03 5.60109414e-05 9.99999451e-01 -4.09808585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24589822699998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:98.06, Y:-0.91, Z:-0.41 [[ 9.99437102e-01 -3.35461881e-02 -3.63912998e-04 9.80584886e+01] [ 3.35461935e-02 9.99437168e-01 8.69451364e-06 -9.06875270e-01] [ 3.63416508e-04 -2.08975153e-05 9.99999934e-01 -4.08147966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27589822699998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:98.09, Y:-0.91, Z:-0.41 [[ 9.99443651e-01 -3.33431565e-02 -7.89410584e-04 9.80909750e+01] [ 3.33431816e-02 9.99443961e-01 1.86764032e-05 -9.07157843e-01] [ 7.88348911e-04 -4.49874730e-05 9.99999688e-01 -4.07213269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30589822699999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:98.12, Y:-0.91, Z:-0.41 [[ 9.99494979e-01 -3.17603081e-02 -1.03478530e-03 9.81231886e+01] [ 3.17603504e-02 9.99495513e-01 2.44027307e-05 -9.07597771e-01] [ 1.03348823e-03 -5.72555505e-05 9.99999464e-01 -4.07194169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33589822699999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:98.16, Y:-0.91, Z:-0.41 [[ 9.99560815e-01 -2.96206545e-02 -8.91495544e-04 9.81550758e+01] [ 2.96206851e-02 9.99561211e-01 2.11194018e-05 -9.07519072e-01] [ 8.90478795e-04 -4.75168352e-05 9.99999602e-01 -4.07406262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.19, Y:-0.91, Z:-0.41 [[ 9.99637116e-01 -2.69375851e-02 4.37304790e-05 9.81867962e+01] [ 2.69375852e-02 9.99637117e-01 -8.16434940e-07 -9.07209355e-01] [-4.36926172e-05 1.99413218e-06 9.99999999e-01 -4.07958802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39589822699999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:98.22, Y:-0.91, Z:-0.41 [[ 9.99720019e-01 -2.35784414e-02 1.98508940e-03 9.82178497e+01] [ 2.35785790e-02 9.99721986e-01 -4.59470755e-05 -9.05330907e-01] [-1.98345415e-03 9.27397985e-05 9.99998029e-01 -4.08439632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42589822699999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:98.25, Y:-0.91, Z:-0.41 [[ 9.99718524e-01 -2.35106581e-02 3.18147518e-03 9.82500150e+01] [ 2.35110120e-02 9.99723575e-01 -7.38685082e-05 -9.05729989e-01] [-3.17885904e-03 1.48647417e-04 9.99994936e-01 -4.09184555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45589822699999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:98.28, Y:-0.91, Z:-0.41 [[ 9.99687920e-01 -2.46813728e-02 3.85905405e-03 9.82820279e+01] [ 2.46819031e-02 9.99695351e-01 -8.98619470e-05 -9.06499396e-01] [-3.85566047e-03 1.85082701e-04 9.99992550e-01 -4.09003996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48589822699999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:98.31, Y:-0.91, Z:-0.41 [[ 9.99635381e-01 -2.67447877e-02 3.71772332e-03 9.83137912e+01] [ 2.67452948e-02 9.99642277e-01 -8.67270466e-05 -9.08216239e-01] [-3.71407390e-03 1.86127030e-04 9.99993085e-01 -4.08907500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.515898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:98.34, Y:-0.91, Z:-0.41 [[ 9.99447507e-01 -3.31734760e-02 2.04963558e-03 9.83447004e+01] [ 3.31736435e-02 9.99449602e-01 -4.78061373e-05 -9.10873578e-01] [-2.04692157e-03 1.15773605e-04 9.99997898e-01 -4.09847070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.545898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:98.38, Y:-0.92, Z:-0.41 [[ 9.99325160e-01 -3.65186233e-02 3.95154750e-03 9.83765765e+01] [ 3.64899636e-02 9.99308820e-01 7.09686397e-03 -9.15739365e-01] [-4.20798397e-03 -6.94788290e-03 9.99967009e-01 -4.12318300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.575898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:98.41, Y:-0.91, Z:-0.41 [[ 9.99235277e-01 -3.90395314e-02 2.18551560e-03 9.84089728e+01] [ 3.90540047e-02 9.99212400e-01 -7.02594134e-03 -9.11035572e-01] [-1.90950483e-03 7.10592158e-03 9.99972929e-01 -4.10038733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60589822699998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:98.44, Y:-0.92, Z:-0.41 [[ 9.99178676e-01 -4.04121622e-02 2.97152320e-03 9.84412424e+01] [ 4.04125464e-02 9.99183077e-01 -6.93426815e-05 -9.16523401e-01] [-2.96629341e-03 1.89372548e-04 9.99995583e-01 -4.11656885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63589822699998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:98.47, Y:-0.92, Z:-0.41 [[ 9.99143551e-01 -4.12433554e-02 3.33914169e-03 9.84736765e+01] [ 4.12438459e-02 9.99149108e-01 -7.81280844e-05 -9.18503653e-01] [-3.33307818e-03 2.15780217e-04 9.99994422e-01 -4.12271364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66589822699999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:98.50, Y:-0.92, Z:-0.41 [[ 9.99136690e-01 -4.13331704e-02 4.17656888e-03 9.85046499e+01] [ 4.13339398e-02 9.99145383e-01 -9.80255855e-05 -9.21220752e-01] [-4.16894780e-03 2.70575005e-04 9.99991273e-01 -4.11196977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69589822699999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:98.54, Y:-0.94, Z:-0.42 [[ 9.99004624e-01 -4.26921838e-02 1.29282265e-02 9.85354540e+01] [ 4.23383063e-02 9.98751575e-01 2.65095973e-02 -9.36511690e-01] [-1.40438392e-02 -2.59358510e-02 9.99564956e-01 -4.16991986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.57, Y:-0.91, Z:-0.41 [[ 9.99072734e-01 -4.27946509e-02 4.72116907e-03 9.85683002e+01] [ 4.29067452e-02 9.98715216e-01 -2.69615948e-02 -9.14910304e-01] [-3.56129135e-03 2.71391642e-02 9.99625321e-01 -4.08367388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.60, Y:-0.93, Z:-0.41 [[ 9.99046720e-01 -4.33851645e-02 4.83506631e-03 9.86001692e+01] [ 4.33862243e-02 9.99058368e-01 -1.14471251e-04 -9.29846334e-01] [-4.82554710e-03 3.24137399e-04 9.99988304e-01 -4.13401664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78589822699999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:98.63, Y:-0.93, Z:-0.42 [[ 9.99029552e-01 -4.38662007e-02 3.96375939e-03 9.86313034e+01] [ 4.38669174e-02 9.99037379e-01 -9.40128963e-05 -9.32639307e-01] [-3.95581980e-03 2.67799567e-04 9.99992140e-01 -4.15808803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:98.66, Y:-0.94, Z:-0.42 [[ 9.99028642e-01 -4.39817463e-02 2.71629689e-03 9.86630988e+01] [ 4.39820827e-02 9.99032318e-01 -6.42184383e-05 -9.36402738e-01] [-2.71084394e-03 1.83624454e-04 9.99996309e-01 -4.15131331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84589822699999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:98.70, Y:-0.94, Z:-0.42 [[ 9.98996711e-01 -4.47479538e-02 1.78684524e-03 9.86954706e+01] [ 4.47481007e-02 9.98998301e-01 -4.22943052e-05 -9.39137404e-01] [-1.78316278e-03 1.22209803e-04 9.99998403e-01 -4.16341844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.875898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:98.73, Y:-0.94, Z:-0.41 [[ 9.98973726e-01 -4.52223072e-02 2.53740023e-03 9.87264813e+01] [ 4.52226059e-02 9.98976933e-01 -6.04419000e-05 -9.43879542e-01] [-2.53207098e-03 1.75127721e-04 9.99996779e-01 -4.14991391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.905898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:98.76, Y:-0.95, Z:-0.42 [[ 9.98958389e-01 -4.52144448e-02 6.14739658e-03 9.87571160e+01] [ 4.51567758e-02 9.98937393e-01 9.21684511e-03 -9.50381620e-01] [-6.55759885e-03 -8.92964814e-03 9.99938628e-01 -4.16468535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.935898227 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.79, Y:-0.94, Z:-0.41 [[ 9.99031319e-01 -4.38103043e-02 4.13288626e-03 9.87888637e+01] [ 4.38461391e-02 9.98997576e-01 -9.01992383e-03 -9.44525831e-01] [-3.73357775e-03 9.19239751e-03 9.99950779e-01 -4.13589541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.965898227 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:98.82, Y:-0.95, Z:-0.42 [[ 9.99077281e-01 -4.27952121e-02 3.62709721e-03 9.88196639e+01] [ 4.27958065e-02 9.99083836e-01 -8.64076067e-05 -9.49751354e-01] [-3.62007636e-03 2.41552427e-04 9.99993418e-01 -4.15812247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99589822699998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:98.85, Y:-0.95, Z:-0.42 [[ 9.99162340e-01 -4.08863039e-02 1.71128961e-03 9.88512122e+01] [ 4.08864332e-02 9.99163799e-01 -4.06471586e-05 -9.50142544e-01] [-1.70819671e-03 1.10581638e-04 9.99998535e-01 -4.16479841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02589822699998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:98.88, Y:-0.95, Z:-0.42 [[ 9.99312819e-01 -3.70519534e-02 -1.02098744e-03 9.88839038e+01] [ 3.70519981e-02 9.99313339e-01 2.49569708e-05 -9.48351397e-01] [ 1.01936166e-03 -6.27694456e-05 9.99999478e-01 -4.18141053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:98.92, Y:-0.95, Z:-0.42 [[ 9.99368539e-01 -3.55308198e-02 -2.89773925e-04 9.89150110e+01] [ 3.55308234e-02 9.99368581e-01 7.30207342e-06 -9.48598697e-01] [ 2.89331507e-04 -1.75933686e-05 9.99999958e-01 -4.18212396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08589822699999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:98.95, Y:-0.95, Z:-0.42 [[ 9.99388742e-01 -3.49377531e-02 1.22293598e-03 9.89465819e+01] [ 3.49378148e-02 9.99389488e-01 -2.91008744e-05 -9.48942378e-01] [-1.22117264e-03 7.18097970e-05 9.99999252e-01 -4.17748068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11589822699999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:98.98, Y:-0.95, Z:-0.42 [[ 9.99392044e-01 -3.47692199e-02 2.57743285e-03 9.89775156e+01] [ 3.47694945e-02 9.99395356e-01 -6.17971368e-05 -9.48896947e-01] [-2.57372579e-03 1.51375604e-04 9.99996677e-01 -4.16742634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:99.01, Y:-0.95, Z:-0.42 [[ 9.99370024e-01 -3.53570072e-02 3.07196482e-03 9.90101650e+01] [ 3.53574003e-02 9.99374729e-01 -7.37413357e-05 -9.48596519e-01] [-3.06743673e-03 1.82311570e-04 9.99995279e-01 -4.16838288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:99.04, Y:-0.95, Z:-0.42 [[ 9.99346131e-01 -3.60448905e-02 2.84197733e-03 9.90424847e+01] [ 3.60452300e-02 9.99350157e-01 -6.83163497e-05 -9.47951945e-01] [-2.83766804e-03 1.70711406e-04 9.99995959e-01 -4.17204867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20589822699999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:99.07, Y:-0.96, Z:-0.42 [[ 9.99256285e-01 -3.75124260e-02 8.92719778e-03 9.90742986e+01] [ 3.73275609e-02 9.99102032e-01 2.00444975e-02 -9.55107335e-01] [-9.67109918e-03 -1.96963596e-02 9.99759233e-01 -4.23541840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:99.11, Y:-0.94, Z:-0.42 [[ 9.99283209e-01 -3.77354374e-02 3.01739073e-03 9.91059289e+01] [ 3.77895156e-02 9.99075206e-01 -2.05106203e-02 -9.37310250e-01] [-2.24062303e-03 2.06099442e-02 9.99785082e-01 -4.17698379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.265898227 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:99.14, Y:-0.95, Z:-0.42 [[ 9.99227820e-01 -3.91458732e-02 3.37116405e-03 9.91369754e+01] [ 3.91463701e-02 9.99233484e-01 -8.15141290e-05 -9.47206480e-01] [-3.36538906e-03 2.13420021e-04 9.99994314e-01 -4.20487665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.295898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:99.17, Y:-0.95, Z:-0.42 [[ 9.99172937e-01 -4.05491897e-02 3.03399774e-03 9.91695614e+01] [ 4.05495985e-02 9.99177524e-01 -7.33393650e-05 -9.48246873e-01] [-3.02852849e-03 1.96306099e-04 9.99995395e-01 -4.20201565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.325898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:99.20, Y:-0.96, Z:-0.42 [[ 9.99043481e-01 -4.33418546e-02 5.79709088e-03 9.92013879e+01] [ 4.32796484e-02 9.99008269e-01 1.04570544e-02 -9.55974604e-01] [-6.24456986e-03 -1.01961559e-02 9.99928519e-01 -4.22870184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35589822699998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:99.23, Y:-0.95, Z:-0.42 [[ 9.98989124e-01 -4.48638894e-02 2.82179870e-03 9.92332156e+01] [ 4.48916532e-02 9.98934601e-01 -1.06959437e-02 -9.49147553e-01] [-2.33893072e-03 1.08118067e-02 9.99938815e-01 -4.20197957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38589822699998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:99.27, Y:-0.96, Z:-0.42 [[ 9.98868574e-01 -4.73989934e-02 3.86109268e-03 9.92650034e+01] [ 4.73997087e-02 9.98875998e-01 -9.39096853e-05 -9.55881966e-01] [-3.85230158e-03 2.76818102e-04 9.99992542e-01 -4.23450299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41589822699999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:99.30, Y:-0.96, Z:-0.42 [[ 9.98739969e-01 -5.00375369e-02 3.83664916e-03 9.92975488e+01] [ 5.00382631e-02 9.98747297e-01 -9.34875909e-05 -9.57545312e-01] [-3.82716509e-03 2.85349054e-04 9.99992636e-01 -4.23664345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:99.33, Y:-0.97, Z:-0.43 [[ 9.98525287e-01 -5.36831821e-02 8.08496329e-03 9.93282821e+01] [ 5.35013612e-02 9.98341902e-01 2.12379557e-02 -9.69616198e-01] [-9.21167867e-03 -2.07740792e-02 9.99741758e-01 -4.26380419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47589822699999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:99.36, Y:-0.95, Z:-0.42 [[ 9.98562744e-01 -5.35515978e-02 2.16183080e-03 9.93603861e+01] [ 5.35850687e-02 9.98346040e-01 -2.08284451e-02 -9.52383413e-01] [-1.04285871e-03 2.09143511e-02 9.99780727e-01 -4.20942251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:99.39, Y:-0.96, Z:-0.42 [[ 9.98574482e-01 -5.33056586e-02 2.74060648e-03 9.93917266e+01] [ 5.33060422e-02 9.98578220e-01 -6.70416010e-05 -9.62993284e-01] [-2.73313625e-03 2.13036917e-04 9.99996242e-01 -4.22694142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53589822699999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:99.42, Y:-0.96, Z:-0.42 [[ 9.98619589e-01 -5.24517428e-02 2.78063466e-03 9.94239030e+01] [ 5.24521343e-02 9.98623437e-01 -6.80246828e-05 -9.63068359e-01] [-2.77323892e-03 2.13781003e-04 9.99996132e-01 -4.22550015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56589822699999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:99.45, Y:-0.97, Z:-0.43 [[ 9.98660745e-01 -5.14248699e-02 5.67435428e-03 9.94547944e+01] [ 5.13705117e-02 9.98635966e-01 9.34223185e-03 -9.66000674e-01] [-6.14703732e-03 -9.03822574e-03 9.99940260e-01 -4.26677257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59589822699999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:99.49, Y:-0.95, Z:-0.42 [[ 9.98835929e-01 -4.81030401e-02 3.58961553e-03 9.94870981e+01] [ 4.81363630e-02 9.98792111e-01 -9.85951900e-03 -9.52072909e-01] [-3.11100683e-03 1.00208329e-02 9.99944951e-01 -4.22979664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.625898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:99.52, Y:-0.95, Z:-0.42 [[ 9.98909742e-01 -4.64465668e-02 4.69507204e-03 9.95195527e+01] [ 4.64476215e-02 9.98920720e-01 -1.15806422e-04 -9.54327510e-01] [-4.68462593e-03 3.33755092e-04 9.99988971e-01 -4.23022850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.655898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.55, Y:-0.95, Z:-0.42 [[ 9.98973881e-01 -4.48987565e-02 5.94031633e-03 9.95519549e+01] [ 4.49004200e-02 9.98991457e-01 -1.46914484e-04 -9.52767473e-01] [-5.92772898e-03 4.13486430e-04 9.99982345e-01 -4.22893438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.685898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:99.58, Y:-0.95, Z:-0.42 [[ 9.99018347e-01 -4.37387603e-02 7.01876176e-03 9.95834727e+01] [ 4.37410575e-02 9.99042887e-01 -1.74050569e-04 -9.51479872e-01] [-7.00443126e-03 4.80887773e-04 9.99975353e-01 -4.23627567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.715898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:99.62, Y:-0.95, Z:-0.43 [[ 9.99023740e-01 -4.35846434e-02 7.20738996e-03 9.96158436e+01] [ 4.35870632e-02 9.99049616e-01 -1.78928215e-04 -9.50019201e-01] [-7.19274165e-03 4.92902496e-04 9.99974010e-01 -4.25026062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:-0.95, Z:-0.43 [[ 9.98908059e-01 -4.63213287e-02 6.08469972e-03 9.96483592e+01] [ 4.63231057e-02 9.98926497e-01 -1.51355094e-04 -9.49001762e-01] [-6.07115681e-03 4.33052011e-04 9.99981477e-01 -4.25406023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:-0.95, Z:-0.43 [[ 9.98791180e-01 -4.88477276e-02 5.48441697e-03 9.96792323e+01] [ 4.88492095e-02 9.98806155e-01 -1.36479552e-04 -9.49952275e-01] [-5.47120271e-03 4.04224005e-04 9.99984951e-01 -4.26082666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:99.71, Y:-0.95, Z:-0.43 [[ 9.98670663e-01 -5.12878409e-02 5.14436229e-03 9.97117342e+01] [ 5.12891795e-02 9.98683836e-01 -1.28536140e-04 -9.51550603e-01] [-5.13099912e-03 3.92215394e-04 9.99986759e-01 -4.26593916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83589822699999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.74, Y:-0.96, Z:-0.43 [[ 9.98541307e-01 -5.32773047e-02 8.76287079e-03 9.97425888e+01] [ 5.31689122e-02 9.98511377e-01 1.21695136e-02 -9.58678725e-01] [-9.39818506e-03 -1.16858497e-02 9.99887551e-01 -4.28413279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:99.77, Y:-0.95, Z:-0.42 [[ 9.98517397e-01 -5.41919453e-02 5.12254417e-03 9.97746460e+01] [ 5.42526505e-02 9.98448177e-01 -1.25653148e-02 -9.49324770e-01] [-4.43365604e-03 1.28245970e-02 9.99907932e-01 -4.24078217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.81, Y:-0.96, Z:-0.43 [[ 9.98510566e-01 -5.39392967e-02 8.19769690e-03 9.98055531e+01] [ 5.38710527e-02 9.98513160e-01 8.32944194e-03 -9.60318010e-01] [-8.63479248e-03 -7.87541722e-03 9.99931707e-01 -4.27653439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:-0.96, Z:-0.43 [[ 9.98692842e-01 -5.09575159e-02 3.99242904e-03 9.98388590e+01] [ 5.09903370e-02 9.98662096e-01 -8.60252561e-03 -9.56038243e-01] [-3.54872422e-03 8.79485605e-03 9.99955028e-01 -4.26789257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:-0.96, Z:-0.43 [[ 9.98803469e-01 -4.88394180e-02 2.51834781e-03 9.98707273e+01] [ 4.88397319e-02 9.98806626e-01 -6.32555482e-05 -9.62370235e-01] [-2.51225311e-03 1.86175293e-04 9.99996827e-01 -4.29342153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:-0.96, Z:-0.43 [[ 9.98926196e-01 -4.63200693e-02 9.51421975e-04 9.99020783e+01] [ 4.63201125e-02 9.98926647e-01 -2.33752880e-05 -9.64406611e-01] [-9.49318019e-04 6.74201604e-05 9.99999547e-01 -4.29819687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:-0.97, Z:-0.43 [[ 9.98928704e-01 -4.62659588e-02 9.51415356e-04 9.99347427e+01] [ 4.62660022e-02 9.98929155e-01 -2.36366142e-05 -9.65323647e-01] [-9.49302967e-04 6.76294773e-05 9.99999547e-01 -4.30160107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:-0.97, Z:-0.43 [[ 9.99049264e-01 -4.35954892e-02 4.82195233e-05 9.99670198e+01] [ 4.35954892e-02 9.99049265e-01 -7.46380147e-07 -9.66733865e-01] [-4.81411405e-05 2.84782425e-06 9.99999999e-01 -4.30175941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:-0.97, Z:-0.43 [[ 9.99161086e-01 -4.09523132e-02 -1.79914044e-04 9.99993198e+01] [ 4.09523148e-02 9.99161102e-01 5.08143802e-06 -9.67426821e-01] [ 1.79555018e-04 -1.24450717e-05 9.99999984e-01 -4.29562248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10589822699998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:100.03, Y:-0.97, Z:-0.43 [[ 9.99269945e-01 -3.82043977e-02 -6.83989564e-06 1.00030102e+02] [ 3.82043977e-02 9.99269946e-01 5.39920976e-07 -9.68018952e-01] [ 6.81427480e-06 -8.00840895e-07 1.00000000e+00 -4.29898044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:-0.97, Z:-0.43 [[ 9.99382140e-01 -3.51462382e-02 2.82009839e-04 1.00062750e+02] [ 3.51462415e-02 9.99382180e-01 -6.72751670e-06 -9.68838299e-01] [-2.81599161e-04 1.66349460e-05 9.99999960e-01 -4.28821043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:-0.97, Z:-0.43 [[ 9.99557559e-01 -2.97400409e-02 4.65589275e-04 1.00093520e+02] [ 2.97400495e-02 9.99557667e-01 -1.16903646e-05 -9.68853515e-01] [-4.65035657e-04 2.55318405e-05 9.99999892e-01 -4.29097740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:-0.97, Z:-0.43 [[ 9.99622336e-01 -2.74772042e-02 4.34401869e-04 1.00124654e+02] [ 2.74772115e-02 9.99622430e-01 -1.07917901e-05 -9.69099206e-01] [-4.33941324e-04 2.27238665e-05 9.99999906e-01 -4.29605751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:-0.97, Z:-0.43 [[ 9.99676341e-01 -2.54030517e-02 1.37776412e-03 1.00155850e+02] [ 2.54031243e-02 9.99677288e-01 -3.51618261e-05 -9.69833968e-01] [-1.37642628e-03 7.01499587e-05 9.99999050e-01 -4.29872831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:-0.97, Z:-0.43 [[ 9.99722330e-01 -2.34442276e-02 2.37294800e-03 1.00187720e+02] [ 2.34444373e-02 9.99725140e-01 -6.05963089e-05 -9.71378297e-01] [-2.37087514e-03 1.16211914e-04 9.99997183e-01 -4.29078818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:-0.97, Z:-0.43 [[ 9.99769291e-01 -2.11438248e-02 3.78188417e-03 1.00218553e+02] [ 2.11443428e-02 9.99776429e-01 -9.70407046e-05 -9.73589761e-01] [-3.77898684e-03 1.76983772e-04 9.99992844e-01 -4.29373814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31589822699999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:100.25, Y:-0.98, Z:-0.43 [[ 9.99838632e-01 -1.65464072e-02 6.99472545e-03 1.00250183e+02] [ 1.65480722e-02 9.99863055e-01 -1.80213012e-04 -9.75965191e-01] [-6.99078568e-03 2.95933153e-04 9.99975520e-01 -4.29800638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:-0.98, Z:-0.43 [[ 9.99853647e-01 -1.45345120e-02 9.02402231e-03 1.00282587e+02] [ 1.45372063e-02 9.99894302e-01 -2.33044366e-04 -9.76308415e-01] [-9.01968131e-03 3.64194333e-04 9.99959256e-01 -4.28284974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:-0.98, Z:-0.43 [[ 9.99869125e-01 -1.29982928e-02 9.63208495e-03 1.00313486e+02] [ 1.30012958e-02 9.99915449e-01 -2.49209590e-04 -9.76292040e-01] [-9.62803124e-03 3.74406561e-04 9.99953579e-01 -4.28104685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:-0.98, Z:-0.43 [[ 9.99892957e-01 -1.09794346e-02 9.67095179e-03 1.00345154e+02] [ 1.09823752e-02 9.99939660e-01 -2.51002126e-04 -9.77270817e-01] [-9.66761239e-03 3.57185279e-04 9.99953204e-01 -4.29077769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:-0.98, Z:-0.43 [[ 9.99936556e-01 -5.93078962e-03 9.57652375e-03 1.00376051e+02] [ 5.93344610e-03 9.99982366e-01 -2.49007217e-04 -9.78930128e-01] [-9.57487807e-03 3.05813206e-04 9.99954113e-01 -4.30093646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:-0.98, Z:-0.43 [[ 9.99951622e-01 -2.91742887e-03 9.39371081e-03 1.00408070e+02] [ 2.91985499e-03 9.99995707e-01 -2.44566061e-04 -9.79679927e-01] [-9.39295698e-03 2.71982503e-04 9.99955848e-01 -4.30047540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:-0.98, Z:-0.43 [[ 9.99953260e-01 4.55132694e-04 9.65768580e-03 1.00439882e+02] [-4.52721059e-04 9.99999866e-01 -2.51896150e-04 -9.79018586e-01] [-9.65779915e-03 2.47512138e-04 9.99953332e-01 -4.30557530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52589822699998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:100.47, Y:-0.98, Z:-0.43 [[ 9.99945650e-01 4.12841989e-03 9.57352099e-03 1.00471134e+02] [-4.12621424e-03 9.99991456e-01 -2.50131178e-04 -9.77367750e-01] [-9.57447184e-03 2.10615185e-04 9.99954142e-01 -4.32767656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:-0.98, Z:-0.43 [[ 9.99928810e-01 7.23837411e-03 9.48584661e-03 1.00502783e+02] [-7.23634093e-03 9.99973786e-01 -2.48643749e-04 -9.75645431e-01] [-9.48739773e-03 1.79983228e-04 9.99954977e-01 -4.31719308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:-0.97, Z:-0.43 [[ 9.99906423e-01 9.84702107e-03 9.49639982e-03 1.00536125e+02] [-9.84509911e-03 9.99951505e-01 -2.49115699e-04 -9.74449535e-01] [-9.49839233e-03 1.55599391e-04 9.99954877e-01 -4.33098805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:-0.97, Z:-0.43 [[ 9.99894784e-01 1.17542658e-02 8.50043957e-03 1.00567961e+02] [-1.17527830e-02 9.99930908e-01 -2.24372425e-04 -9.72078642e-01] [-8.50248960e-03 1.24444996e-04 9.99963845e-01 -4.33748874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:-0.97, Z:-0.43 [[ 9.99907269e-01 1.12482623e-02 7.67655757e-03 1.00600387e+02] [-1.12470281e-02 9.99936729e-01 -2.03925920e-04 -9.72077551e-01] [-7.67836568e-03 1.17568552e-04 9.99970514e-01 -4.33939229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:-0.97, Z:-0.43 [[ 9.99929331e-01 9.87377244e-03 6.62126598e-03 1.00632591e+02] [-9.87281876e-03 9.99951247e-01 -1.76703898e-04 -9.73095868e-01] [-6.62268791e-03 1.11320851e-04 9.99978064e-01 -4.34842252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:-0.97, Z:-0.44 [[ 9.99950130e-01 7.97224612e-03 6.01507056e-03 1.00664138e+02] [-7.97141918e-03 9.99968215e-01 -1.61439658e-04 -9.74997264e-01] [-6.01616641e-03 1.13482958e-04 9.99981896e-01 -4.35368295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:-0.98, Z:-0.44 [[ 9.99980773e-01 3.00498497e-03 5.42431528e-03 1.00695747e+02] [-3.00423595e-03 9.99995477e-01 -1.46227571e-04 -9.80301602e-01] [-5.42473016e-03 1.29928837e-04 9.99985278e-01 -4.35895660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:-0.98, Z:-0.44 [[ 9.99985008e-01 1.29593142e-03 5.32023434e-03 1.00728380e+02] [-1.29518221e-03 9.99999151e-01 -1.44265330e-04 -9.83529262e-01] [-5.32041678e-03 1.37372495e-04 9.99985837e-01 -4.35771279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:-0.99, Z:-0.43 [[ 9.99986688e-01 6.63358222e-04 5.11703080e-03 1.00760864e+02] [-6.62652799e-04 9.99999771e-01 -1.39552149e-04 -9.86237650e-01] [-5.11712220e-03 1.36159477e-04 9.99986898e-01 -4.34923950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:-0.99, Z:-0.43 [[ 9.99986101e-01 1.26933712e-03 5.11731244e-03 1.00793263e+02] [-1.26863199e-03 9.99999185e-01 -1.41035853e-04 -9.89018711e-01] [-5.11748729e-03 1.34541906e-04 9.99986897e-01 -4.34706735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:-0.99, Z:-0.43 [[ 9.99981217e-01 2.90817117e-03 5.39519554e-03 1.00825823e+02] [-2.90740969e-03 9.99995762e-01 -1.48977790e-04 -9.91859310e-01] [-5.39560593e-03 1.33288948e-04 9.99985435e-01 -4.34562951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:-1.00, Z:-0.43 [[ 9.99925444e-01 1.06543291e-02 5.96586199e-03 1.00856448e+02] [-1.06535335e-02 9.99943236e-01 -1.65123423e-04 -9.96829627e-01] [-5.96728262e-03 1.01553602e-04 9.99982190e-01 -4.34311292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:-1.00, Z:-0.43 [[ 9.99858454e-01 1.58076419e-02 5.76116718e-03 1.00887334e+02] [-1.58069841e-02 9.99875049e-01 -1.59704526e-04 -9.99916332e-01] [-5.76297187e-03 6.86152422e-05 9.99983392e-01 -4.34377518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:-1.00, Z:-0.44 [[ 9.99757457e-01 2.11988763e-02 5.96949714e-03 1.00917780e+02] [-2.11982646e-02 9.99775278e-01 -1.65732074e-04 -1.00260668e+00] [-5.97166899e-03 3.91488975e-05 9.99982169e-01 -4.35037646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:100.95, Y:-1.01, Z:-0.44 [[ 9.99619531e-01 2.68403776e-02 6.35508932e-03 1.00947835e+02] [-2.68397984e-02 9.99639732e-01 -1.76437330e-04 -1.00512216e+00] [-6.35753543e-03 5.80088520e-06 9.99979791e-01 -4.36675976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:-1.01, Z:-0.44 [[ 9.99449622e-01 3.25260892e-02 6.51966865e-03 1.00976450e+02] [-3.25255996e-02 9.99470886e-01 -1.81146542e-04 -1.00663255e+00] [-6.52211099e-03 -3.10092892e-05 9.99978730e-01 -4.35536790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:-1.01, Z:-0.44 [[ 9.99254532e-01 3.80414838e-02 6.57464863e-03 1.01005019e+02] [-3.80411071e-02 9.99276158e-01 -1.82392247e-04 -1.00823074e+00] [-6.57682810e-03 -6.78506328e-05 9.99978370e-01 -4.35484654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:-1.01, Z:-0.44 [[ 9.98982854e-01 4.45737270e-02 6.81468049e-03 1.01033959e+02] [-4.45734749e-02 9.99006091e-01 -1.88953612e-04 -1.01129011e+00] [-6.81632969e-03 -1.14992571e-04 9.99976762e-01 -4.36214828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:-1.01, Z:-0.44 [[ 9.98943439e-01 4.54223735e-02 6.98669682e-03 1.01062743e+02] [-4.54221316e-02 9.98967864e-01 -1.93383150e-04 -1.01406284e+00] [-6.98826952e-03 -1.24171834e-04 9.99975574e-01 -4.37157117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:-1.02, Z:-0.44 [[ 9.98952248e-01 4.51942901e-02 7.20297974e-03 1.01091904e+02] [-4.51940296e-02 9.98978208e-01 -1.99009911e-04 -1.01713160e+00] [-7.20461391e-03 -1.26730282e-04 9.99974038e-01 -4.37739879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:-1.02, Z:-0.44 [[ 9.98984259e-01 4.43121037e-02 8.17844837e-03 1.01121343e+02] [-4.43117427e-02 9.99017727e-01 -2.25426874e-04 -1.02054135e+00] [-8.18040404e-03 -1.37203402e-04 9.99966531e-01 -4.38335769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:-1.02, Z:-0.44 [[ 9.99016984e-01 4.33877489e-02 9.08670149e-03 1.01149871e+02] [-4.33872672e-02 9.99058298e-01 -2.50223533e-04 -1.02406899e+00] [-9.08900116e-03 -1.44269587e-04 9.99958684e-01 -4.38115617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:-1.03, Z:-0.44 [[ 9.99051878e-01 4.24183170e-02 9.79959007e-03 1.01179284e+02] [-4.24177140e-02 9.99099927e-01 -2.69454722e-04 -1.02763904e+00] [-9.80219955e-03 -1.46476964e-04 9.99951947e-01 -4.37516464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:-1.03, Z:-0.44 [[ 9.99052556e-01 4.23166942e-02 1.01630568e-02 1.01208689e+02] [-4.23160431e-02 9.99104236e-01 -2.79188927e-04 -1.03425325e+00] [-1.01657675e-02 -1.51135939e-04 9.99948316e-01 -4.36508470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:-1.04, Z:-0.44 [[ 9.99009437e-01 4.34886219e-02 9.42785248e-03 1.01239507e+02] [-4.34881149e-02 9.99053911e-01 -2.58875182e-04 -1.03686355e+00] [-9.43019102e-03 -1.51380782e-04 9.99955523e-01 -4.36721608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:-1.04, Z:-0.44 [[ 9.98947116e-01 4.51386955e-02 8.19497777e-03 1.01269268e+02] [-4.51383675e-02 9.98980719e-01 -2.25076109e-04 -1.03806225e+00] [-8.19678443e-03 -1.45068788e-04 9.99966395e-01 -4.36651227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:-1.04, Z:-0.44 [[ 9.98829596e-01 4.78063419e-02 7.34797619e-03 1.01298996e+02] [-4.78061514e-02 9.98856612e-01 -2.01661741e-04 -1.03853277e+00] [-7.34921531e-03 -1.49852748e-04 9.99972983e-01 -4.37183230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:-1.04, Z:-0.44 [[ 9.98672369e-01 5.10816925e-02 6.64535425e-03 1.01327909e+02] [-5.10816101e-02 9.98694466e-01 -1.82249025e-04 -1.03891948e+00] [-6.64598810e-03 -1.57448329e-04 9.99977903e-01 -4.37668244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:-1.04, Z:-0.44 [[ 9.98515580e-01 5.41206020e-02 6.13168406e-03 1.01355673e+02] [-5.41205891e-02 9.98534393e-01 -1.68158733e-04 -1.03920378e+00] [-6.13179827e-03 -1.63941238e-04 9.99981187e-01 -4.37515701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:-1.04, Z:-0.44 [[ 9.98235213e-01 5.90360724e-02 6.41887803e-03 1.01384778e+02] [-5.90361627e-02 9.98255829e-01 -1.75575390e-04 -1.03949831e+00] [-6.41804770e-03 -2.03680390e-04 9.99979383e-01 -4.37278937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:-1.04, Z:-0.44 [[ 9.98129975e-01 6.06579111e-02 7.56114222e-03 1.01414042e+02] [-6.06580863e-02 9.98158582e-01 -2.06372040e-04 -1.04005526e+00] [-7.55973709e-03 -2.52658297e-04 9.99971393e-01 -4.37312110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:-1.04, Z:-0.44 [[ 9.98066528e-01 6.16083464e-02 8.22302201e-03 1.01441478e+02] [-6.16085891e-02 9.98100361e-01 -2.24029082e-04 -1.03967583e+00] [-8.22120330e-03 -2.83012856e-04 9.99966165e-01 -4.37441772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.515898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.47, Y:-1.04, Z:-0.44 [[ 9.97982148e-01 6.31087568e-02 6.99405792e-03 1.01470537e+02] [-6.31089717e-02 9.98006624e-01 -1.90195071e-04 -1.03928021e+00] [-6.99211911e-03 -2.51576518e-04 9.99975523e-01 -4.39817049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.545898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:101.50, Y:-1.04, Z:-0.44 [[ 9.97978478e-01 6.32086926e-02 6.60437469e-03 1.01498072e+02] [-6.32088880e-02 9.98000303e-01 -1.79347207e-04 -1.03971675e+00] [-6.60250424e-03 -2.38470528e-04 9.99978175e-01 -4.40627658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:-1.04, Z:-0.44 [[ 9.97996745e-01 6.29384155e-02 6.42282875e-03 1.01525651e+02] [-6.29385972e-02 9.98017386e-01 -1.74036433e-04 -1.03929423e+00] [-6.42104833e-03 -2.30556038e-04 9.99979358e-01 -4.38377587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:-1.04, Z:-0.44 [[ 9.97993603e-01 6.29906478e-02 6.39893755e-03 1.01554778e+02] [-6.29908320e-02 9.98014091e-01 -1.72963525e-04 -1.03902151e+00] [-6.39712493e-03 -2.30457909e-04 9.99979512e-01 -4.38175211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:-1.04, Z:-0.44 [[ 9.97970189e-01 6.33572798e-02 6.43089368e-03 1.01583032e+02] [-6.33574750e-02 9.97990882e-01 -1.73557450e-04 -1.03816549e+00] [-6.42896938e-03 -2.34240025e-04 9.99979307e-01 -4.37994808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:-1.04, Z:-0.44 [[ 9.97922934e-01 6.40712125e-02 6.68561072e-03 1.01611406e+02] [-6.40714428e-02 9.97945298e-01 -1.79952173e-04 -1.03731676e+00] [-6.68340354e-03 -2.48778325e-04 9.99977635e-01 -4.38318443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:-1.03, Z:-0.44 [[ 9.97682817e-01 6.77600673e-02 6.12949300e-03 1.01640345e+02] [-6.77603319e-02 9.97701614e-01 -1.64739985e-04 -1.03497303e+00] [-6.12656785e-03 -2.50978227e-04 9.99981201e-01 -4.38981314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:-1.03, Z:-0.44 [[ 9.97504582e-01 7.03485456e-02 5.97411834e-03 1.01667778e+02] [-7.03488445e-02 9.97522438e-01 -1.60337884e-04 -1.03392420e+00] [-5.97059663e-03 -2.60334549e-04 9.99982142e-01 -4.40243160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:-1.03, Z:-0.44 [[ 9.97368921e-01 7.23351714e-02 4.78108258e-03 1.01696693e+02] [-7.23353868e-02 9.97380356e-01 -1.28083776e-04 -1.03288375e+00] [-4.77782281e-03 -2.18094681e-04 9.99988562e-01 -4.40687550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78589822699999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:101.73, Y:-1.03, Z:-0.44 [[ 9.97310312e-01 7.31882400e-02 3.95266114e-03 1.01725199e+02] [-7.31883943e-02 9.97318128e-01 -1.05790594e-04 -1.03213994e+00] [-3.94980324e-03 -1.83782872e-04 9.99992183e-01 -4.43174442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:-1.03, Z:-0.44 [[ 9.97332439e-01 7.29243633e-02 3.16922175e-03 1.01754138e+02] [-7.29244614e-02 9.97337463e-01 -8.47689460e-05 -1.03147932e+00] [-3.16696530e-03 -1.46570969e-04 9.99994974e-01 -4.41806555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:-1.03, Z:-0.44 [[ 9.97442794e-01 7.14113035e-02 2.88082615e-03 1.01781503e+02] [-7.14113782e-02 9.97446946e-01 -7.70504230e-05 -1.03110340e+00] [-2.87897351e-03 -1.28870377e-04 9.99995847e-01 -4.42029776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:-1.03, Z:-0.44 [[ 9.97797480e-01 6.61916608e-02 4.34192408e-03 1.01810631e+02] [-6.61917841e-02 9.97806912e-01 -1.15470810e-04 -1.03100479e+00] [-4.34004506e-03 -1.72183217e-04 9.99990567e-01 -4.42196318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:-1.03, Z:-0.44 [[ 9.97802710e-01 6.61127826e-02 4.34192462e-03 1.01839939e+02] [-6.61129052e-02 9.97812142e-01 -1.15450834e-04 -1.03167681e+00] [-4.34005789e-03 -1.71860096e-04 9.99990567e-01 -4.42501870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:-1.03, Z:-0.44 [[ 9.97960465e-01 6.35747379e-02 5.75871713e-03 1.01868484e+02] [-6.35749163e-02 9.97977057e-01 -1.52256339e-04 -1.03180411e+00] [-5.75674723e-03 -2.14164153e-04 9.99983407e-01 -4.42179566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:-1.03, Z:-0.44 [[ 9.98062481e-01 6.18912904e-02 6.38376643e-03 1.01897010e+02] [-6.18914776e-02 9.98082871e-01 -1.68420469e-04 -1.03174450e+00] [-6.38195168e-03 -2.27006586e-04 9.99979609e-01 -4.41968236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99589822699998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.93, Y:-1.03, Z:-0.44 [[ 9.98123319e-01 6.09073701e-02 6.33501762e-03 1.01926262e+02] [-6.09075366e-02 9.98143399e-01 -1.66825866e-04 -1.03154824e+00] [-6.33341695e-03 -2.19337530e-04 9.99979920e-01 -4.42302647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02589822699998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:101.96, Y:-1.03, Z:-0.44 [[ 9.98111926e-01 6.12021894e-02 5.18415242e-03 1.01955391e+02] [-6.12023057e-02 9.98125372e-01 -1.36362904e-04 -1.03253533e+00] [-5.18277977e-03 -1.81176640e-04 9.99986553e-01 -4.44242420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:-1.03, Z:-0.44 [[ 9.98058972e-01 6.20969578e-02 4.71762853e-03 1.01983618e+02] [-6.20970646e-02 9.98070107e-01 -1.23970362e-04 -1.03402476e+00] [-4.71622220e-03 -1.69221152e-04 9.99988864e-01 -4.42728928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:-1.04, Z:-0.44 [[ 9.98007587e-01 6.28518560e-02 5.52270261e-03 1.02011377e+02] [-6.28520165e-02 9.98022847e-01 -1.44655175e-04 -1.03553176e+00] [-5.52087522e-03 -2.02746033e-04 9.99984739e-01 -4.43065637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:-1.04, Z:-0.44 [[ 9.97956678e-01 6.35688550e-02 6.43971132e-03 1.02039601e+02] [-6.35690915e-02 9.97977426e-01 -1.68171186e-04 -1.03641539e+00] [-6.43737698e-03 -2.41539040e-04 9.99979251e-01 -4.43081585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:-1.04, Z:-0.44 [[ 9.97884044e-01 6.45846361e-02 7.50068764e-03 1.02068178e+02] [-6.45849900e-02 9.97912191e-01 -1.95282948e-04 -1.03738299e+00] [-7.49763992e-03 -2.89562099e-04 9.99971850e-01 -4.43278913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:-1.04, Z:-0.44 [[ 9.97805079e-01 6.57116118e-02 8.18580578e-03 1.02097070e+02] [-6.57120746e-02 9.97838603e-01 -2.12698784e-04 -1.03785880e+00] [-8.18208979e-03 -3.25674353e-04 9.99966473e-01 -4.43602366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:102.13, Y:-1.04, Z:-0.45 [[ 9.97650633e-01 6.80674663e-02 7.74820311e-03 1.02125871e+02] [-6.80679544e-02 9.97680667e-01 -2.00999539e-04 -1.03783204e+00] [-7.74391398e-03 -3.26877019e-04 9.99969962e-01 -4.46345586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:-1.04, Z:-0.45 [[ 9.97577237e-01 6.92196028e-02 6.95009375e-03 1.02154834e+02] [-6.92200253e-02 9.97601401e-01 -1.80015367e-04 -1.03827714e+00] [-6.94588385e-03 -3.01506432e-04 9.99975832e-01 -4.45258265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.18, Y:-1.04, Z:-0.45 [[ 9.97540737e-01 6.98021504e-02 6.33543260e-03 1.02182343e+02] [-6.98025145e-02 9.97560816e-01 -1.63903504e-04 -1.03900646e+00] [-6.33142014e-03 -2.78728704e-04 9.99979918e-01 -4.45569239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.21, Y:-1.04, Z:-0.45 [[ 9.97528496e-01 6.99728633e-02 6.37953063e-03 1.02211399e+02] [-6.99732390e-02 9.97548855e-01 -1.64568375e-04 -1.04017135e+00] [-6.37540880e-03 -2.82234778e-04 9.99979637e-01 -4.46048037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:-1.04, Z:-0.45 [[ 9.97556436e-01 6.95541051e-02 6.58662553e-03 1.02239718e+02] [-6.95544986e-02 9.97578139e-01 -1.69575550e-04 -1.04182061e+00] [-6.58246832e-03 -2.88968255e-04 9.99978294e-01 -4.46402138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35589822699998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:102.27, Y:-1.05, Z:-0.45 [[ 9.97690149e-01 6.74480277e-02 8.07035473e-03 1.02268247e+02] [-6.74485538e-02 9.97722732e-01 -2.07273511e-04 -1.04706444e+00] [-8.06595655e-03 -3.37539015e-04 9.99967413e-01 -4.48858531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:-1.05, Z:-0.45 [[ 9.97783357e-01 6.60653998e-02 7.98340829e-03 1.02296866e+02] [-6.60658735e-02 9.97815243e-01 -2.04658953e-04 -1.05015721e+00] [-7.97948735e-03 -3.23225544e-04 9.99968111e-01 -4.48393774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:-1.05, Z:-0.45 [[ 9.97907786e-01 6.42874933e-02 6.86790589e-03 1.02325768e+02] [-6.42878036e-02 9.97931384e-01 -1.75803058e-04 -1.05406104e+00] [-6.86500077e-03 -2.66087344e-04 9.99976400e-01 -4.48965726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:-1.06, Z:-0.45 [[ 9.98058467e-01 6.20660116e-02 5.20632754e-03 1.02353692e+02] [-6.20661601e-02 9.98072028e-01 -1.33201238e-04 -1.05738316e+00] [-5.20455716e-03 -1.90194135e-04 9.99986438e-01 -4.49725842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:-1.06, Z:-0.45 [[ 9.98241345e-01 5.91766988e-02 3.51219211e-03 1.02382797e+02] [-5.91767488e-02 9.98247517e-01 -8.97551532e-05 -1.06359455e+00] [-3.51134846e-03 -1.18242805e-04 9.99993828e-01 -4.49172558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:-1.07, Z:-0.45 [[ 9.98244344e-01 5.91603979e-02 2.87707871e-03 1.02410453e+02] [-5.91604313e-02 9.98248485e-01 -7.35658929e-05 -1.06732177e+00] [-2.87639165e-03 -9.67724811e-05 9.99995858e-01 -4.48201834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:-1.07, Z:-0.45 [[ 9.98195174e-01 6.00059425e-02 2.38372299e-03 1.02437891e+02] [-6.00059680e-02 9.98198016e-01 -6.09107267e-05 -1.07101196e+00] [-2.38308257e-03 -8.22368120e-05 9.99997157e-01 -4.47591953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:102.47, Y:-1.07, Z:-0.45 [[ 9.98105462e-01 6.14755454e-02 2.49872506e-03 1.02467044e+02] [-6.14755786e-02 9.98108586e-01 -6.36015336e-05 -1.07458909e+00] [-2.49790887e-03 -9.01295305e-05 9.99996876e-01 -4.48893016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:-1.08, Z:-0.45 [[ 9.97943673e-01 6.40252270e-02 3.03236429e-03 1.02494329e+02] [-6.40252881e-02 9.97948273e-01 -7.70140259e-05 -1.07777076e+00] [-3.03107355e-03 -1.17292338e-04 9.99995399e-01 -4.47155930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:-1.08, Z:-0.45 [[ 9.97757599e-01 6.68013470e-02 4.16565964e-03 1.02522670e+02] [-6.68014889e-02 9.97766280e-01 -1.05228535e-04 -1.08048699e+00] [-4.16338413e-03 -1.73279695e-04 9.99991318e-01 -4.48007874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:-1.08, Z:-0.45 [[ 9.97427363e-01 7.13405550e-02 7.01288714e-03 1.02551475e+02] [-7.13410738e-02 9.97451964e-01 -1.76473398e-04 -1.08464288e+00] [-7.00760776e-03 -3.24287503e-04 9.99975394e-01 -4.48761387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:-1.09, Z:-0.45 [[ 9.97323703e-01 7.26411882e-02 8.28788437e-03 1.02579611e+02] [-7.26419615e-02 9.97358061e-01 -2.08087024e-04 -1.08751829e+00] [-8.28110398e-03 -3.94518056e-04 9.99965633e-01 -4.48624316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:-1.09, Z:-0.45 [[ 9.97264983e-01 7.34174841e-02 8.51034365e-03 1.02607921e+02] [-7.34183324e-02 9.97301210e-01 -2.13114866e-04 -1.09050798e+00] [-8.50302238e-03 -4.12283246e-04 9.99963764e-01 -4.48514670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:-1.09, Z:-0.45 [[ 9.97233979e-01 7.38611417e-02 8.30201776e-03 1.02636411e+02] [-7.38619678e-02 9.97268453e-01 -2.07486270e-04 -1.09337849e+00] [-8.29466557e-03 -4.06291009e-04 9.99965516e-01 -4.48464037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:-1.10, Z:-0.45 [[ 9.97171492e-01 7.47161153e-02 8.15577595e-03 1.02665173e+02] [-7.47169431e-02 9.97204762e-01 -2.03569614e-04 -1.09563466e+00] [-8.14818855e-03 -4.06380831e-04 9.99966720e-01 -4.48680624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:-1.10, Z:-0.45 [[ 9.97090922e-01 7.58248785e-02 7.76409232e-03 1.02693750e+02] [-7.58256648e-02 9.97121071e-01 -1.93455749e-04 -1.09741402e+00] [-7.75640881e-03 -3.95824491e-04 9.99969840e-01 -4.48857948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:-1.10, Z:-0.45 [[ 9.96989454e-01 7.72560516e-02 6.59775280e-03 1.02721696e+02] [-7.72566520e-02 9.97011225e-01 -1.64203961e-04 -1.09898202e+00] [-6.59071935e-03 -3.46010674e-04 9.99978221e-01 -4.49515435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:-1.10, Z:-0.45 [[ 9.97004773e-01 7.71063763e-02 6.00751214e-03 1.02750453e+02] [-7.71068733e-02 9.97022822e-01 -1.49176297e-04 -1.09944173e+00] [-6.00112915e-03 -3.14490998e-04 9.99981944e-01 -4.49895693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.78, Y:-1.10, Z:-0.45 [[ 9.97038338e-01 7.67121004e-02 5.45947698e-03 1.02778426e+02] [-7.67125058e-02 9.97053245e-01 -1.35410799e-04 -1.09915781e+00] [-5.45377689e-03 -2.83800402e-04 9.99985088e-01 -4.51496489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:-1.10, Z:-0.45 [[ 9.97060084e-01 7.64249097e-02 5.51569068e-03 1.02806328e+02] [-7.64253209e-02 9.97075299e-01 -1.36485959e-04 -1.09859829e+00] [-5.50998986e-03 -2.85453729e-04 9.99984779e-01 -4.49719178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:102.83, Y:-1.10, Z:-0.45 [[ 9.97102641e-01 7.58513505e-02 5.73557434e-03 1.02833722e+02] [-7.58517880e-02 9.97119093e-01 -1.41538184e-04 -1.09864381e+00] [-5.72978655e-03 -2.93925472e-04 9.99983541e-01 -4.50996771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:-1.10, Z:-0.45 [[ 9.97201716e-01 7.44456951e-02 6.82471408e-03 1.02863060e+02] [-7.44462856e-02 9.97225011e-01 -1.67829011e-04 -1.09771307e+00] [-6.81826972e-03 -3.40715236e-04 9.99976697e-01 -4.48589855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:-1.10, Z:-0.45 [[ 9.97242643e-01 7.38253421e-02 7.54515699e-03 1.02890702e+02] [-7.38260489e-02 9.97271117e-01 -1.85175931e-04 -1.09676284e+00] [-7.53823781e-03 -3.72363794e-04 9.99971518e-01 -4.48875677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:-1.09, Z:-0.45 [[ 9.97310170e-01 7.28873724e-02 7.73670218e-03 1.02919931e+02] [-7.28880913e-02 9.97340108e-01 -1.89383803e-04 -1.09488655e+00] [-7.72992707e-03 -3.75039061e-04 9.99970053e-01 -4.48871106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:-1.09, Z:-0.45 [[ 9.97423420e-01 7.14848207e-02 6.03667495e-03 1.02948254e+02] [-7.14852335e-02 9.97441647e-01 -1.47646936e-04 -1.08956324e+00] [-6.03178552e-03 -2.84266606e-04 9.99981768e-01 -4.49161891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:-1.09, Z:-0.45 [[ 9.97481870e-01 7.08061265e-02 4.05109508e-03 1.02976495e+02] [-7.08063069e-02 9.97490079e-01 -9.90451877e-05 -1.08750901e+00] [-4.04794016e-03 -1.88047303e-04 9.99991789e-01 -4.49672319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:-1.09, Z:-0.45 [[ 9.97557615e-01 6.97975366e-02 2.66623545e-03 1.03005544e+02] [-6.97976112e-02 9.97561171e-01 -6.51605227e-05 -1.08626792e+00] [-2.66428100e-03 -1.21095490e-04 9.99996443e-01 -4.50235234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:-1.09, Z:-0.45 [[ 9.97689367e-01 6.79124919e-02 1.95480379e-03 1.03033629e+02] [-6.79125281e-02 9.97691278e-01 -4.79089498e-05 -1.08516311e+00] [-1.95354431e-03 -8.49574174e-05 9.99998088e-01 -4.50718613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:-1.08, Z:-0.45 [[ 9.97864644e-01 6.52749740e-02 2.30886081e-03 1.03062536e+02] [-6.52750183e-02 9.97867310e-01 -5.62468169e-05 -1.08429760e+00] [-2.30760823e-03 -9.45842216e-05 9.99997333e-01 -4.50726938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:-1.08, Z:-0.45 [[ 9.98057633e-01 6.22137097e-02 3.22725269e-03 1.03091397e+02] [-6.22137813e-02 9.98062843e-01 -7.82934634e-05 -1.08361128e+00] [-3.22587193e-03 -1.22638205e-04 9.99994789e-01 -4.51092377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25589822699999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:103.12, Y:-1.08, Z:-0.45 [[ 9.98375846e-01 5.67680276e-02 4.80215375e-03 1.03119316e+02] [-5.67681252e-02 9.98387383e-01 -1.16089394e-04 -1.08418657e+00] [-4.80099988e-03 -1.56708418e-04 9.99988463e-01 -4.53032780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:-1.09, Z:-0.45 [[ 9.98478313e-01 5.49512780e-02 4.62768909e-03 1.03146820e+02] [-5.49513503e-02 9.98489027e-01 -1.11613596e-04 -1.08527092e+00] [-4.62683008e-03 -1.42854009e-04 9.99989286e-01 -4.51894913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:-1.09, Z:-0.45 [[ 9.98562928e-01 5.34190579e-02 4.29927630e-03 1.03175368e+02] [-5.34191077e-02 9.98572175e-01 -1.03320425e-04 -1.08609062e+00] [-4.29865697e-03 -1.26491558e-04 9.99990753e-01 -4.52268822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:-1.09, Z:-0.45 [[ 9.98645731e-01 5.18942519e-02 3.69995909e-03 1.03205405e+02] [-5.18942789e-02 9.98652580e-01 -8.87652880e-05 -1.08641739e+00] [-3.69958010e-03 -1.03361633e-04 9.99993151e-01 -4.51881462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:-1.09, Z:-0.45 [[ 9.98738534e-01 5.01028856e-02 3.32290488e-03 1.03234153e+02] [-5.01028971e-02 9.98744058e-01 -7.98457451e-05 -1.08681439e+00] [-3.32273200e-03 -8.67421387e-05 9.99994476e-01 -4.51144492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.405898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.26, Y:-1.09, Z:-0.45 [[ 9.98821024e-01 4.84209443e-02 3.46044525e-03 1.03261555e+02] [-4.84209470e-02 9.98827015e-01 -8.30463487e-05 -1.08746846e+00] [-3.46040738e-03 -8.46095970e-05 9.99994009e-01 -4.52662771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:-1.09, Z:-0.45 [[ 9.98910622e-01 4.64621008e-02 4.34086420e-03 1.03289757e+02] [-4.64620883e-02 9.98920049e-01 -1.03760628e-04 -1.09105813e+00] [-4.34099721e-03 -9.80380219e-05 9.99990573e-01 -4.51821742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:-1.09, Z:-0.45 [[ 9.98942209e-01 4.57136440e-02 4.97240916e-03 1.03318501e+02] [-4.57136206e-02 9.98954579e-01 -1.18420992e-04 -1.09382640e+00] [-4.97262435e-03 -1.09011099e-04 9.99987630e-01 -4.52316243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:-1.10, Z:-0.45 [[ 9.98949323e-01 4.55276957e-02 5.24197587e-03 1.03347628e+02] [-4.55276692e-02 9.98963070e-01 -1.24434713e-04 -1.09671697e+00] [-5.24220553e-03 -1.14350971e-04 9.99986253e-01 -4.52469811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:-1.10, Z:-0.45 [[ 9.98944530e-01 4.56623729e-02 4.97730523e-03 1.03376705e+02] [-4.56623509e-02 9.98956924e-01 -1.18109061e-04 -1.09904243e+00] [-4.97750666e-03 -1.09291057e-04 9.99987606e-01 -4.53006141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:-1.10, Z:-0.45 [[ 9.98898204e-01 4.67347953e-02 4.27045444e-03 1.03406284e+02] [-4.67347897e-02 9.98907328e-01 -1.01158907e-04 -1.10112189e+00] [-4.27051587e-03 -9.85313390e-05 9.99990876e-01 -4.52479481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:-1.10, Z:-0.45 [[ 9.98815681e-01 4.84781975e-02 4.13522629e-03 1.03435028e+02] [-4.84782070e-02 9.98824236e-01 -9.80135246e-05 -1.10324480e+00] [-4.13511576e-03 -1.02570911e-04 9.99991445e-01 -4.52812505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:-1.11, Z:-0.45 [[ 9.98502969e-01 5.44589903e-02 5.10294613e-03 1.03462737e+02] [-5.44590842e-02 9.98515996e-01 -1.20650169e-04 -1.10630044e+00] [-5.10194382e-03 -1.57432221e-04 9.99986973e-01 -4.51893385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:103.49, Y:-1.11, Z:-0.45 [[ 9.98269354e-01 5.85599883e-02 5.38741247e-03 1.03491342e+02] [-5.85601549e-02 9.98283874e-01 -1.26955873e-04 -1.10793919e+00] [-5.38560153e-03 -1.88751551e-04 9.99985480e-01 -4.53383338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:-1.11, Z:-0.45 [[ 9.98011031e-01 6.27757852e-02 5.76046104e-03 1.03520316e+02] [-6.27760475e-02 9.98027630e-01 -1.35438999e-04 -1.10868829e+00] [-5.75760157e-03 -2.26449361e-04 9.99983399e-01 -4.52716042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:-1.11, Z:-0.45 [[ 9.97744189e-01 6.69020721e-02 5.53587988e-03 1.03549293e+02] [-6.69023791e-02 9.97759518e-01 -1.29916677e-04 -1.11009767e+00] [-5.53216853e-03 -2.40739924e-04 9.99984668e-01 -4.53017885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:-1.11, Z:-0.45 [[ 9.97517549e-01 7.01919820e-02 5.64138265e-03 1.03577228e+02] [-7.01923545e-02 9.97533466e-01 -1.32192323e-04 -1.11204141e+00] [-5.63674683e-03 -2.64117769e-04 9.99984079e-01 -4.53660468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:-1.11, Z:-0.45 [[ 9.97361294e-01 7.23642557e-02 5.81922064e-03 1.03604889e+02] [-7.23646913e-02 9.97378230e-01 -1.35953395e-04 -1.11440194e+00] [-5.81380215e-03 -2.85511451e-04 9.99983059e-01 -4.54493057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.795898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:103.63, Y:-1.12, Z:-0.46 [[ 9.97225924e-01 7.42620839e-02 5.05951476e-03 1.03634009e+02] [-7.42624389e-02 9.97238726e-01 -1.17924834e-04 -1.11957850e+00] [-5.05430140e-03 -2.58134205e-04 9.99987194e-01 -4.55894201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.825898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:103.66, Y:-1.12, Z:-0.46 [[ 9.97228476e-01 7.42278073e-02 5.05952157e-03 1.03663330e+02] [-7.42281633e-02 9.97241278e-01 -1.17631676e-04 -1.12017555e+00] [-5.05429530e-03 -2.58253336e-04 9.99987194e-01 -4.56199841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85589822699998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:103.69, Y:-1.12, Z:-0.46 [[ 9.97231368e-01 7.42034065e-02 4.84276786e-03 1.03692334e+02] [-7.42037328e-02 9.97243096e-01 -1.12514346e-04 -1.12252003e+00] [-4.83776577e-03 -2.47148617e-04 9.99988267e-01 -4.57073323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88589822699998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:103.72, Y:-1.12, Z:-0.46 [[ 9.97278941e-01 7.35898383e-02 4.38751254e-03 1.03719701e+02] [-7.35901006e-02 9.97288567e-01 -1.01845424e-04 -1.12414121e+00] [-4.38311088e-03 -2.21309193e-04 9.99990370e-01 -4.57291578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:-1.13, Z:-0.46 [[ 9.97345565e-01 7.27065448e-02 3.94753024e-03 1.03748597e+02] [-7.27067515e-02 9.97353358e-01 -9.13096763e-05 -1.12506654e+00] [-3.94372135e-03 -1.95944800e-04 9.99992204e-01 -4.56403051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94589822699999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:103.78, Y:-1.13, Z:-0.46 [[ 9.97432170e-01 7.15426509e-02 3.27343007e-03 1.03775923e+02] [-7.15427864e-02 9.97437529e-01 -7.58345977e-05 -1.12676318e+00] [-3.27046740e-03 -1.58550441e-04 9.99994639e-01 -4.57802599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:-1.13, Z:-0.46 [[ 9.97538667e-01 7.00485824e-02 3.13100487e-03 1.03804211e+02] [-7.00486996e-02 9.97543570e-01 -7.23563318e-05 -1.12783935e+00] [-3.12838223e-03 -1.47144581e-04 9.99995096e-01 -4.57862025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:-1.13, Z:-0.46 [[ 9.97726817e-01 6.73752677e-02 1.33128719e-03 1.03833398e+02] [-6.73752862e-02 9.97727703e-01 -3.09645528e-05 -1.13122747e+00] [-1.33034835e-03 -5.88016907e-05 9.99999113e-01 -4.57993524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:-1.13, Z:-0.46 [[ 9.97793012e-01 6.63989131e-02 5.38597913e-04 1.03860811e+02] [-6.63989157e-02 9.97793157e-01 -1.29816630e-05 -1.13320214e+00] [-5.38271280e-04 -2.28093048e-05 9.99999855e-01 -4.58006303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:-1.13, Z:-0.46 [[ 9.97836608e-01 6.57420441e-02 2.97029452e-04 1.03889701e+02] [-6.57420449e-02 9.97836652e-01 -7.24421285e-06 -1.13429884e+00] [-2.96863123e-04 -1.22987828e-05 9.99999956e-01 -4.57176696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:-1.14, Z:-0.46 [[ 9.97820746e-01 6.59770487e-02 8.87796409e-04 1.03918674e+02] [-6.59770564e-02 9.97821140e-01 -2.06458645e-05 -1.13509747e+00] [-8.87224178e-04 -3.79733219e-05 9.99999606e-01 -4.56672122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.125898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:103.95, Y:-1.14, Z:-0.46 [[ 9.97767851e-01 6.67617519e-02 1.47753559e-03 1.03947829e+02] [-6.67617746e-02 9.97768943e-01 -3.39927266e-05 -1.13609940e+00] [-1.47650854e-03 -6.47260481e-05 9.99998908e-01 -4.57505573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:-1.14, Z:-0.46 [[ 9.97589556e-01 6.93278877e-02 2.95342014e-03 1.03975339e+02] [-6.93279913e-02 9.97593918e-01 -6.74163977e-05 -1.13574883e+00] [-2.95098780e-03 -1.37500791e-04 9.99995636e-01 -4.55580025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:-1.14, Z:-0.46 [[ 9.97464862e-01 7.10787212e-02 3.41544589e-03 1.04002769e+02] [-7.10788714e-02 9.97470695e-01 -7.75553030e-05 -1.13629395e+00] [-3.41231972e-03 -1.65407350e-04 9.99994164e-01 -4.55709644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:-1.14, Z:-0.46 [[ 9.97314680e-01 7.31074580e-02 4.32762297e-03 1.04031977e+02] [-7.31077200e-02 9.97324045e-01 -9.78188979e-05 -1.13704705e+00] [-4.32319374e-03 -2.18826426e-04 9.99990631e-01 -4.55814565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:-1.14, Z:-0.46 [[ 9.97165354e-01 7.51008360e-02 4.59579407e-03 1.04060346e+02] [-7.51011537e-02 9.97175915e-01 -1.03642562e-04 -1.13804861e+00] [-4.59059880e-03 -2.41800665e-04 9.99989434e-01 -4.55908366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:-1.14, Z:-0.46 [[ 9.96972527e-01 7.76433142e-02 4.15894677e-03 1.04088323e+02] [-7.76435968e-02 9.96981175e-01 -9.37124945e-05 -1.14031599e+00] [-4.15366778e-03 -2.29486803e-04 9.99991347e-01 -4.56292729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30589822699999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:104.12, Y:-1.14, Z:-0.46 [[ 9.96895229e-01 7.85813010e-02 4.98816501e-03 1.04117498e+02] [-7.85817215e-02 9.96907669e-01 -1.11930683e-04 -1.14207748e+00] [-4.98153561e-03 -2.80395430e-04 9.99987553e-01 -4.57699317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:-1.14, Z:-0.46 [[ 9.96799052e-01 7.97294607e-02 5.90457026e-03 1.04146049e+02] [-7.97300723e-02 9.96816482e-01 -1.32113989e-04 -1.14308848e+00] [-5.89630633e-03 -3.39080714e-04 9.99982559e-01 -4.56046214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:-1.14, Z:-0.46 [[ 9.96683795e-01 8.10707387e-02 6.99632035e-03 1.04173485e+02] [-8.10716330e-02 9.96708265e-01 -1.56154047e-04 -1.14401953e+00] [-6.98594984e-03 -4.11566908e-04 9.99975513e-01 -4.57322273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:-1.15, Z:-0.46 [[ 9.96603637e-01 8.20616435e-02 6.86128375e-03 1.04200902e+02] [-8.20625298e-02 9.96627171e-01 -1.52739320e-04 -1.14505897e+00] [-6.85067585e-03 -4.10833739e-04 9.99976449e-01 -4.58263869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:-1.15, Z:-0.46 [[ 9.96525715e-01 8.30494714e-02 6.26780224e-03 1.04229815e+02] [-8.30502327e-02 9.96545352e-01 -1.39155341e-04 -1.14613825e+00] [-6.25770597e-03 -3.81870559e-04 9.99980347e-01 -4.58697259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:-1.15, Z:-0.46 [[ 9.96328308e-01 8.54039782e-02 6.00531278e-03 1.04257945e+02] [-8.54047209e-02 9.96346333e-01 -1.33118802e-04 -1.14725202e+00] [-5.99474025e-03 -3.80252031e-04 9.99981959e-01 -4.58369365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:-1.15, Z:-0.46 [[ 9.96206966e-01 8.68087608e-02 5.99332482e-03 1.04286713e+02] [-8.68095283e-02 9.96224919e-01 -1.32455976e-04 -1.14726583e+00] [-5.98219787e-03 -3.88324134e-04 9.99982031e-01 -4.58172019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:-1.15, Z:-0.46 [[ 9.96039492e-01 8.87517111e-02 5.33514767e-03 1.04315574e+02] [-8.87523480e-02 9.96053717e-01 -1.17724813e-04 -1.14663289e+00] [-5.32454194e-03 -3.56248319e-04 9.99985761e-01 -4.58659688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:-1.15, Z:-0.46 [[ 9.95855121e-01 9.08384137e-02 4.57826372e-03 1.04343435e+02] [-9.08389050e-02 9.95865595e-01 -1.00942575e-04 -1.14554959e+00] [-4.56850479e-03 -3.15360284e-04 9.99989515e-01 -4.59206920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:-1.14, Z:-0.46 [[ 9.95698943e-01 9.25743332e-02 3.68876531e-03 1.04372415e+02] [-9.25746647e-02 9.95705742e-01 -8.11512220e-05 -1.14487065e+00] [-3.68043732e-03 -2.60684026e-04 9.99993193e-01 -4.60150170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:-1.14, Z:-0.46 [[ 9.95700049e-01 9.25743973e-02 3.37537166e-03 1.04400079e+02] [-9.25746750e-02 9.95705742e-01 -7.42200563e-05 -1.14389061e+00] [-3.36774782e-03 -2.38573020e-04 9.99994301e-01 -4.61131581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:-1.14, Z:-0.46 [[ 9.95870993e-01 9.07261098e-02 3.12072558e-03 1.04429056e+02] [-9.07263388e-02 9.95875859e-01 -6.84068934e-05 -1.14389031e+00] [-3.11406156e-03 -2.15007565e-04 9.99995128e-01 -4.60913526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:-1.14, Z:-0.46 [[ 9.96097141e-01 8.82122361e-02 3.01451320e-03 1.04456390e+02] [-8.82124384e-02 9.96101682e-01 -6.60397157e-05 -1.14447431e+00] [-3.00858718e-03 -2.00135588e-04 9.99995454e-01 -4.61351934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:-1.15, Z:-0.46 [[ 9.96354944e-01 8.52775242e-02 2.13776968e-03 1.04485251e+02] [-8.52776193e-02 9.96357228e-01 -4.67731263e-05 -1.14576963e+00] [-2.13397097e-03 -1.35701273e-04 9.99997714e-01 -4.61735340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:-1.15, Z:-0.46 [[ 9.96611676e-01 8.22454453e-02 9.23750884e-04 1.04513556e+02] [-8.22454616e-02 9.96612103e-01 -2.04426834e-05 -1.14766298e+00] [-9.22302628e-04 -5.56009008e-05 9.99999573e-01 -4.62864646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:-1.15, Z:-0.46 [[ 9.97033607e-01 7.69674331e-02 -2.08822613e-05 1.04541416e+02] [-7.69674331e-02 9.97033607e-01 -1.48759318e-07 -1.15027147e+00] [ 2.08088667e-05 1.75557209e-06 1.00000000e+00 -4.63580625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:-1.15, Z:-0.46 [[ 9.97100153e-01 7.61002213e-02 2.04766157e-04 1.04569833e+02] [-7.61002219e-02 9.97100174e-01 -4.88063147e-06 -1.15143919e+00] [-2.04543788e-04 -1.07162716e-05 9.99999979e-01 -4.62860394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:-1.15, Z:-0.46 [[ 9.97062664e-01 7.65899466e-02 1.53277736e-04 1.04598850e+02] [-7.65899470e-02 9.97062676e-01 -3.78787013e-06 -1.15268911e+00] [-1.53117622e-04 -7.96278977e-06 9.99999988e-01 -4.62308018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:-1.15, Z:-0.46 [[ 9.96956405e-01 7.79606935e-02 2.38100736e-04 1.04626987e+02] [-7.79606943e-02 9.96956433e-01 -5.71595635e-06 -1.15321649e+00] [-2.37821680e-04 -1.28639394e-05 9.99999972e-01 -4.62499157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:-1.15, Z:-0.46 [[ 9.96723717e-01 8.08811843e-02 -2.57750765e-04 1.04655488e+02] [-8.08811857e-02 9.96723750e-01 5.02370625e-06 -1.15325589e+00] [ 2.57312633e-04 1.58399404e-05 9.99999967e-01 -4.62192382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:-1.15, Z:-0.46 [[ 9.96116971e-01 8.80257748e-02 -1.56294508e-03 1.04684635e+02] [-8.80258312e-02 9.96118192e-01 3.28157432e-05 -1.15057016e+00] [ 1.55976666e-03 1.04891221e-04 9.99998778e-01 -4.63554506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:-1.15, Z:-0.46 [[ 9.95828998e-01 9.12287972e-02 -1.38289758e-03 1.04712610e+02] [-9.12288450e-02 9.95829954e-01 2.86331397e-05 -1.14939978e+00] [ 1.37974300e-03 9.76464384e-05 9.99999043e-01 -4.63799592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:-1.15, Z:-0.46 [[ 9.95617180e-01 9.35220947e-02 -2.22794377e-04 1.04741037e+02] [-9.35220961e-02 9.95617204e-01 3.97620240e-06 -1.14822120e+00] [ 2.22189777e-04 1.68774217e-05 9.99999975e-01 -4.64267468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:-1.15, Z:-0.46 [[ 9.95496453e-01 9.47954163e-02 8.00642804e-04 1.04769054e+02] [-9.47954326e-02 9.95496773e-01 -1.76366709e-05 -1.14683272e+00] [-7.98709204e-04 -5.83400377e-05 9.99999679e-01 -4.63988557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:-1.15, Z:-0.46 [[ 9.95472968e-01 9.50314309e-02 1.61184998e-03 1.04797198e+02] [-9.50314987e-02 9.95474265e-01 -3.46357230e-05 -1.14501858e+00] [-1.60784666e-03 -1.18697594e-04 9.99998700e-01 -4.63021694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:-1.14, Z:-0.46 [[ 9.95469875e-01 9.50548725e-02 2.07328354e-03 1.04825288e+02] [-9.50549855e-02 9.95472023e-01 -4.41859969e-05 -1.14310780e+00] [-2.06809586e-03 -1.53090108e-04 9.99997850e-01 -4.63267484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:-1.14, Z:-0.46 [[ 9.95428384e-01 9.54731855e-02 2.68380500e-03 1.04853054e+02] [-9.54733777e-02 9.95431982e-01 -5.66867696e-05 -1.14145286e+00] [-2.67695740e-03 -1.99804309e-04 9.99996397e-01 -4.63350397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:-1.14, Z:-0.46 [[ 9.95319978e-01 9.65784769e-02 3.27704781e-03 1.04881116e+02] [-9.65787704e-02 9.95325342e-01 -6.89472050e-05 -1.14009098e+00] [-3.26838755e-03 -2.47868717e-04 9.99994628e-01 -4.63546450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:-1.14, Z:-0.46 [[ 9.95112993e-01 9.86488376e-02 4.30555777e-03 1.04909321e+02] [-9.86493657e-02 9.95122251e-01 -9.00626258e-05 -1.13655545e+00] [-4.29344092e-03 -3.35118054e-04 9.99990727e-01 -4.63803130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:104.94, Y:-1.13, Z:-0.46 [[ 9.95086082e-01 9.89302876e-02 4.06058952e-03 1.04937094e+02] [-9.89307605e-02 9.95094316e-01 -8.47100305e-05 -1.13436687e+00] [-4.04904994e-03 -3.17423437e-04 9.99991752e-01 -4.64828911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:-1.13, Z:-0.46 [[ 9.95100223e-01 9.87926546e-02 3.94438352e-03 1.04965410e+02] [-9.87931008e-02 9.95107992e-01 -8.20386400e-05 -1.13137624e+00] [-3.93319238e-03 -3.08041210e-04 9.99992218e-01 -4.64282009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:104.99, Y:-1.13, Z:-0.47 [[ 9.95165220e-01 9.81356936e-02 3.94584687e-03 1.04993380e+02] [-9.81361361e-02 9.95172996e-01 -8.17914410e-05 -1.12896792e+00] [-3.93482692e-03 -3.05834168e-04 9.99992212e-01 -4.65969763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:-1.13, Z:-0.47 [[ 9.95248965e-01 9.72519390e-02 4.64309258e-03 1.05021082e+02] [-9.72525445e-02 9.95259732e-01 -9.57086042e-05 -1.12615910e+00] [-4.63039092e-03 -3.56298679e-04 9.99989216e-01 -4.65295612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:-1.12, Z:-0.47 [[ 9.95404822e-01 9.56151036e-02 5.19536944e-03 1.05049512e+02] [-9.56158416e-02 9.95418304e-01 -1.06704458e-04 -1.12107678e+00] [-5.18176839e-03 -3.90545489e-04 9.99986498e-01 -4.65160217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:-1.12, Z:-0.47 [[ 9.95522792e-01 9.44244594e-02 4.28870046e-03 1.05077229e+02] [-9.44249516e-02 9.95531979e-01 -8.80141267e-05 -1.11938129e+00] [-4.27784914e-03 -3.17340264e-04 9.99990800e-01 -4.65303468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:-1.12, Z:-0.46 [[ 9.95691340e-01 9.26784368e-02 3.07614777e-03 1.05104706e+02] [-9.26786820e-02 9.95696067e-01 -6.30325380e-05 -1.11858934e+00] [-3.06874999e-03 -2.22332369e-04 9.99995267e-01 -4.64903908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:-1.12, Z:-0.47 [[ 9.95872733e-01 9.07250026e-02 2.54439723e-03 1.05132301e+02] [-9.07251639e-02 9.95875967e-01 -5.21905993e-05 -1.11872595e+00] [-2.53863905e-03 -1.78865661e-04 9.99996762e-01 -4.65092543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:-1.12, Z:-0.47 [[ 9.96060662e-01 8.86287743e-02 2.84573153e-03 1.05160493e+02] [-8.86289686e-02 9.96064708e-01 -5.79851198e-05 -1.11921800e+00] [-2.83967190e-03 -1.94457554e-04 9.99995949e-01 -4.65357990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:-1.12, Z:-0.47 [[ 9.96240456e-01 8.65733345e-02 3.16405496e-03 1.05188417e+02] [-8.65735650e-02 9.96245459e-01 -6.42896847e-05 -1.11908697e+00] [-3.15774116e-03 -2.09875533e-04 9.99994992e-01 -4.65828415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:-1.12, Z:-0.47 [[ 9.96374746e-01 8.50066191e-02 3.35253371e-03 1.05216341e+02] [-8.50068700e-02 9.96380363e-01 -6.78459245e-05 -1.11900361e+00] [-3.34616610e-03 -2.17388431e-04 9.99994378e-01 -4.66254760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:-1.12, Z:-0.47 [[ 9.96473803e-01 8.38641033e-02 2.60241679e-03 1.05244062e+02] [-8.38642507e-02 9.96477187e-01 -5.26460467e-05 -1.11949438e+00] [-2.59766408e-03 -1.65789328e-04 9.99996612e-01 -4.67652336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:-1.12, Z:-0.47 [[ 9.96572245e-01 8.27081453e-02 1.76719557e-03 1.05271791e+02] [-8.27082115e-02 9.96573806e-01 -3.57581567e-05 -1.12035633e+00] [-1.76409831e-03 -1.10525999e-04 9.99998438e-01 -4.68519660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:-1.12, Z:-0.47 [[ 9.96827515e-01 7.95799378e-02 1.39240780e-03 1.05299374e+02] [-7.95799756e-02 9.96828484e-01 -2.82596021e-05 -1.12332800e+00] [-1.39024066e-03 -8.26378301e-05 9.99999030e-01 -4.69208985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:-1.13, Z:-0.47 [[ 9.96933083e-01 7.82412389e-02 1.65418138e-03 1.05328041e+02] [-7.82412912e-02 9.96934451e-01 -3.32011948e-05 -1.12571287e+00] [-1.65170810e-03 -9.63259171e-05 9.99998631e-01 -4.69030024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:-1.13, Z:-0.47 [[ 9.97021584e-01 7.70995707e-02 1.90197067e-03 1.05356275e+02] [-7.70996379e-02 9.97023392e-01 -3.81102429e-05 -1.12828050e+00] [-1.89924753e-03 -1.08644515e-04 9.99998191e-01 -4.68966068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:-1.13, Z:-0.47 [[ 9.97075461e-01 7.63995102e-02 1.90811738e-03 1.05385105e+02] [-7.63995769e-02 9.97077280e-01 -3.80200605e-05 -1.13040814e+00] [-1.90544520e-03 -1.07870491e-04 9.99998179e-01 -4.68865157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:-1.13, Z:-0.47 [[ 9.97094181e-01 7.61569352e-02 1.82076582e-03 1.05414259e+02] [-7.61569956e-02 9.97095838e-01 -3.62291413e-05 -1.13210486e+00] [-1.81823712e-03 -1.02540188e-04 9.99998342e-01 -4.68620169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:-1.13, Z:-0.47 [[ 9.97099934e-01 7.60815732e-02 1.82076307e-03 1.05443574e+02] [-7.60816332e-02 9.97101592e-01 -3.63706141e-05 -1.13258381e+00] [-1.81825288e-03 -1.02261491e-04 9.99998342e-01 -4.68925740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:-1.13, Z:-0.47 [[ 9.97076150e-01 7.63778746e-02 2.36040165e-03 1.05471113e+02] [-7.63779775e-02 9.97078935e-01 -4.66577219e-05 -1.13402833e+00] [-2.35707038e-03 -1.33761402e-04 9.99997213e-01 -4.69609930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:-1.14, Z:-0.47 [[ 9.96773801e-01 8.01452831e-02 4.32697625e-03 1.05499940e+02] [-8.01456683e-02 9.96783158e-01 -8.45712067e-05 -1.13640945e+00] [-4.31983504e-03 -2.62490040e-04 9.99990635e-01 -4.69421816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:-1.14, Z:-0.47 [[ 9.96519617e-01 8.32051128e-02 5.05581090e-03 1.05528018e+02] [-8.32056793e-02 9.96532390e-01 -9.85499244e-05 -1.13710786e+00] [-5.04647918e-03 -3.22465247e-04 9.99987214e-01 -4.68910007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:-1.14, Z:-0.47 [[ 9.96234797e-01 8.65145801e-02 5.60868232e-03 1.05555948e+02] [-8.65153318e-02 9.96250513e-01 -1.08918969e-04 -1.13682883e+00] [-5.59707572e-03 -3.76728144e-04 9.99984265e-01 -4.68876756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:-1.14, Z:-0.47 [[ 9.95928241e-01 8.99782000e-02 5.55542530e-03 1.05584068e+02] [-8.99789928e-02 9.95943658e-01 -1.07558713e-04 -1.13589398e+00] [-5.54256853e-03 -3.92750813e-04 9.99984563e-01 -4.69708807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:-1.13, Z:-0.47 [[ 9.95672456e-01 9.27811037e-02 5.29413692e-03 1.05612058e+02] [-9.27818643e-02 9.95686454e-01 -1.02282001e-04 -1.13438682e+00] [-5.28079025e-03 -3.89360522e-04 9.99985981e-01 -4.70104720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:-1.13, Z:-0.47 [[ 9.95523804e-01 9.43913016e-02 4.75790178e-03 1.05639783e+02] [-9.43919354e-02 9.95535109e-01 -9.16646280e-05 -1.13278927e+00] [-4.74531061e-03 -3.57853238e-04 9.99988677e-01 -4.71029316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:-1.13, Z:-0.47 [[ 9.95589478e-01 9.36927904e-02 4.82199658e-03 1.05667940e+02] [-9.36934349e-02 9.95601091e-01 -9.25574067e-05 -1.12931161e+00] [-4.80945702e-03 -3.59640243e-04 9.99988370e-01 -4.71634824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:-1.13, Z:-0.47 [[ 9.95788040e-01 9.15296457e-02 5.33879200e-03 1.05695029e+02] [-9.15304065e-02 9.95802277e-01 -1.02179011e-04 -1.12745036e+00] [-5.32573364e-03 -3.86913165e-04 9.99985743e-01 -4.71614169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:-1.13, Z:-0.47 [[ 9.96023407e-01 8.89183363e-02 5.55888694e-03 1.05723458e+02] [-8.89191248e-02 9.96038844e-01 -1.05631440e-04 -1.12615198e+00] [-5.54625989e-03 -3.89079974e-04 9.99984544e-01 -4.71682348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.045898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:105.75, Y:-1.13, Z:-0.47 [[ 9.96275644e-01 8.60461719e-02 5.55851920e-03 1.05751566e+02] [-8.60469182e-02 9.96291080e-01 -1.05194210e-04 -1.12599085e+00] [-5.54695466e-03 -3.73491018e-04 9.99984546e-01 -4.73380699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:-1.13, Z:-0.47 [[ 9.96490861e-01 8.35256612e-02 5.42483597e-03 1.05779823e+02] [-8.35263367e-02 9.96505565e-01 -1.02325540e-04 -1.12574925e+00] [-5.41442604e-03 -3.51150210e-04 9.99985280e-01 -4.73751722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:-1.12, Z:-0.47 [[ 9.96773111e-01 8.01169152e-02 4.96435296e-03 1.05809133e+02] [-8.01174403e-02 9.96785427e-01 -9.33135270e-05 -1.12415515e+00] [-4.95587067e-03 -3.04718837e-04 9.99987673e-01 -4.74224574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:-1.12, Z:-0.47 [[ 9.96840226e-01 7.92654445e-02 5.15293335e-03 1.05836893e+02] [-7.92660001e-02 9.96853496e-01 -9.66533900e-05 -1.12296542e+00] [-5.14438089e-03 -3.12104428e-04 9.99986719e-01 -4.74339130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:-1.12, Z:-0.47 [[ 9.96911288e-01 7.83968782e-02 4.67043291e-03 1.05865397e+02] [-7.83973265e-02 9.96922189e-01 -8.72994303e-05 -1.12243316e+00] [-4.66290220e-03 -2.79119666e-04 9.99989090e-01 -4.74091291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:-1.12, Z:-0.47 [[ 9.96971400e-01 7.76684603e-02 3.95443233e-03 1.05894526e+02] [-7.76687763e-02 9.96979215e-01 -7.38109757e-05 -1.12281975e+00] [-3.94821962e-03 -2.33548488e-04 9.99992178e-01 -4.74726938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:-1.12, Z:-0.48 [[ 9.96979723e-01 7.75810077e-02 3.55224916e-03 1.05922976e+02] [-7.75812626e-02 9.96986030e-01 -6.61955186e-05 -1.12459572e+00] [-3.54667830e-03 -2.09592385e-04 9.99993689e-01 -4.75608205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:-1.13, Z:-0.48 [[ 9.96960820e-01 7.78328091e-02 3.34317009e-03 1.05951160e+02] [-7.78330364e-02 9.96966406e-01 -6.22499694e-05 -1.12631027e+00] [-3.33787336e-03 -1.98148299e-04 9.99994410e-01 -4.76267590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:-1.13, Z:-0.48 [[ 9.96750683e-01 8.04850788e-02 3.19806336e-03 1.05980043e+02] [-8.04853013e-02 9.96755794e-01 -5.92838352e-05 -1.12864337e+00] [-3.19245965e-03 -1.98305890e-04 9.99994884e-01 -4.77448255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:-1.13, Z:-0.48 [[ 9.96566181e-01 8.27562142e-02 2.69365390e-03 1.06008297e+02] [-8.27563799e-02 9.96569806e-01 -5.00766843e-05 -1.12961599e+00] [-2.68855830e-03 -1.73012315e-04 9.99996371e-01 -4.77236244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:-1.13, Z:-0.48 [[ 9.96353720e-01 8.53001558e-02 1.77430840e-03 1.06036211e+02] [-8.53002315e-02 9.96355293e-01 -3.31119444e-05 -1.13036826e+00] [-1.77066602e-03 -1.18357709e-04 9.99998425e-01 -4.77165680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:-1.13, Z:-0.48 [[ 9.96087833e-01 8.83632337e-02 9.83577946e-04 1.06064356e+02] [-8.83632582e-02 9.96088317e-01 -1.86183458e-05 -1.13140241e+00] [-9.81375678e-04 -6.83666442e-05 9.99999516e-01 -4.77669892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:-1.13, Z:-0.48 [[ 9.95805462e-01 9.14911188e-02 9.25439013e-04 1.06091396e+02] [-9.14911415e-02 9.95805890e-01 -1.77971022e-05 -1.13261212e+00] [-9.23185897e-04 -6.69470202e-05 9.99999572e-01 -4.78598255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:-1.13, Z:-0.48 [[ 9.95562612e-01 9.40849104e-02 1.76477223e-03 1.06119060e+02] [-9.40849999e-02 9.95564168e-01 -3.23970773e-05 -1.13397275e+00] [-1.75999207e-03 -1.33785276e-04 9.99998442e-01 -4.78877496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.465898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:106.15, Y:-1.14, Z:-0.48 [[ 9.95154824e-01 9.82453364e-02 3.83798355e-03 1.06145482e+02] [-9.82457937e-02 9.95162177e-01 -6.96565720e-05 -1.13702032e+00] [-3.82625950e-03 -3.07746666e-04 9.99992632e-01 -4.80286500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49589822699998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:106.17, Y:-1.14, Z:-0.48 [[ 9.95005258e-01 9.97612275e-02 3.49772454e-03 1.06173513e+02] [-9.97616177e-02 9.95011365e-01 -6.31906063e-05 -1.13901046e+00] [-3.48657964e-03 -2.86063673e-04 9.99993881e-01 -4.79991261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:-1.14, Z:-0.48 [[ 9.94887877e-01 1.00932863e-01 3.26644115e-03 1.06201698e+02] [-1.00933210e-01 9.94893202e-01 -5.88579535e-05 -1.14024622e+00] [-3.25570080e-03 -2.71135326e-04 9.99994663e-01 -4.79352845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:-1.14, Z:-0.48 [[ 9.94780328e-01 1.01986586e-01 3.29155731e-03 1.06228745e+02] [-1.01986945e-01 9.94785736e-01 -5.92876312e-05 -1.14175975e+00] [-3.28044080e-03 -2.76717703e-04 9.99994581e-01 -4.78657798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:-1.14, Z:-0.48 [[ 9.94673786e-01 1.02995137e-01 4.00763412e-03 1.06255782e+02] [-1.02995679e-01 9.94681801e-01 -7.14253769e-05 -1.14302725e+00] [-3.99367719e-03 -3.41724046e-04 9.99991967e-01 -4.78494082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:-1.15, Z:-0.48 [[ 9.94554551e-01 1.03944770e-01 7.53187835e-03 1.06282497e+02] [-1.03994904e-01 9.94555924e-01 6.60111038e-03 -1.14755611e+00] [-6.80472333e-03 -7.34844134e-03 9.99949847e-01 -4.78768235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:-1.15, Z:-0.48 [[ 9.94549185e-01 1.03999699e-01 7.48207084e-03 1.06311851e+02] [-1.04001985e-01 9.94577086e-01 -8.40397647e-05 -1.14514904e+00] [-7.45023633e-03 -6.94568539e-04 9.99972005e-01 -4.78580455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:-1.14, Z:-0.48 [[ 9.94655824e-01 1.02958141e-01 7.70797902e-03 1.06340377e+02] [-1.02906283e-01 9.94667485e-01 -6.84765044e-03 -1.14334080e+00] [-8.37189746e-03 6.01785592e-03 9.99946847e-01 -4.78136093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:-1.15, Z:-0.48 [[ 9.94752058e-01 1.01938493e-01 8.76853164e-03 1.06367943e+02] [-1.01941073e-01 9.94790427e-01 -1.53367609e-04 -1.14659591e+00] [-8.73848540e-03 -7.41310784e-04 9.99961544e-01 -4.79616715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:-1.15, Z:-0.48 [[ 9.94875217e-01 1.00682764e-01 9.28890135e-03 1.06395816e+02] [-1.00685612e-01 9.94918279e-01 -1.61791078e-04 -1.14705003e+00] [-9.25798732e-03 -7.74296780e-04 9.99956844e-01 -4.80187600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:-1.15, Z:-0.48 [[ 9.95026397e-01 9.92263044e-02 8.75273952e-03 1.06423300e+02] [-9.92287814e-02 9.95064634e-01 -1.51890872e-04 -1.14819039e+00] [-8.72461312e-03 -7.17388250e-04 9.99961683e-01 -4.80077509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:-1.15, Z:-0.48 [[ 9.95298836e-01 9.65477209e-02 7.66581188e-03 1.06451127e+02] [-9.65495456e-02 9.95328171e-01 -1.32553088e-04 -1.15042529e+00] [-7.64279622e-03 -6.08200719e-04 9.99970608e-01 -4.80847150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:-1.15, Z:-0.48 [[ 9.95392915e-01 9.55853190e-02 7.50946097e-03 1.06479598e+02] [-9.55870461e-02 9.95421067e-01 -1.29401620e-04 -1.15183080e+00] [-7.48744454e-03 -5.89001736e-04 9.99971795e-01 -4.80611286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:-1.15, Z:-0.48 [[ 9.95448900e-01 9.49891427e-02 7.65183549e-03 1.06507690e+02] [-9.49909211e-02 9.95478130e-01 -1.31512152e-04 -1.15304626e+00] [-7.62972711e-03 -5.95941274e-04 9.99970716e-01 -4.81196105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:-1.15, Z:-0.48 [[ 9.95488370e-01 9.45847867e-02 7.52480120e-03 1.06536659e+02] [-9.45864985e-02 9.95516639e-01 -1.28852134e-04 -1.15403373e+00] [-7.50325225e-03 -5.83473797e-04 9.99971680e-01 -4.81601364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:-1.15, Z:-0.48 [[ 9.95562362e-01 9.38443931e-02 6.98670786e-03 1.06565186e+02] [-9.38458528e-02 9.95586732e-01 -1.19352970e-04 -1.15475020e+00] [-6.96707425e-03 -5.36850232e-04 9.99975586e-01 -4.81815225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:-1.16, Z:-0.48 [[ 9.95646036e-01 9.29871041e-02 6.50922356e-03 1.06594307e+02] [-9.29883545e-02 9.95667190e-01 -1.10925897e-04 -1.15550595e+00] [-6.49133501e-03 -4.94839059e-04 9.99978809e-01 -4.82135999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:-1.16, Z:-0.48 [[ 9.95790315e-01 9.15602377e-02 4.28629882e-03 1.06622413e+02] [-9.15607669e-02 9.95799488e-01 -7.30091865e-05 -1.15799921e+00] [-4.27497891e-03 -3.19754966e-04 9.99990811e-01 -4.82594882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:-1.16, Z:-0.48 [[ 9.95831559e-01 9.11575122e-02 3.13276952e-03 1.06649971e+02] [-9.11577925e-02 9.95836459e-01 -5.35060739e-05 -1.15895327e+00] [-3.12460359e-03 -2.32293317e-04 9.99995091e-01 -4.82952909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:-1.16, Z:-0.48 [[ 9.95807169e-01 9.14552239e-02 2.00609316e-03 1.06678215e+02] [-9.14553393e-02 9.95809178e-01 -3.42841865e-05 -1.16005353e+00] [-2.00082145e-03 -1.49327492e-04 9.99997987e-01 -4.82834480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:-1.16, Z:-0.48 [[ 9.95722333e-01 9.23881534e-02 1.21002633e-03 1.06705713e+02] [-9.23881958e-02 9.95723064e-01 -2.09536826e-05 -1.16079426e+00] [-1.20678700e-03 -9.09280996e-05 9.99999268e-01 -4.83176580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:-1.16, Z:-0.48 [[ 9.95597823e-01 9.37239835e-02 8.88390847e-04 1.06734000e+02] [-9.37240067e-02 9.95598217e-01 -1.55474463e-05 -1.16145884e+00] [-8.85937512e-04 -6.77845460e-05 9.99999605e-01 -4.83318703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:-1.16, Z:-0.48 [[ 9.95437203e-01 9.54129103e-02 1.07311179e-03 1.06760529e+02] [-9.54129452e-02 9.95437778e-01 -1.86533560e-05 -1.16167139e+00] [-1.06999579e-03 -8.38205124e-05 9.99999424e-01 -4.83085159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:-1.16, Z:-0.48 [[ 9.95054285e-01 9.93150581e-02 1.86817665e-03 1.06788887e+02] [-9.93151727e-02 9.95056026e-01 -3.15529188e-05 -1.16002304e+00] [-1.86207411e-03 -1.54141419e-04 9.99998254e-01 -4.82736365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:-1.16, Z:-0.48 [[ 9.94942091e-01 1.00416219e-01 2.61107436e-03 1.06816725e+02] [-1.00416448e-01 9.94945494e-01 -4.36345217e-05 -1.15899935e+00] [-2.60225828e-03 -2.18780989e-04 9.99996590e-01 -4.83984141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:-1.16, Z:-0.48 [[ 9.94919180e-01 1.00626220e-01 3.19208222e-03 1.06844622e+02] [-1.00626565e-01 9.94924264e-01 -5.28667480e-05 -1.15870422e+00] [-3.18119983e-03 -2.68610126e-04 9.99994904e-01 -4.84985704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:-1.16, Z:-0.49 [[ 9.94977700e-01 1.00017306e-01 3.98929576e-03 1.06872828e+02] [-1.00017840e-01 9.94985642e-01 -6.57682073e-05 -1.15875558e+00] [-3.97586996e-03 -3.33562846e-04 9.99992041e-01 -4.85369817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:-1.16, Z:-0.48 [[ 9.95058446e-01 9.91679782e-02 4.93969091e-03 1.06900659e+02] [-9.91687904e-02 9.95070623e-01 -8.08418967e-05 -1.15906255e+00] [-4.92335823e-03 -4.09420760e-04 9.99987796e-01 -4.84858130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:-1.16, Z:-0.48 [[ 9.95162378e-01 9.80860793e-02 5.56442498e-03 1.06929115e+02] [-9.80870951e-02 9.95177830e-01 -9.07179638e-05 -1.15939632e+00] [-5.54649055e-03 -4.55519178e-04 9.99984514e-01 -4.83824907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:-1.16, Z:-0.48 [[ 9.95214865e-01 9.75032029e-02 6.36386949e-03 1.06955936e+02] [-9.75045232e-02 9.95235076e-01 -1.03202397e-04 -1.15972784e+00] [-6.34360870e-03 -5.17797502e-04 9.99979745e-01 -4.83358395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36589822699999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:106.98, Y:-1.16, Z:-0.48 [[ 9.95192408e-01 9.76059068e-02 8.07199899e-03 1.06984333e+02] [-9.76080403e-02 9.95224926e-01 -1.30150520e-04 -1.15980319e+00] [-8.04615806e-03 -6.58367193e-04 9.99967412e-01 -4.84036338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:-1.16, Z:-0.48 [[ 9.95130590e-01 9.82141166e-02 8.31235983e-03 1.07013612e+02] [-9.82164055e-02 9.95165072e-01 -1.33391398e-04 -1.15932463e+00] [-8.28527108e-03 -6.83668243e-04 9.99965443e-01 -4.83617282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:-1.16, Z:-0.48 [[ 9.95103009e-01 9.85575526e-02 7.51074658e-03 1.07041804e+02] [-9.85594330e-02 9.95131159e-01 -1.20255964e-04 -1.15850584e+00] [-7.48603008e-03 -6.20587852e-04 9.99971787e-01 -4.83815441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:-1.16, Z:-0.48 [[ 9.95066688e-01 9.89724509e-02 6.83674060e-03 1.07069481e+02] [-9.89740208e-02 9.95090012e-01 -1.09157132e-04 -1.15783334e+00] [-6.81397583e-03 -5.68041081e-04 9.99976623e-01 -4.84534889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:-1.16, Z:-0.48 [[ 9.94997956e-01 9.96816783e-02 6.52925867e-03 1.07097273e+02] [-9.96831283e-02 9.95019228e-01 -1.03783828e-04 -1.15814556e+00] [-6.50708326e-03 -5.47592233e-04 9.99978679e-01 -4.84848469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:-1.16, Z:-0.49 [[ 9.94953660e-01 1.00136198e-01 6.32118018e-03 1.07125697e+02] [-1.00137568e-01 9.94973596e-01 -1.00182037e-04 -1.16067104e+00] [-6.29943923e-03 -5.33311124e-04 9.99980016e-01 -4.85210440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:-1.16, Z:-0.49 [[ 9.94959395e-01 1.00079198e-01 6.32118775e-03 1.07154184e+02] [-1.00080570e-01 9.94979331e-01 -9.97016736e-05 -1.16099510e+00] [-6.29942922e-03 -5.33428954e-04 9.99980016e-01 -4.85509151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.18, Y:-1.16, Z:-0.48 [[ 9.95087210e-01 9.88517153e-02 5.45740224e-03 1.07181855e+02] [-9.88527205e-02 9.95102071e-01 -8.59137788e-05 -1.16379411e+00] [-5.43916500e-03 -4.53987356e-04 9.99985105e-01 -4.84884159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:-1.17, Z:-0.49 [[ 9.95114580e-01 9.85698751e-02 5.56341225e-03 1.07209048e+02] [-9.85709168e-02 9.95130025e-01 -8.73279365e-05 -1.16518080e+00] [-5.54492648e-03 -4.61489343e-04 9.99984520e-01 -4.85191567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.24, Y:-1.17, Z:-0.49 [[ 9.95120145e-01 9.85136799e-02 5.56342447e-03 1.07237535e+02] [-9.85147250e-02 9.95135589e-01 -8.65405764e-05 -1.16549852e+00] [-5.54488712e-03 -4.61960961e-04 9.99984520e-01 -4.85490305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:-1.17, Z:-0.49 [[ 9.95092640e-01 9.87251342e-02 6.63211147e-03 1.07265132e+02] [-9.87266269e-02 9.95114588e-01 -1.02732906e-04 -1.16686353e+00] [-6.60985319e-03 -5.52537236e-04 9.99978002e-01 -4.86373697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:-1.17, Z:-0.49 [[ 9.94975629e-01 9.98141754e-02 7.78641350e-03 1.07293305e+02] [-9.98162717e-02 9.95005878e-01 -1.19896023e-04 -1.16822712e+00] [-7.75949452e-03 -6.57917144e-04 9.99969678e-01 -4.86892866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:-1.17, Z:-0.49 [[ 9.94604710e-01 1.03419926e-01 8.11104809e-03 1.07321515e+02] [-1.03422323e-01 9.94637526e-01 -1.24387080e-04 -1.16939720e+00] [-8.08041691e-03 -7.15147462e-04 9.99967097e-01 -4.87450146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:-1.17, Z:-0.49 [[ 9.94398259e-01 1.05512838e-01 6.25654397e-03 1.07349960e+02] [-1.05514307e-01 9.94417780e-01 -9.57518748e-05 -1.16968198e+00] [-6.23172162e-03 -5.64939403e-04 9.99980423e-01 -4.87488936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:-1.17, Z:-0.49 [[ 9.94212886e-01 1.07359067e-01 3.84284042e-03 1.07378188e+02] [-1.07359634e-01 9.94220250e-01 -5.88410781e-05 -1.17047175e+00] [-3.82694688e-03 -3.54065384e-04 9.99992615e-01 -4.88491233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.41, Y:-1.17, Z:-0.49 [[ 9.94134760e-01 1.08135867e-01 1.64696392e-03 1.07405672e+02] [-1.08135972e-01 9.94136113e-01 -2.54084959e-05 -1.17188225e+00] [-1.64005388e-03 -1.52836576e-04 9.99998643e-01 -4.90411987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:-1.17, Z:-0.49 [[ 9.94122415e-01 1.08260651e-01 5.06340500e-04 1.07432613e+02] [-1.08260661e-01 9.94122542e-01 -8.40314596e-06 -1.17319475e+00] [-5.04274235e-04 -4.64630013e-05 9.99999872e-01 -4.90564991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:-1.17, Z:-0.49 [[ 9.94175372e-01 1.07773235e-01 5.09647125e-04 1.07460241e+02] [-1.07773245e-01 9.94175501e-01 -8.30981507e-06 -1.17394978e+00] [-5.07574262e-04 -4.66649111e-05 9.99999870e-01 -4.91328323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:-1.17, Z:-0.49 [[ 9.94281373e-01 1.06737904e-01 3.40153232e-03 1.07488160e+02] [-1.06738348e-01 9.94287143e-01 -5.12628630e-05 -1.17385280e+00] [-3.38757154e-03 -3.12104231e-04 9.99994213e-01 -4.91439880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:-1.17, Z:-0.49 [[ 9.94339957e-01 1.06146831e-01 4.57164915e-03 1.07515485e+02] [-1.06147630e-01 9.94350379e-01 -6.82523700e-05 -1.17413269e+00] [-4.55306584e-03 -4.17403662e-04 9.99989548e-01 -4.91479925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:-1.17, Z:-0.49 [[ 9.94426183e-01 1.05330098e-01 4.70493571e-03 1.07543020e+02] [-1.05330936e-01 9.94437222e-01 -7.00128592e-05 -1.17488657e+00] [-4.68613766e-03 -4.25952660e-04 9.99988929e-01 -4.91914378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:-1.18, Z:-0.49 [[ 9.94511789e-01 1.04555431e-01 3.80320357e-03 1.07571283e+02] [-1.04555973e-01 9.94519002e-01 -5.64843607e-05 -1.17512011e+00] [-3.78826396e-03 -3.41473288e-04 9.99992766e-01 -4.92973204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:-1.17, Z:-0.49 [[ 9.94589889e-01 1.03854753e-01 2.26801041e-03 1.07599680e+02] [-1.03854944e-01 9.94592454e-01 -3.38311205e-05 -1.17476473e+00] [-2.25925956e-03 -2.01896003e-04 9.99997427e-01 -4.94322846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:-1.17, Z:-0.49 [[ 9.94764730e-01 1.02190322e-01 5.19487240e-04 1.07627652e+02] [-1.02190331e-01 9.94764865e-01 -8.16644238e-06 -1.17230903e+00] [-5.17602185e-04 -4.49628843e-05 9.99999865e-01 -4.94581435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:-1.17, Z:-0.49 [[ 9.94858433e-01 1.01269491e-01 1.09037743e-03 1.07655303e+02] [-1.01269533e-01 9.94859026e-01 -1.63894564e-05 -1.17159350e+00] [-1.08643158e-03 -9.41168246e-05 9.99999405e-01 -4.93754761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11589822699999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:107.68, Y:-1.17, Z:-0.50 [[ 9.94982933e-01 1.00010762e-01 2.60966695e-03 1.07682933e+02] [-1.00011003e-01 9.94986330e-01 -3.83144052e-05 -1.17183697e+00] [-2.60041480e-03 -2.22873230e-04 9.99996594e-01 -4.95095966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:-1.17, Z:-0.49 [[ 9.95108632e-01 9.86847182e-02 4.48736051e-03 1.07710598e+02] [-9.86854215e-02 9.95118678e-01 -6.49619261e-05 -1.17230035e+00] [-4.47186700e-03 -3.78192890e-04 9.99989930e-01 -4.93550700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:-1.17, Z:-0.49 [[ 9.95288252e-01 9.67648655e-02 6.15281118e-03 1.07738329e+02] [-9.67661546e-02 9.95307140e-01 -8.85316193e-05 -1.17329302e+00] [-6.13250365e-03 -5.07269398e-04 9.99981067e-01 -4.93740997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:-1.17, Z:-0.49 [[ 9.95542486e-01 9.40446168e-02 7.12522576e-03 1.07765838e+02] [-9.40462811e-02 9.95567821e-01 -1.01864605e-04 -1.17419672e+00] [-7.10322530e-03 -5.68690442e-04 9.99974610e-01 -4.94212633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:107.79, Y:-1.18, Z:-0.50 [[ 9.96151855e-01 8.73763915e-02 6.84452461e-03 1.07794693e+02] [-8.73777735e-02 9.96175243e-01 -9.74320837e-05 -1.17778224e+00] [-6.82685923e-03 -5.01002170e-04 9.99976571e-01 -4.95850992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:-1.18, Z:-0.49 [[ 9.96451205e-01 8.38769507e-02 7.04656050e-03 1.07822407e+02] [-8.38783305e-02 9.96475999e-01 -1.00008356e-04 -1.18063732e+00] [-7.03011681e-03 -4.91400284e-04 9.99975168e-01 -4.94617535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.295898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.85, Y:-1.18, Z:-0.50 [[ 9.96808367e-01 7.94824025e-02 7.45832848e-03 1.07851523e+02] [-7.94838295e-02 9.96836150e-01 -1.05358123e-04 -1.18453278e+00] [-7.44310557e-03 -4.87794651e-04 9.99972181e-01 -4.95807904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:-1.19, Z:-0.49 [[ 9.97155462e-01 7.50166126e-02 7.31387705e-03 1.07879013e+02] [-7.50178676e-02 9.97182184e-01 -1.02979806e-04 -1.18894624e+00] [-7.30099309e-03 -4.45984584e-04 9.99973248e-01 -4.94956934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:-1.19, Z:-0.50 [[ 9.97460926e-01 7.08420675e-02 7.28716771e-03 1.07907550e+02] [-7.08432051e-02 9.97487458e-01 -1.02220107e-04 -1.19378608e+00] [-7.27609988e-03 -4.14285754e-04 9.99973443e-01 -4.95795233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:-1.20, Z:-0.50 [[ 9.97716589e-01 6.72174124e-02 6.58990941e-03 1.07937571e+02] [-6.72182654e-02 9.97738290e-01 -9.22063321e-05 -1.19866810e+00] [-6.58120282e-03 -3.50966493e-04 9.99978282e-01 -4.96408932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:-1.21, Z:-0.50 [[ 9.98033835e-01 6.23243451e-02 6.64388453e-03 1.07966681e+02] [-6.23251053e-02 9.98055897e-01 -9.27563398e-05 -1.20951156e+00] [-6.63674911e-03 -3.21506837e-04 9.99977925e-01 -4.96333722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:-1.21, Z:-0.50 [[ 9.98091225e-01 6.12880836e-02 7.59455228e-03 1.07997404e+02] [-6.12890481e-02 9.98120054e-01 -1.05887246e-04 -1.21486103e+00] [-7.58676456e-03 -3.59777749e-04 9.99971155e-01 -4.96065976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:-1.22, Z:-0.50 [[ 9.98068646e-01 6.14768102e-02 8.92071190e-03 1.08028075e+02] [-6.14781485e-02 9.98108422e-01 -1.24377262e-04 -1.22005518e+00] [-8.91148399e-03 -4.24291806e-04 9.99960202e-01 -4.95633788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.06, Y:-1.23, Z:-0.50 [[ 9.98036027e-01 6.18400493e-02 9.99481445e-03 1.08058594e+02] [-6.18417478e-02 9.98085958e-01 -1.39325223e-04 -1.22520827e+00] [-9.98429983e-03 -4.79045203e-04 9.99950041e-01 -4.95658437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:-1.23, Z:-0.49 [[ 9.98017246e-01 6.21681402e-02 9.83352901e-03 1.08089424e+02] [-6.21697946e-02 9.98065578e-01 -1.37648886e-04 -1.23010246e+00] [-9.82306419e-03 -4.73972517e-04 9.99951640e-01 -4.94110921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56589822699999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:108.12, Y:-1.24, Z:-0.50 [[ 9.98146858e-01 6.04791896e-02 6.71700297e-03 1.08120723e+02] [-6.04799262e-02 9.98169409e-01 -9.36005436e-05 -1.24033148e+00] [-6.71036778e-03 -3.12816755e-04 9.99977436e-01 -4.96298398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:-1.25, Z:-0.50 [[ 9.98255337e-01 5.88095966e-02 5.26435763e-03 1.08150970e+02] [-5.88100193e-02 9.98269190e-01 -7.46040512e-05 -1.24532404e+00] [-5.25963346e-03 -2.35123082e-04 9.99986140e-01 -4.95907202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:-1.25, Z:-0.50 [[ 9.98364294e-01 5.69316817e-02 5.24600201e-03 1.08181272e+02] [-5.69320752e-02 9.98378051e-01 -7.44080830e-05 -1.24932901e+00] [-5.24172945e-03 -2.24379408e-04 9.99986237e-01 -4.97284769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:-1.25, Z:-0.50 [[ 9.98469240e-01 5.49605766e-02 6.20572131e-03 1.08211332e+02] [-5.49610886e-02 9.98488493e-01 -8.81205521e-05 -1.25280498e+00] [-6.20118447e-03 -2.53087538e-04 9.99980740e-01 -4.97644603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:-1.26, Z:-0.50 [[ 9.98574250e-01 5.28805147e-02 7.28826100e-03 1.08243147e+02] [-5.28811687e-02 9.98600807e-01 -1.03086816e-04 -1.25675947e+00] [-7.28351460e-03 -2.82471920e-04 9.99973435e-01 -4.97410150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:-1.26, Z:-0.50 [[ 9.98703170e-01 5.01230904e-02 8.92493510e-03 1.08274409e+02] [-5.01239437e-02 9.98742997e-01 -1.28190864e-04 -1.26146084e+00] [-8.92014175e-03 -3.19328322e-04 9.99960164e-01 -4.97101940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:-1.27, Z:-0.50 [[ 9.98837144e-01 4.72370822e-02 9.64459487e-03 1.08307833e+02] [-4.72379284e-02 9.98883656e-01 -1.40162753e-04 -1.26699545e+00] [-9.64044907e-03 -3.15590919e-04 9.99953480e-01 -4.96044672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:-1.28, Z:-0.49 [[ 9.99019137e-01 4.30918492e-02 1.01909994e-02 1.08339247e+02] [-4.30925572e-02 9.99071073e-01 -1.50197177e-04 -1.27761278e+00] [-1.01880050e-02 -2.89106373e-04 9.99948059e-01 -4.94203331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80589822699999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:108.37, Y:-1.28, Z:-0.49 [[ 9.99083862e-01 4.15692942e-02 1.01701107e-02 1.08370743e+02] [-4.15699018e-02 9.99135587e-01 -1.51727622e-04 -1.28278792e+00] [-1.01676268e-02 -2.71181885e-04 9.99948272e-01 -4.94349061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:-1.29, Z:-0.49 [[ 9.99126999e-01 4.08079083e-02 8.94169042e-03 1.08401981e+02] [-4.09177752e-02 9.99084707e-01 1.24693285e-02 -1.29307864e+00] [-8.42465894e-03 -1.28243168e-02 9.99882274e-01 -4.86839957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:-1.29, Z:-0.50 [[ 9.99158548e-01 3.98607172e-02 9.66018516e-03 1.08434187e+02] [-3.97360458e-02 9.99128592e-01 -1.27712222e-02 -1.28845781e+00] [-1.01608373e-02 1.23766183e-02 9.99871780e-01 -4.95014134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:-1.30, Z:-0.50 [[ 9.99234652e-01 3.81995024e-02 8.42069826e-03 1.08467009e+02] [-3.81997731e-02 9.99270114e-01 -1.28751583e-04 -1.29953882e+00] [-8.41947035e-03 -1.93015719e-04 9.99964537e-01 -4.95579033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:-1.31, Z:-0.50 [[ 9.99303394e-01 3.66713481e-02 6.92383889e-03 1.08499526e+02] [-3.66714879e-02 9.99327369e-01 -1.06798149e-04 -1.30544641e+00] [-6.92309814e-03 -1.47183721e-04 9.99976024e-01 -4.98009041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:-1.32, Z:-0.50 [[ 9.99415208e-01 3.35943104e-02 6.37678217e-03 1.08531474e+02] [-3.35943594e-02 9.99435545e-01 -9.94561157e-05 -1.31732996e+00] [-6.37652393e-03 -1.14825958e-04 9.99979663e-01 -5.00287979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:-1.32, Z:-0.50 [[ 9.99446880e-01 3.25087064e-02 7.00846590e-03 1.08563994e+02] [-3.25087294e-02 9.99471445e-01 -1.10674401e-04 -1.32416792e+00] [-7.00835943e-03 -1.17223137e-04 9.99975434e-01 -4.99799673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:-1.33, Z:-0.50 [[ 9.99474137e-01 3.15761728e-02 7.37530176e-03 1.08596111e+02] [-3.15761616e-02 9.99501342e-01 -1.17993054e-04 -1.33106878e+00] [-7.37534978e-03 -1.14952715e-04 9.99972795e-01 -4.98094965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:-1.34, Z:-0.50 [[ 9.99496221e-01 3.08828681e-02 7.31799237e-03 1.08629295e+02] [-3.08828294e-02 9.99523005e-01 -1.18312216e-04 -1.33728572e+00] [-7.31815554e-03 -1.07747697e-04 9.99973216e-01 -4.96976751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:-1.34, Z:-0.50 [[ 9.99512252e-01 3.05826005e-02 6.32158713e-03 1.08661015e+02] [-3.05825595e-02 9.99532239e-01 -1.03168433e-04 -1.34308657e+00] [-6.32178529e-03 -9.02122013e-05 9.99980013e-01 -4.96124077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:-1.35, Z:-0.50 [[ 9.99510161e-01 3.08400761e-02 5.32243902e-03 1.08693237e+02] [-3.08400472e-02 9.99524329e-01 -8.75082362e-05 -1.34830443e+00] [-5.32260605e-03 -7.66788995e-05 9.99985832e-01 -4.96774350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.73, Y:-1.36, Z:-0.50 [[ 9.99499960e-01 3.12806988e-02 4.62044860e-03 1.08725659e+02] [-3.12806795e-02 9.99510637e-01 -7.64690609e-05 -1.35652546e+00] [-4.62057953e-03 -6.80999485e-05 9.99989323e-01 -4.99426369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:-1.36, Z:-0.50 [[ 9.99506321e-01 3.10512744e-02 4.78889501e-03 1.08758367e+02] [-3.10512467e-02 9.99517791e-01 -8.01554143e-05 -1.36010924e+00] [-4.78907469e-03 -6.85853170e-05 9.99988530e-01 -5.01168407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:-1.37, Z:-0.50 [[ 9.99554434e-01 2.90129044e-02 7.01317754e-03 1.08789939e+02] [-2.90127785e-02 9.99579034e-01 -1.19704726e-04 -1.36532854e+00] [-7.01369821e-03 -8.38203775e-05 9.99975400e-01 -5.01604426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:-1.37, Z:-0.50 [[ 9.99595430e-01 2.73044526e-02 7.96512329e-03 1.08822743e+02] [-2.73042228e-02 9.99627161e-01 -1.37604628e-04 -1.36791623e+00] [-7.96591080e-03 -7.99325437e-05 9.99968268e-01 -5.01038231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:-1.37, Z:-0.50 [[ 9.99646107e-01 2.52292199e-02 8.43490813e-03 1.08855555e+02] [-2.52288742e-02 9.99681690e-01 -1.47398812e-04 -1.37082590e+00] [-8.43594197e-03 -6.54565878e-05 9.99964415e-01 -5.00963558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:-1.37, Z:-0.50 [[ 9.99704412e-01 2.28649342e-02 8.26336211e-03 1.08887178e+02] [-2.28645087e-02 9.99738562e-01 -1.45976450e-04 -1.37369339e+00] [-8.26453949e-03 -4.30044139e-05 9.99965847e-01 -5.01216587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:-1.38, Z:-0.50 [[ 9.99770373e-01 2.03019355e-02 6.85808130e-03 1.08920280e+02] [-2.03015760e-02 9.99793894e-01 -1.22034663e-04 -1.37599595e+00] [-6.85914535e-03 -1.72232188e-05 9.99976476e-01 -5.01354428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:-1.38, Z:-0.50 [[ 9.99833683e-01 1.75814677e-02 4.84746964e-03 1.08953089e+02] [-1.75812546e-02 9.99845434e-01 -8.65809185e-05 -1.37792036e+00] [-4.84824261e-03 1.34192065e-06 9.99988247e-01 -5.01968633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:-1.39, Z:-0.50 [[ 9.99926903e-01 1.20361749e-02 1.14894805e-03 1.08983724e+02] [-1.20509377e-02 9.99831496e-01 1.38475215e-02 -1.38534883e+00] [-9.82083259e-04 -1.38603552e-02 9.99903458e-01 -4.96102344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:-1.37, Z:-0.51 [[ 9.99951266e-01 9.38017118e-03 3.07857342e-03 1.09015412e+02] [-9.33642419e-03 9.99859390e-01 -1.39295167e-02 -1.37448822e+00] [-3.20880179e-03 1.39000950e-02 9.99898240e-01 -5.06165755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:-1.38, Z:-0.51 [[ 9.99956054e-01 7.46354288e-03 5.67320522e-03 1.09047635e+02] [-7.46307578e-03 9.99972146e-01 -1.03500863e-04 -1.38157006e+00] [-5.67381968e-03 6.11567546e-05 9.99983902e-01 -5.05453035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:-1.38, Z:-0.50 [[ 9.99952154e-01 5.87892270e-03 7.81846872e-03 1.09080664e+02] [-5.87797327e-03 9.99982714e-01 -1.44407463e-04 -1.38231094e+00] [-7.81918254e-03 9.84438030e-05 9.99969425e-01 -5.04857181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:-1.38, Z:-0.50 [[ 9.99945171e-01 4.66495304e-03 9.37509172e-03 1.09112561e+02] [-4.66351282e-03 9.99989110e-01 -1.75477196e-04 -1.38286182e+00] [-9.37580822e-03 1.31746715e-04 9.99956037e-01 -5.04907853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.15, Y:-1.38, Z:-0.51 [[ 9.99944790e-01 4.74611831e-03 9.37505612e-03 1.09146049e+02] [-4.74466402e-03 9.99988728e-01 -1.77358126e-04 -1.38364025e+00] [-9.37579221e-03 1.32866842e-04 9.99956037e-01 -5.05259749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:-1.38, Z:-0.51 [[ 9.99948578e-01 3.54673581e-03 9.50061815e-03 1.09179324e+02] [-3.54518173e-03 9.99993700e-01 -1.80413134e-04 -1.38457121e+00] [-9.50119817e-03 1.46722439e-04 9.99954852e-01 -5.05089541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.21, Y:-1.39, Z:-0.50 [[ 9.99961559e-01 9.93521717e-04 8.71166109e-03 1.09211784e+02] [-9.92104468e-04 9.99999494e-01 -1.67004164e-04 -1.38573635e+00] [-8.71182260e-03 1.58354866e-04 9.99962039e-01 -5.04650639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.24, Y:-1.39, Z:-0.50 [[ 9.99960061e-01 2.37378770e-04 8.93419158e-03 1.09244566e+02] [-2.35849730e-04 9.99999957e-01 -1.72197987e-04 -1.38597982e+00] [-8.93423207e-03 1.70083983e-04 9.99960074e-01 -5.04685413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:-1.39, Z:-0.50 [[ 9.99961226e-01 3.02812198e-04 8.80085509e-03 1.09276206e+02] [-3.01314093e-04 9.99999940e-01 -1.71548110e-04 -1.38527050e+00] [-8.80090650e-03 1.68889637e-04 9.99961257e-01 -5.04010736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.31, Y:-1.38, Z:-0.50 [[ 9.99962325e-01 1.35534495e-03 8.57384098e-03 1.09308588e+02] [-1.35395722e-03 9.99999069e-01 -1.67658383e-04 -1.38363894e+00] [-8.57406024e-03 1.56043453e-04 9.99963230e-01 -5.03368166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:-1.38, Z:-0.50 [[ 9.99954134e-01 3.56914395e-03 8.88769851e-03 1.09341121e+02] [-3.56773653e-03 9.99993620e-01 -1.74206576e-04 -1.38209288e+00] [-8.88826358e-03 1.42489619e-04 9.99960488e-01 -5.03172812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:-1.38, Z:-0.50 [[ 9.99943713e-01 6.11773981e-03 8.66856184e-03 1.09373260e+02] [-6.11649319e-03 9.99981280e-01 -1.70313545e-04 -1.38051976e+00] [-8.66944150e-03 1.17282759e-04 9.99962413e-01 -5.02448885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:-1.38, Z:-0.50 [[ 9.99918872e-01 9.91717298e-03 7.99372866e-03 1.09405278e+02] [-9.91623178e-03 9.99950821e-01 -1.57369497e-04 -1.37667438e+00] [-7.99489619e-03 7.80890642e-05 9.99968037e-01 -5.03593228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:-1.37, Z:-0.51 [[ 9.99929693e-01 1.00680290e-02 6.26449749e-03 1.09437547e+02] [-1.00674538e-02 9.99949314e-01 -1.23352307e-04 -1.37482591e+00] [-6.26542188e-03 6.02760957e-05 9.99980370e-01 -5.05174237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.825898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:109.47, Y:-1.37, Z:-0.51 [[ 9.99945772e-01 9.21291461e-03 4.85540888e-03 1.09470678e+02] [-9.21255978e-03 9.99957559e-01 -9.54403017e-05 -1.37314689e+00] [-4.85608209e-03 5.07043817e-05 9.99988208e-01 -5.07667570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:-1.38, Z:-0.51 [[ 9.99915302e-01 8.40650230e-03 9.93580212e-03 1.09501984e+02] [-8.60494619e-03 9.99760913e-01 2.01015426e-02 -1.38148660e+00] [-9.76444294e-03 -2.01853370e-02 9.99748572e-01 -5.08423022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:-1.36, Z:-0.51 [[ 9.99953208e-01 4.79130007e-03 8.40388946e-03 1.09534654e+02] [-4.62436705e-03 9.99793821e-01 -1.97719800e-02 -1.36335127e+00] [-8.49689025e-03 1.97321921e-02 9.99769195e-01 -5.08111513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:-1.37, Z:-0.51 [[ 9.99945559e-01 2.73174377e-03 1.00705869e-02 1.09567438e+02] [-2.72981257e-03 9.99996253e-01 -2.05506332e-04 -1.37110577e+00] [-1.00711106e-02 1.78004329e-04 9.99949269e-01 -5.06180982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:-1.37, Z:-0.51 [[ 9.99951537e-01 1.96411008e-03 9.64710056e-03 1.09600556e+02] [-1.96228503e-03 9.99998055e-01 -1.98643059e-04 -1.37001413e+00] [-9.64747195e-03 1.79703071e-04 9.99953446e-01 -5.06238886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97589822699999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:109.63, Y:-1.37, Z:-0.51 [[ 9.99965708e-01 2.01374654e-03 8.03285282e-03 1.09632551e+02] [-2.01247281e-03 9.99997961e-01 -1.66644786e-04 -1.36825951e+00] [-8.03317202e-03 1.50473174e-04 9.99967722e-01 -5.09662899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.66, Y:-1.37, Z:-0.51 [[ 9.99980026e-01 3.43569360e-03 5.30497910e-03 1.09664178e+02] [-3.43515277e-03 9.99994094e-01 -1.11057092e-04 -1.36672009e+00] [-5.30532932e-03 9.28314601e-05 9.99985922e-01 -5.09127121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:-1.36, Z:-0.51 [[ 9.99977519e-01 5.57303883e-03 3.72866529e-03 1.09696510e+02] [-5.57278610e-03 9.99984469e-01 -7.81657625e-05 -1.36480388e+00] [-3.72904300e-03 5.73849511e-05 9.99993045e-01 -5.10228362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:-1.36, Z:-0.51 [[ 9.99942860e-01 9.06460122e-03 5.66654383e-03 1.09728461e+02] [-9.06407053e-03 9.99958913e-01 -1.19327053e-04 -1.35949667e+00] [-5.66739266e-03 6.79582822e-05 9.99983938e-01 -5.10945200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:-1.36, Z:-0.51 [[ 9.99921654e-01 9.78513371e-03 7.80626935e-03 1.09761659e+02] [-9.78414795e-03 9.99952121e-01 -1.64459022e-04 -1.35660386e+00] [-7.80750485e-03 8.80684428e-05 9.99969517e-01 -5.11254402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:-1.35, Z:-0.51 [[ 9.99913151e-01 9.54450676e-03 9.08810945e-03 1.09794105e+02] [-9.54313988e-03 9.99954444e-01 -1.93758665e-04 -1.35328315e+00] [-9.08954476e-03 1.07012737e-04 9.99958684e-01 -5.10994244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:-1.35, Z:-0.51 [[ 9.99921511e-01 8.87265545e-03 8.84574460e-03 1.09827180e+02] [-8.87132672e-03 9.99960631e-01 -1.89438956e-04 -1.34949749e+00] [-8.84707718e-03 1.10950597e-04 9.99960858e-01 -5.10995760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.86, Y:-1.35, Z:-0.51 [[ 9.99932078e-01 8.04107395e-03 8.43686658e-03 1.09860693e+02] [-8.03982271e-03 9.99967664e-01 -1.82211907e-04 -1.34644098e+00] [-8.43805894e-03 1.14368620e-04 9.99964392e-01 -5.12292451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:-1.34, Z:-0.51 [[ 9.99951479e-01 6.74619131e-03 7.17827198e-03 1.09892842e+02] [-6.74524243e-03 9.99977238e-01 -1.56389309e-04 -1.34275681e+00] [-7.17916363e-03 1.07962536e-04 9.99974224e-01 -5.12492915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:-1.33, Z:-0.51 [[ 9.99969378e-01 2.37641504e-03 7.45621665e-03 1.09926350e+02] [-2.37526480e-03 9.99997166e-01 -1.63118174e-04 -1.33226891e+00] [-7.45658316e-03 1.45402690e-04 9.99972189e-01 -5.11304113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:-1.33, Z:-0.51 [[ 9.99962094e-01 3.02388377e-04 8.70171652e-03 1.09959135e+02] [-3.00725848e-04 9.99999936e-01 -1.92365436e-04 -1.32709653e+00] [-8.70177414e-03 1.89741313e-04 9.99962121e-01 -5.09765870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:-1.32, Z:-0.51 [[ 9.99941883e-01 -1.36327979e-03 1.06945162e-02 1.09992047e+02] [ 1.36591294e-03 9.99999039e-01 -2.38915090e-04 -1.32270645e+00] [-1.06941802e-02 2.53508983e-04 9.99942783e-01 -5.09101456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.02, Y:-1.32, Z:-0.51 [[ 9.99927201e-01 -2.94036063e-03 1.17024188e-02 1.10024818e+02] [ 2.94365022e-03 9.99995633e-01 -2.63888955e-04 -1.31890531e+00] [-1.17015917e-02 2.98317572e-04 9.99931490e-01 -5.08516642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:110.06, Y:-1.32, Z:-0.51 [[ 9.99918644e-01 -4.56751677e-03 1.19098237e-02 1.10056514e+02] [ 4.57106689e-03 9.99989516e-01 -2.70878636e-04 -1.31564089e+00] [-1.19084616e-02 3.25297199e-04 9.99929039e-01 -5.09752942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:-1.31, Z:-0.51 [[ 9.99926707e-01 -8.15056031e-03 8.95262418e-03 1.10090136e+02] [ 8.15271487e-03 9.99966745e-01 -2.04193655e-04 -1.30717712e+00] [-8.95066217e-03 2.77166881e-04 9.99959904e-01 -5.09337531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:-1.30, Z:-0.51 [[ 9.99927456e-01 -9.26460167e-03 7.69735998e-03 1.10121176e+02] [ 9.26624078e-03 9.99957052e-01 -1.77307120e-04 -1.30257054e+00] [-7.69538671e-03 2.48619849e-04 9.99970359e-01 -5.09927240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:-1.30, Z:-0.51 [[ 9.99925318e-01 -9.93695588e-03 7.11439782e-03 1.10153862e+02] [ 9.93837433e-03 9.99950600e-01 -1.64051638e-04 -1.29762372e+00] [-7.11241620e-03 2.34744935e-04 9.99974679e-01 -5.10269043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:110.19, Y:-1.29, Z:-0.51 [[ 9.99916787e-01 -1.00412554e-02 8.09886155e-03 1.10185058e+02] [ 1.00431011e-02 9.99949549e-01 -1.87256704e-04 -1.29327550e+00] [-8.09657267e-03 2.68578807e-04 9.99967186e-01 -5.12671258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:-1.28, Z:-0.51 [[ 9.99921136e-01 -8.78646482e-03 8.97323900e-03 1.10217910e+02] [ 8.78868314e-03 9.99961357e-01 -2.07812556e-04 -1.28452041e+00] [-8.97106631e-03 2.86659121e-04 9.99959718e-01 -5.10131546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:-1.28, Z:-0.51 [[ 9.99926105e-01 -8.59833784e-03 8.59373159e-03 1.10250155e+02] [ 8.60036887e-03 9.99962996e-01 -1.99409718e-04 -1.28167171e+00] [-8.59169899e-03 2.73304244e-04 9.99963053e-01 -5.10064231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:-1.28, Z:-0.51 [[ 9.99928728e-01 -8.94058803e-03 7.91229468e-03 1.10281725e+02] [ 8.94232305e-03 9.99960000e-01 -1.83930710e-04 -1.27943779e+00] [-7.91033374e-03 2.54671897e-04 9.99968680e-01 -5.10772061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.31, Y:-1.28, Z:-0.51 [[ 9.99924938e-01 -9.92327015e-03 7.18658610e-03 1.10314014e+02] [ 9.92472895e-03 9.99950735e-01 -1.67354018e-04 -1.27785357e+00] [-7.18457135e-03 2.38666375e-04 9.99974162e-01 -5.11716596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.35, Y:-1.28, Z:-0.51 [[ 9.99910367e-01 -1.14149635e-02 6.99688400e-03 1.10346185e+02] [ 1.14163849e-02 9.99934818e-01 -1.63246199e-04 -1.27662770e+00] [-6.99456448e-03 2.43110688e-04 9.99975508e-01 -5.13607216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:-1.28, Z:-0.52 [[ 9.99883447e-01 -1.35837390e-02 6.96954289e-03 1.10378008e+02] [ 1.35852042e-02 9.99907704e-01 -1.62917701e-04 -1.27599837e+00] [-6.96668659e-03 2.57581376e-04 9.99975699e-01 -5.15076645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:-1.27, Z:-0.52 [[ 9.99823567e-01 -1.77841631e-02 6.04637378e-03 1.10410262e+02] [ 1.77853438e-02 9.99841818e-01 -1.41556687e-04 -1.27410544e+00] [-6.04289989e-03 2.49068548e-04 9.99981710e-01 -5.17187647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.44, Y:-1.27, Z:-0.52 [[ 9.99808615e-01 -1.87692965e-02 5.51793993e-03 1.10441609e+02] [ 1.87702950e-02 9.99823814e-01 -1.29214605e-04 -1.27349110e+00] [-5.51454248e-03 2.32763235e-04 9.99984768e-01 -5.18473217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:110.47, Y:-1.27, Z:-0.52 [[ 9.99806169e-01 -1.91570396e-02 4.54221833e-03 1.10473742e+02] [ 1.91577221e-02 9.99816468e-01 -1.06799110e-04 -1.27388433e+00] [-4.53933874e-03 1.93796966e-04 9.99989678e-01 -5.20075263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:-1.28, Z:-0.52 [[ 9.99805650e-01 -1.95080009e-02 2.84620014e-03 1.10504957e+02] [ 1.95082707e-02 9.99809693e-01 -6.70478461e-05 -1.27503716e+00] [-2.84435052e-03 1.22559258e-04 9.99995947e-01 -5.19048735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.54, Y:-1.28, Z:-0.52 [[ 9.99794847e-01 -2.00886371e-02 2.59049992e-03 1.10536271e+02] [ 2.00888626e-02 9.99798197e-01 -6.10604511e-05 -1.27643674e+00] [-2.58875053e-03 1.13088121e-04 9.99996643e-01 -5.19653757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:-1.28, Z:-0.52 [[ 9.99780108e-01 -2.07587253e-02 2.96843787e-03 1.10567936e+02] [ 2.07590247e-02 9.99784506e-01 -7.00794522e-05 -1.27816421e+00] [-2.96634343e-03 1.31685917e-04 9.99995592e-01 -5.19454251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:-1.28, Z:-0.52 [[ 9.99763947e-01 -2.13424822e-02 4.06808731e-03 1.10597917e+02] [ 2.13430505e-02 9.99772207e-01 -9.63285178e-05 -1.27900037e+00] [-4.06510474e-03 1.83131172e-04 9.99991721e-01 -5.19333485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.63, Y:-1.28, Z:-0.52 [[ 9.99746352e-01 -2.19902787e-02 4.86398756e-03 1.10629400e+02] [ 2.19910988e-02 9.99758160e-01 -1.15183376e-04 -1.27979817e+00] [-4.86027834e-03 2.22118591e-04 9.99988164e-01 -5.18250419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:-1.28, Z:-0.52 [[ 9.99732229e-01 -2.24297743e-02 5.68990965e-03 1.10661513e+02] [ 2.24309040e-02 9.99748387e-01 -1.34787688e-04 -1.28080745e+00] [-5.68545473e-03 2.62381413e-04 9.99983803e-01 -5.17274617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:-1.28, Z:-0.52 [[ 9.99720048e-01 -2.32051744e-02 4.62005180e-03 1.10692531e+02] [ 2.32059284e-02 9.99730700e-01 -1.09643119e-04 -1.28136054e+00] [-4.61626333e-03 2.16825015e-04 9.99989321e-01 -5.16040756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.72, Y:-1.28, Z:-0.52 [[ 9.99714324e-01 -2.35991973e-02 3.78785424e-03 1.10724029e+02] [ 2.35997075e-02 9.99721484e-01 -9.00451534e-05 -1.28173446e+00] [-3.78467427e-03 1.79411682e-04 9.99992822e-01 -5.17013349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:-1.28, Z:-0.52 [[ 9.99702916e-01 -2.41910471e-02 2.97876603e-03 1.10755442e+02] [ 2.41913653e-02 9.99707344e-01 -7.08243419e-05 -1.28229568e+00] [-2.97618096e-03 1.42863718e-04 9.99995561e-01 -5.18407526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:-1.28, Z:-0.52 [[ 9.99678810e-01 -2.52415931e-02 2.26672021e-03 1.10786244e+02] [ 2.52417803e-02 9.99681374e-01 -5.39912032e-05 -1.28255710e+00] [-2.26463515e-03 1.11189915e-04 9.99997430e-01 -5.19722677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:-1.28, Z:-0.52 [[ 9.99647777e-01 -2.64259206e-02 2.44790648e-03 1.10816505e+02] [ 2.64261428e-02 9.99650767e-01 -5.84506389e-05 -1.28329900e+00] [-2.44550698e-03 1.23118777e-04 9.99997002e-01 -5.21574132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:-1.29, Z:-0.52 [[ 9.99549907e-01 -2.98511394e-02 2.98216212e-03 1.10846886e+02] [ 2.98514834e-02 9.99554343e-01 -7.09112797e-05 -1.28599552e+00] [-2.97871632e-03 1.59901326e-04 9.99995551e-01 -5.22772306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:-1.29, Z:-0.52 [[ 9.99494737e-01 -3.17234087e-02 1.97359884e-03 1.10878096e+02] [ 3.17235632e-02 9.99496680e-01 -4.69804476e-05 -1.28821873e+00] [-1.97111511e-03 1.09566298e-04 9.99998051e-01 -5.22895173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:-1.29, Z:-0.52 [[ 9.99450627e-01 -3.31290625e-02 9.53848982e-04 1.10908831e+02] [ 3.31290993e-02 9.99451080e-01 -2.28313915e-05 -1.28992273e+00] [-9.52569013e-04 5.44190062e-05 9.99999545e-01 -5.23506683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:-1.29, Z:-0.52 [[ 9.99437614e-01 -3.35327614e-02 -9.53093355e-05 1.10938695e+02] [ 3.35327617e-02 9.99437619e-01 2.15183967e-06 -1.29145265e+00] [ 9.51835782e-05 -5.34661474e-06 9.99999995e-01 -5.24010892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:-1.29, Z:-0.52 [[ 9.99512503e-01 -3.11993854e-02 1.16399616e-03 1.10967968e+02] [ 3.11994391e-02 9.99513179e-01 -2.80780159e-05 -1.29232706e+00] [-1.16255348e-03 6.43803553e-05 9.99999322e-01 -5.23193854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.265898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:111.00, Y:-1.29, Z:-0.53 [[ 9.99566092e-01 -2.92266073e-02 3.66510078e-03 1.10998249e+02] [ 2.92271244e-02 9.99572793e-01 -8.76040233e-05 -1.29264132e+00] [-3.66097465e-03 1.94686368e-04 9.99993280e-01 -5.25119058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:-1.29, Z:-0.52 [[ 9.99624691e-01 -2.67838256e-02 5.75362029e-03 1.11029888e+02] [ 2.67850589e-02 9.99641207e-01 -1.37391932e-04 -1.29184453e+00] [-5.74787605e-03 2.91451426e-04 9.99983438e-01 -5.22318103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:-1.29, Z:-0.52 [[ 9.99662931e-01 -2.47403423e-02 7.87023874e-03 1.11060336e+02] [ 2.47425894e-02 9.99693838e-01 -1.88260918e-04 -1.29058125e+00] [-7.86317153e-03 3.82927546e-04 9.99969011e-01 -5.21816542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:-1.29, Z:-0.52 [[ 9.99702057e-01 -2.25250181e-02 9.40318153e-03 1.11092911e+02] [ 2.25281287e-02 9.99746184e-01 -2.25000391e-04 -1.28910350e+00] [-9.39572671e-03 4.36769438e-04 9.99955764e-01 -5.22113268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.13, Y:-1.29, Z:-0.52 [[ 9.99744239e-01 -2.07539683e-02 8.98490669e-03 1.11125355e+02] [ 2.07567404e-02 9.99784532e-01 -2.15382007e-04 -1.28694194e+00] [-8.97850071e-03 4.01824297e-04 9.99959612e-01 -5.21197596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:-1.28, Z:-0.52 [[ 9.99788433e-01 -1.90103428e-02 7.85474062e-03 1.11156677e+02] [ 1.90124103e-02 9.99819230e-01 -1.88626175e-04 -1.28171023e+00] [-7.84973487e-03 3.37923819e-04 9.99969133e-01 -5.21407979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:-1.28, Z:-0.52 [[ 9.99789516e-01 -1.89532900e-02 7.85473608e-03 1.11189337e+02] [ 1.89553573e-02 9.99820313e-01 -1.88814920e-04 -1.28258816e+00] [-7.84974603e-03 3.37664506e-04 9.99969133e-01 -5.21779070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:-1.28, Z:-0.52 [[ 9.99782914e-01 -1.93215240e-02 7.79764903e-03 1.11220956e+02] [ 1.93235766e-02 9.99813265e-01 -1.87964819e-04 -1.28037119e+00] [-7.79256117e-03 3.38602483e-04 9.99969580e-01 -5.21962200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:-1.28, Z:-0.52 [[ 9.99772457e-01 -2.00145243e-02 7.37920592e-03 1.11253498e+02] [ 2.00163827e-02 9.99799636e-01 -1.78066047e-04 -1.27788333e+00] [-7.37416349e-03 3.25730539e-04 9.99972757e-01 -5.21817655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53589822699999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:111.28, Y:-1.28, Z:-0.53 [[ 9.99763411e-01 -2.06625988e-02 6.79548295e-03 1.11284935e+02] [ 2.06641919e-02 9.99786459e-01 -1.64297064e-04 -1.27547668e+00] [-6.79063704e-03 3.04681357e-04 9.99976897e-01 -5.25129654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:-1.27, Z:-0.52 [[ 9.99752528e-01 -2.14672668e-02 5.83433047e-03 1.11316989e+02] [ 2.14684552e-02 9.99769516e-01 -1.41141627e-04 -1.27137611e+00] [-5.82995583e-03 2.66360760e-04 9.99982970e-01 -5.22931395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:-1.27, Z:-0.52 [[ 9.99730791e-01 -2.26825219e-02 4.88361684e-03 1.11349364e+02] [ 2.26833697e-02 9.99742692e-01 -1.18278636e-04 -1.26764721e+00] [-4.87967739e-03 2.29023681e-04 9.99988068e-01 -5.23629934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:-1.26, Z:-0.52 [[ 9.99637708e-01 -2.67425324e-02 3.04776032e-03 1.11380349e+02] [ 2.67428815e-02 9.99642342e-01 -7.38558358e-05 -1.26039952e+00] [-3.04469517e-03 1.55334972e-04 9.99995353e-01 -5.24787496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:-1.26, Z:-0.53 [[ 9.99571573e-01 -2.91915205e-02 2.12724709e-03 1.11411487e+02] [ 2.91916962e-02 9.99573830e-01 -5.16097795e-05 -1.25777064e+00] [-2.12483396e-03 1.13685619e-04 9.99997736e-01 -5.25674839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.44, Y:-1.26, Z:-0.53 [[ 9.99502648e-01 -3.14923348e-02 1.64012027e-03 1.11442456e+02] [ 3.14924423e-02 9.99503989e-01 -3.97724042e-05 -1.25563451e+00] [-1.63805422e-03 9.14040163e-05 9.99998654e-01 -5.26287676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:-1.25, Z:-0.53 [[ 9.99444418e-01 -3.32744569e-02 1.91481123e-03 1.11474253e+02] [ 3.32746069e-02 9.99446246e-01 -4.64959123e-05 -1.25338720e+00] [-1.91220377e-03 1.10184671e-04 9.99998166e-01 -5.26802228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74589822699998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:111.51, Y:-1.25, Z:-0.53 [[ 9.99413496e-01 -3.41134845e-02 2.98896987e-03 1.11505229e+02] [ 3.41138540e-02 9.99417950e-01 -7.27020697e-05 -1.25203921e+00] [-2.98475002e-03 1.74624712e-04 9.99995530e-01 -5.29110249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:-1.25, Z:-0.53 [[ 9.99393964e-01 -3.43401300e-02 5.69738908e-03 1.11537020e+02] [ 3.43414794e-02 9.99410148e-01 -1.39156966e-04 -1.24695460e+00] [-5.68924979e-03 3.34729402e-04 9.99983760e-01 -5.27761643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:-1.24, Z:-0.53 [[ 9.99409929e-01 -3.37873346e-02 6.18148408e-03 1.11569760e+02] [ 3.37889137e-02 9.99428980e-01 -1.51164974e-04 -1.24438536e+00] [-6.17284687e-03 3.59941407e-04 9.99980883e-01 -5.27409996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:-1.24, Z:-0.53 [[ 9.99448330e-01 -3.27030037e-02 5.79221159e-03 1.11601019e+02] [ 3.27043724e-02 9.99465059e-01 -1.41708521e-04 -1.24155032e+00] [-5.78447880e-03 3.31060990e-04 9.99983215e-01 -5.27151616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:111.63, Y:-1.24, Z:-0.53 [[ 9.99476516e-01 -3.20393440e-02 4.49169378e-03 1.11632647e+02] [ 3.20401624e-02 9.99486576e-01 -1.10343453e-04 -1.23871287e+00] [-4.48585230e-03 2.54200289e-04 9.99989906e-01 -5.28237561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:-1.23, Z:-0.53 [[ 9.99497205e-01 -3.15472567e-02 3.17920786e-03 1.11665264e+02] [ 3.15476639e-02 9.99502246e-01 -7.79996200e-05 -1.23348633e+00] [-3.17516472e-03 1.78256983e-04 9.99994943e-01 -5.27166437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.70, Y:-1.23, Z:-0.53 [[ 9.99466377e-01 -3.23761140e-02 4.32991757e-03 1.11696671e+02] [ 3.23768778e-02 9.99475726e-01 -1.06400521e-04 -1.23238000e+00] [-4.32420267e-03 2.46532955e-04 9.99990620e-01 -5.27219549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:-1.23, Z:-0.53 [[ 9.99386845e-01 -3.45006912e-02 5.96959186e-03 1.11727671e+02] [ 3.45021870e-02 9.99404611e-01 -1.47737266e-04 -1.23138902e+00] [-5.96094060e-03 3.53610655e-04 9.99982171e-01 -5.27248847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:-1.23, Z:-0.53 [[ 9.99255187e-01 -3.80581867e-02 6.37532575e-03 1.11759628e+02] [ 3.80599661e-02 9.99275445e-01 -1.57968413e-04 -1.23083388e+00] [-6.36469448e-03 4.00495438e-04 9.99979665e-01 -5.27345242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:-1.23, Z:-0.53 [[ 9.99085017e-01 -4.24219747e-02 5.43176464e-03 1.11790727e+02] [ 4.24233318e-02 9.99099716e-01 -1.34827189e-04 -1.23153233e+00] [-5.42115487e-03 3.65137378e-04 9.99985239e-01 -5.28161667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:-1.24, Z:-0.53 [[ 9.98602793e-01 -5.28308973e-02 1.16564281e-03 1.11822323e+02] [ 5.28309664e-02 9.98603469e-01 -2.85509544e-05 -1.23568198e+00] [-1.16250658e-03 9.00930991e-05 9.99999320e-01 -5.29807046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:-1.24, Z:-0.53 [[ 9.98333467e-01 -5.77082082e-02 2.27507513e-04 1.11853612e+02] [ 5.77082109e-02 9.98333493e-01 -5.29505981e-06 -1.23914960e+00] [-2.26822802e-04 1.84152870e-05 9.99999974e-01 -5.30283054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10589822699998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.88, Y:-1.24, Z:-0.53 [[ 9.98094122e-01 -6.17047323e-02 8.05603755e-04 1.11884375e+02] [ 6.17047683e-02 9.98094445e-01 -1.98689528e-05 -1.24252645e+00] [-8.02842624e-04 6.95406780e-05 9.99999675e-01 -5.30645092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:-1.25, Z:-0.53 [[ 9.97923842e-01 -6.43337650e-02 3.02866557e-03 1.11915714e+02] [ 6.43342868e-02 9.97928401e-01 -7.50755291e-05 -1.24558548e+00] [-3.01756150e-03 2.69766700e-04 9.99995411e-01 -5.29908477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.95, Y:-1.25, Z:-0.53 [[ 9.97796539e-01 -6.61974268e-02 4.46844976e-03 1.11946924e+02] [ 6.61985861e-02 9.97806462e-01 -1.11873085e-04 -1.24909678e+00] [-4.45124234e-03 4.07431633e-04 9.99990010e-01 -5.29460671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.98, Y:-1.26, Z:-0.53 [[ 9.97740996e-01 -6.70057836e-02 4.80940046e-03 1.11977766e+02] [ 6.70071361e-02 9.97752489e-01 -1.20465778e-04 -1.25663883e+00] [-4.79051938e-03 4.42457797e-04 9.99988428e-01 -5.30907684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:-1.26, Z:-0.53 [[ 9.97784054e-01 -6.63342886e-02 5.17148349e-03 1.12007908e+02] [ 6.63358454e-02 9.97797344e-01 -1.29888294e-04 -1.26168169e+00] [-5.15147644e-03 4.72655197e-04 9.99986619e-01 -5.32339824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:-1.27, Z:-0.53 [[ 9.97837769e-01 -6.54756627e-02 5.72050280e-03 1.12038953e+02] [ 6.54775537e-02 9.97854032e-01 -1.43692530e-04 -1.26693105e+00] [-5.69881842e-03 5.17946362e-04 9.99983627e-01 -5.32605275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:-1.27, Z:-0.53 [[ 9.97885870e-01 -6.47237785e-02 5.88406145e-03 1.12069418e+02] [ 6.47257673e-02 9.97903078e-01 -1.48005278e-04 -1.27165783e+00] [-5.86214357e-03 5.28542769e-04 9.99982678e-01 -5.32711417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:-1.28, Z:-0.53 [[ 9.97926081e-01 -6.41550744e-02 5.25961534e-03 1.12100914e+02] [ 6.41566555e-02 9.97939831e-01 -1.32274866e-04 -1.27649719e+00] [-5.24029354e-03 4.69439868e-04 9.99986159e-01 -5.32754460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.13, Y:-1.29, Z:-0.53 [[ 9.97915510e-01 -6.41520222e-02 7.01097767e-03 1.12129910e+02] [ 6.40816675e-02 9.97896173e-01 9.83707784e-03 -1.28584240e+00] [-7.62729622e-03 -9.36729741e-03 9.99927036e-01 -5.34624242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.16, Y:-1.29, Z:-0.53 [[ 9.97866502e-01 -6.52586254e-02 1.93784230e-03 1.12161372e+02] [ 6.52749919e-02 9.97815863e-01 -1.01330330e-02 -1.28723772e+00] [-1.27234198e-03 1.02379069e-02 9.99946782e-01 -5.33232189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:-1.30, Z:-0.53 [[ 9.97842841e-01 -6.54332298e-02 5.30640190e-03 1.12190876e+02] [ 6.53832732e-02 9.97818756e-01 9.09711214e-03 -1.30047649e+00] [-5.89008077e-03 -8.73053829e-03 9.99944541e-01 -5.34423155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:-1.30, Z:-0.53 [[ 9.97828997e-01 -6.57647352e-02 3.50594839e-03 1.12221681e+02] [ 6.57945663e-02 9.97790697e-01 -9.20865050e-03 -1.29791822e+00] [-2.89259822e-03 9.41933085e-03 9.99951453e-01 -5.32305307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:-1.31, Z:-0.53 [[ 9.97807769e-01 -6.59946242e-02 4.93609364e-03 1.12250779e+02] [ 6.59960358e-02 9.97819878e-01 -1.23464797e-04 -1.30706352e+00] [-4.91718433e-03 4.48956746e-04 9.99987810e-01 -5.32663988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:-1.31, Z:-0.53 [[ 9.97771734e-01 -6.64281722e-02 6.23413672e-03 1.12279846e+02] [ 6.64304301e-02 9.97791047e-01 -1.55594248e-04 -1.31294399e+00] [-6.21002997e-03 5.69383927e-04 9.99980555e-01 -5.33122630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:-1.32, Z:-0.53 [[ 9.97672187e-01 -6.78525424e-02 6.80003870e-03 1.12309702e+02] [ 6.78552626e-02 9.97695161e-01 -1.69850557e-04 -1.32323667e+00] [-6.77284091e-03 6.30873588e-04 9.99976865e-01 -5.33118853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:-1.33, Z:-0.53 [[ 9.97658603e-01 -6.80995233e-02 6.30607360e-03 1.12339062e+02] [ 6.81018668e-02 9.97678360e-01 -1.57391525e-04 -1.32803409e+00] [-6.28071488e-03 5.86478393e-04 9.99980104e-01 -5.33901425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:-1.33, Z:-0.53 [[ 9.97679152e-01 -6.78361312e-02 5.87956825e-03 1.12368801e+02] [ 6.78381632e-02 9.97696328e-01 -1.46631957e-04 -1.33225579e+00] [-5.85607671e-03 5.45150757e-04 9.99982704e-01 -5.34970480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.40, Y:-1.34, Z:-0.54 [[ 9.97705076e-01 -6.74799564e-02 5.57112187e-03 1.12398489e+02] [ 6.74817747e-02 9.97720497e-01 -1.38831488e-04 -1.33612654e+00] [-5.54905414e-03 5.14462071e-04 9.99984472e-01 -5.35445427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.43, Y:-1.34, Z:-0.54 [[ 9.97778845e-01 -6.63887413e-02 5.46909458e-03 1.12427317e+02] [ 6.63904770e-02 9.97793709e-01 -1.36233809e-04 -1.34249555e+00] [-5.44798377e-03 4.99027010e-04 9.99985035e-01 -5.36049056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.46, Y:-1.35, Z:-0.54 [[ 9.97822477e-01 -6.57858807e-02 4.74567600e-03 1.12457308e+02] [ 6.57871799e-02 9.97833670e-01 -1.18017529e-04 -1.34587391e+00] [-4.72763141e-03 4.29965184e-04 9.99988732e-01 -5.35456308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.49, Y:-1.35, Z:-0.54 [[ 9.97905227e-01 -6.45619734e-02 4.11212088e-03 1.12485676e+02] [ 6.45629386e-02 9.97913632e-01 -1.02283621e-04 -1.34900096e+00] [-4.09693785e-03 3.67559968e-04 9.99991540e-01 -5.35071568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:-1.35, Z:-0.54 [[ 9.97995776e-01 -6.31923222e-02 3.34078661e-03 1.12513974e+02] [ 6.31929551e-02 9.98001324e-01 -8.41396702e-05 -1.35202958e+00] [-3.32879248e-03 2.95085214e-04 9.99994416e-01 -5.35264446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:-1.35, Z:-0.54 [[ 9.98100655e-01 -6.15460400e-02 2.67728344e-03 1.12542468e+02] [ 6.15464402e-02 9.98104219e-01 -6.72828493e-05 -1.35486175e+00] [-2.66806690e-03 2.31932321e-04 9.99996414e-01 -5.35011766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:-1.36, Z:-0.54 [[ 9.98234623e-01 -5.93139388e-02 3.08125900e-03 1.12570875e+02] [ 5.93144560e-02 9.98239345e-01 -7.66616647e-05 -1.35735239e+00] [-3.07128686e-03 2.59289529e-04 9.99995250e-01 -5.35541642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:-1.36, Z:-0.54 [[ 9.98599949e-01 -5.25649318e-02 5.92190642e-03 1.12600019e+02] [ 5.25667091e-02 9.98617404e-01 -1.44772879e-04 -1.36051289e+00] [-5.90610884e-03 4.55865322e-04 9.99982455e-01 -5.35038639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:-1.36, Z:-0.54 [[ 9.98808815e-01 -4.83958225e-02 6.22865323e-03 1.12629134e+02] [ 4.83976956e-02 9.98828134e-01 -1.50268793e-04 -1.36100624e+00] [-6.21408170e-03 4.51542258e-04 9.99980590e-01 -5.35274969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:-1.36, Z:-0.54 [[ 9.99026897e-01 -4.37813723e-02 5.33397044e-03 1.12659258e+02] [ 4.37826807e-02 9.99041070e-01 -1.28710653e-04 -1.36023217e+00] [-5.32322040e-03 3.62120929e-04 9.99985766e-01 -5.35190170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:-1.36, Z:-0.54 [[ 9.99228525e-01 -3.90033289e-02 4.59292927e-03 1.12690113e+02] [ 3.90042487e-02 9.99239039e-01 -1.10829059e-04 -1.35841761e+00] [-4.58511152e-03 2.89887313e-04 9.99989446e-01 -5.35582778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:-1.36, Z:-0.54 [[ 9.99391107e-01 -3.46173073e-02 4.36544330e-03 1.12721079e+02] [ 3.46180965e-02 9.99400609e-01 -1.05339740e-04 -1.35597705e+00] [-4.35918011e-03 2.56398937e-04 9.99990466e-01 -5.36395187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:-1.35, Z:-0.54 [[ 9.99609122e-01 -2.76503217e-02 4.13078489e-03 1.12751689e+02] [ 2.76509690e-02 9.99617634e-01 -9.96773468e-05 -1.35154482e+00] [-4.12644931e-03 2.13858590e-04 9.99991463e-01 -5.38216706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:-1.35, Z:-0.54 [[ 9.99643122e-01 -2.63991503e-02 4.08832647e-03 1.12783221e+02] [ 2.63997733e-02 9.99651460e-01 -9.84825117e-05 -1.35010207e+00] [-4.08430167e-03 2.06378257e-04 9.99991638e-01 -5.38805328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.81, Y:-1.35, Z:-0.54 [[ 9.99631973e-01 -2.67988980e-02 4.21159678e-03 1.12813534e+02] [ 2.67995626e-02 9.99640822e-01 -1.01444600e-04 -1.34867965e+00] [-4.20736546e-03 2.14276218e-04 9.99991126e-01 -5.39502175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:-1.35, Z:-0.54 [[ 9.99589926e-01 -2.82531710e-02 4.66234848e-03 1.12845141e+02] [ 2.82540029e-02 9.99600770e-01 -1.12644333e-04 -1.34778662e+00] [-4.65730457e-03 2.44328148e-04 9.99989125e-01 -5.39122181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:-1.35, Z:-0.54 [[ 9.99527093e-01 -3.03743667e-02 4.79450687e-03 1.12875333e+02] [ 3.03752716e-02 9.99538558e-01 -1.16029364e-04 -1.34680476e+00] [-4.78877017e-03 2.61608942e-04 9.99988500e-01 -5.39169288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:-1.34, Z:-0.54 [[ 9.99323165e-01 -3.63242285e-02 5.81052636e-03 1.12906869e+02] [ 3.63256581e-02 9.99339996e-01 -1.40645859e-04 -1.34254392e+00] [-5.80158253e-03 3.51621859e-04 9.99983109e-01 -5.39679311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.94, Y:-1.34, Z:-0.54 [[ 9.99209422e-01 -3.93546762e-02 5.63383706e-03 1.12938035e+02] [ 3.93560687e-02 9.99225240e-01 -1.36490258e-04 -1.33981388e+00] [-5.62410066e-03 3.58108030e-04 9.99984121e-01 -5.40312736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.97, Y:-1.34, Z:-0.54 [[ 9.99114904e-01 -4.17569647e-02 5.07588004e-03 1.12969839e+02] [ 4.17581264e-02 9.99127741e-01 -1.23054729e-04 -1.33760096e+00] [-5.06631416e-03 3.34905054e-04 9.99987110e-01 -5.41252816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:-1.34, Z:-0.54 [[ 9.99042983e-01 -4.35618933e-02 3.93440128e-03 1.13000377e+02] [ 4.35626056e-02 9.99050695e-01 -9.55059700e-05 -1.33611227e+00] [-3.92650591e-03 2.66807340e-04 9.99992256e-01 -5.41842988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:-1.34, Z:-0.54 [[ 9.98988242e-01 -4.48629334e-02 3.13200064e-03 1.13031608e+02] [ 4.48633909e-02 9.98993128e-01 -7.59438927e-05 -1.33556652e+00] [-3.12544005e-03 2.16379225e-04 9.99995092e-01 -5.42569721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.06, Y:-1.35, Z:-0.55 [[ 9.98808063e-01 -4.76141281e-02 1.07400532e-02 1.13060874e+02] [ 4.72762374e-02 9.98437783e-01 2.97817307e-02 -1.34627951e+00] [-1.21413061e-02 -2.92384835e-02 9.99498724e-01 -5.45581746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:-1.32, Z:-0.54 [[ 9.98814128e-01 -4.86317169e-02 2.30070068e-03 1.13094369e+02] [ 4.86796222e-02 9.98336683e-01 -3.08894975e-02 -1.31980287e+00] [-7.94664592e-04 3.09648638e-02 9.99520158e-01 -5.40006038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:-1.33, Z:-0.54 [[ 9.98796234e-01 -4.89566957e-02 3.05360153e-03 1.13124195e+02] [ 4.89571501e-02 9.98800877e-01 -7.41941973e-05 -1.33334304e+00] [-3.04630759e-03 2.23600513e-04 9.99995335e-01 -5.41991543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:-1.33, Z:-0.54 [[ 9.98692842e-01 -5.10111304e-02 3.23607609e-03 1.13155083e+02] [ 5.10116514e-02 9.98698055e-01 -7.85957892e-05 -1.33234432e+00] [-3.22785364e-03 2.43570637e-04 9.99994761e-01 -5.42349300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:-1.35, Z:-0.55 [[ 9.98369700e-01 -5.56899629e-02 1.25127723e-02 1.13183731e+02] [ 5.51904666e-02 9.97781317e-01 3.72351462e-02 -1.34912190e+00] [-1.45586344e-02 -3.64838560e-02 9.99228189e-01 -5.49429291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:-1.32, Z:-0.54 [[ 9.98327662e-01 -5.77762197e-02 1.94627214e-03 1.13217677e+02] [ 5.78086196e-02 9.97634456e-01 -3.71975136e-02 -1.31917823e+00] [ 2.07463573e-04 3.72478181e-02 9.99306038e-01 -5.43065869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:-1.34, Z:-0.55 [[ 9.98173462e-01 -6.03548419e-02 2.65189390e-03 1.13246563e+02] [ 6.03552250e-02 9.98176960e-01 -6.46158572e-05 -1.33624297e+00] [-2.64315951e-03 2.24553487e-04 9.99996482e-01 -5.45709227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:-1.34, Z:-0.55 [[ 9.98098109e-01 -6.15668181e-02 3.11315062e-03 1.13276093e+02] [ 6.15673513e-02 9.98102928e-01 -7.56482331e-05 -1.33742603e+00] [-3.10258733e-03 2.67172796e-04 9.99995151e-01 -5.46152002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:-1.34, Z:-0.55 [[ 9.98062212e-01 -6.20989328e-02 3.94242569e-03 1.13306309e+02] [ 6.20997915e-02 9.98069941e-01 -9.56398981e-05 -1.33796675e+00] [-3.92887743e-03 3.40278381e-04 9.99992224e-01 -5.46250125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:-1.34, Z:-0.55 [[ 9.98056793e-01 -6.21366583e-02 4.65541494e-03 1.13335666e+02] [ 6.21378563e-02 9.98067570e-01 -1.13012297e-04 -1.33788420e+00] [-4.63939647e-03 4.02070196e-04 9.99989157e-01 -5.45860944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:-1.34, Z:-0.55 [[ 9.98140210e-01 -6.07801833e-02 4.67862594e-03 1.13366405e+02] [ 6.07813779e-02 9.98151096e-01 -1.13444925e-04 -1.33820195e+00] [-4.66308041e-03 3.97607273e-04 9.99989049e-01 -5.45354816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:-1.34, Z:-0.54 [[ 9.98399721e-01 -5.64454513e-02 3.45078130e-03 1.13397015e+02] [ 5.64460754e-02 9.98405646e-01 -8.36727773e-05 -1.33863180e+00] [-3.44055658e-03 2.78321939e-04 9.99994043e-01 -5.44418258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:-1.34, Z:-0.55 [[ 9.98537626e-01 -5.39259268e-02 3.82139978e-03 1.13426432e+02] [ 5.39266742e-02 9.98544894e-01 -9.27457974e-05 -1.33905320e+00] [-3.81083784e-03 2.98685550e-04 9.99992694e-01 -5.45328459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:-1.34, Z:-0.55 [[ 9.98647322e-01 -5.17425362e-02 5.12206037e-03 1.13456337e+02] [ 5.17438499e-02 9.98660382e-01 -1.24205442e-04 -1.33825903e+00] [-5.10877206e-03 3.89072555e-04 9.99986874e-01 -5.45984934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:-1.33, Z:-0.55 [[ 9.98843043e-01 -4.75079747e-02 7.45434981e-03 1.13486744e+02] [ 4.75106382e-02 9.98870716e-01 -1.80534878e-04 -1.33460553e+00] [-7.43735488e-03 5.34486924e-04 9.99972200e-01 -5.46873254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:-1.33, Z:-0.55 [[ 9.98938588e-01 -4.55806545e-02 6.64083781e-03 1.13518737e+02] [ 4.55827253e-02 9.98960554e-01 -1.60732001e-04 -1.33302892e+00] [-6.62660875e-03 4.63268884e-04 9.99977936e-01 -5.47328851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:-1.33, Z:-0.55 [[ 9.99007192e-01 -4.43018600e-02 4.68779871e-03 1.13549988e+02] [ 4.43028785e-02 9.99018139e-01 -1.13604425e-04 -1.33119898e+00] [-4.67816305e-03 3.21174615e-04 9.99989006e-01 -5.47060321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:-1.33, Z:-0.55 [[ 9.99041224e-01 -4.36787313e-02 2.96679032e-03 1.13581609e+02] [ 4.36791365e-02 9.99045609e-01 -7.18668543e-05 -1.32956668e+00] [-2.96081979e-03 2.01384789e-04 9.99995596e-01 -5.47331437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:-1.33, Z:-0.55 [[ 9.99036532e-01 -4.38321513e-02 2.17933304e-03 1.13612075e+02] [ 4.38323706e-02 9.99038898e-01 -5.29690009e-05 -1.32754962e+00] [-2.17491674e-03 1.48443301e-04 9.99997624e-01 -5.46899500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:-1.32, Z:-0.55 [[ 9.98944981e-01 -4.55479677e-02 5.85730388e-03 1.13643622e+02] [ 4.55495829e-02 9.98962069e-01 -1.42578879e-04 -1.32358511e+00] [-5.84473022e-03 4.09226204e-04 9.99982836e-01 -5.45885672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:-1.32, Z:-0.55 [[ 9.98920801e-01 -4.58226370e-02 7.58419827e-03 1.13675347e+02] [ 4.58253548e-02 9.98949450e-01 -1.84871248e-04 -1.32218626e+00] [-7.56775939e-03 5.32220312e-04 9.99971222e-01 -5.45831194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:-1.32, Z:-0.55 [[ 9.98925825e-01 -4.56081966e-02 8.19080360e-03 1.13706622e+02] [ 4.56113609e-02 9.98959240e-01 -1.99835598e-04 -1.32029779e+00] [-8.17316480e-03 5.73214639e-04 9.99966435e-01 -5.46063654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:-1.32, Z:-0.55 [[ 9.98977616e-01 -4.45900751e-02 7.44633530e-03 1.13738889e+02] [ 4.45926634e-02 9.99005236e-01 -1.81856620e-04 -1.31854394e+00] [-7.43081895e-03 5.13722617e-04 9.99972259e-01 -5.46402160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:-1.32, Z:-0.55 [[ 9.99055864e-01 -4.29965267e-02 6.21920744e-03 1.13770470e+02] [ 4.29983031e-02 9.99075134e-01 -1.52146366e-04 -1.31666136e+00] [-6.20691374e-03 4.19418086e-04 9.99980649e-01 -5.46722856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.80, Y:-1.31, Z:-0.55 [[ 9.99150631e-01 -4.09316985e-02 4.75521662e-03 1.13802626e+02] [ 4.09327137e-02 9.99161899e-01 -1.16327231e-04 -1.31486674e+00] [-4.74646980e-03 3.10872346e-04 9.99988687e-01 -5.46268165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:-1.31, Z:-0.55 [[ 9.99331302e-01 -3.61574508e-02 5.43940386e-03 1.13833459e+02] [ 3.61587109e-02 9.99346051e-01 -1.33459115e-04 -1.30977068e+00] [-5.43102123e-03 3.30051703e-04 9.99985197e-01 -5.47308437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05589822699999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:113.87, Y:-1.31, Z:-0.55 [[ 9.99396200e-01 -3.40914441e-02 6.70888192e-03 1.13866082e+02] [ 3.40933165e-02 9.99418640e-01 -1.64883402e-04 -1.30800822e+00] [-6.69936054e-03 3.93511880e-04 9.99977482e-01 -5.50030911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:-1.31, Z:-0.55 [[ 9.99438297e-01 -3.25957065e-02 7.78523079e-03 1.13898649e+02] [ 3.25981860e-02 9.99468520e-01 -1.91768737e-04 -1.30520321e+00] [-7.77484225e-03 4.45445421e-04 9.99969676e-01 -5.48426961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.93, Y:-1.30, Z:-0.55 [[ 9.99465026e-01 -3.15884272e-02 8.47546256e-03 1.13931095e+02] [ 3.15913333e-02 9.99500847e-01 -2.09193432e-04 -1.30228428e+00] [-8.46462392e-03 4.76832682e-04 9.99964061e-01 -5.48805153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:-1.30, Z:-0.55 [[ 9.99541505e-01 -2.94485400e-02 7.04010047e-03 1.13962477e+02] [ 2.94504942e-02 9.99566225e-01 -1.74048121e-04 -1.29559368e+00] [-7.03192118e-03 3.81302759e-04 9.99975203e-01 -5.49273542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:-1.29, Z:-0.55 [[ 9.99580193e-01 -2.83378013e-02 6.03383737e-03 1.13994317e+02] [ 2.83392171e-02 9.99598353e-01 -1.49266424e-04 -1.29375728e+00] [-6.02718401e-03 3.20197988e-04 9.99981785e-01 -5.50291517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:-1.30, Z:-0.55 [[ 9.99584842e-01 -2.69256684e-02 1.02543298e-02 1.14024938e+02] [ 2.67640682e-02 9.99520309e-01 1.55832253e-02 -1.29869847e+00] [-1.06689997e-02 -1.53023083e-02 9.99825991e-01 -5.53704923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:-1.28, Z:-0.55 [[ 9.99649499e-01 -2.57698747e-02 6.06564540e-03 1.14058024e+02] [ 2.58639786e-02 9.99537678e-01 -1.59838787e-02 -1.28345415e+00] [-5.65093857e-03 1.61351581e-02 9.99853851e-01 -5.48689253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:-1.29, Z:-0.55 [[ 9.99657376e-01 -2.51997858e-02 7.07824323e-03 1.14090584e+02] [ 2.52016634e-02 9.99682372e-01 -1.76185990e-04 -1.28738922e+00] [-7.07155513e-03 3.54509128e-04 9.99974933e-01 -5.50444638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:-1.29, Z:-0.55 [[ 9.99670494e-01 -2.45436645e-02 7.51750882e-03 1.14122189e+02] [ 2.45457670e-02 9.99698690e-01 -1.87535255e-04 -1.28554256e+00] [-7.51064092e-03 3.71996481e-04 9.99971726e-01 -5.51113810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:-1.28, Z:-0.55 [[ 9.99688096e-01 -2.40890732e-02 6.58991897e-03 1.14154881e+02] [ 2.40906798e-02 9.99709764e-01 -1.64518201e-04 -1.28426362e+00] [-6.58404325e-03 3.23222515e-04 9.99978273e-01 -5.51322759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:-1.28, Z:-0.55 [[ 9.99708209e-01 -2.34901829e-02 5.63092365e-03 1.14187413e+02] [ 2.34913474e-02 9.99724030e-01 -1.40758383e-04 -1.28449665e+00] [-5.62606325e-03 2.72995295e-04 9.99984136e-01 -5.51832235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:-1.28, Z:-0.55 [[ 9.99741970e-01 -2.22470486e-02 4.58940814e-03 1.14219580e+02] [ 2.22478097e-02 9.99752480e-01 -1.14839537e-04 -1.28445981e+00] [-4.58571733e-03 2.16914184e-04 9.99989462e-01 -5.52510242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:-1.28, Z:-0.55 [[ 9.99829966e-01 -1.79451358e-02 4.24384778e-03 1.14251332e+02] [ 1.79457485e-02 9.99838956e-01 -1.06336005e-04 -1.28408370e+00] [-4.24125613e-03 1.82476950e-04 9.99990989e-01 -5.53369172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:-1.29, Z:-0.55 [[ 9.99868872e-01 -1.53705283e-02 5.09766463e-03 1.14282705e+02] [ 1.53713798e-02 9.99881845e-01 -1.27903957e-04 -1.28556113e+00] [-5.09509636e-03 2.06245324e-04 9.99986999e-01 -5.53683882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:-1.29, Z:-0.55 [[ 9.99903476e-01 -1.26712574e-02 5.69888764e-03 1.14315131e+02] [ 1.26722818e-02 9.99919693e-01 -1.43672727e-04 -1.28719546e+00] [-5.69660947e-03 2.15876769e-04 9.99983751e-01 -5.53520550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:-1.29, Z:-0.55 [[ 9.99938087e-01 -9.43104744e-03 5.90578398e-03 1.14346307e+02] [ 9.43209282e-03 9.99955506e-01 -1.49181547e-04 -1.28868635e+00] [-5.90411427e-03 2.04876213e-04 9.99982550e-01 -5.53221836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53589822699999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:114.38, Y:-1.29, Z:-0.56 [[ 9.99963028e-01 -6.65675099e-03 5.44332326e-03 1.14378329e+02] [ 6.65759909e-03 9.99977828e-01 -1.37700210e-04 -1.29015948e+00] [-5.44228594e-03 1.73934583e-04 9.99985176e-01 -5.55304706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:-1.29, Z:-0.55 [[ 9.99981458e-01 -3.41722567e-03 5.04047303e-03 1.14409274e+02] [ 3.41791178e-03 9.99994151e-01 -1.27512409e-04 -1.29136379e+00] [-5.04000781e-03 1.44737937e-04 9.99987289e-01 -5.53520610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:-1.29, Z:-0.55 [[ 9.99980628e-01 2.31095166e-03 5.77957963e-03 1.14441063e+02] [-2.31014076e-03 9.99997321e-01 -1.46977658e-04 -1.29459251e+00] [-5.77990380e-03 1.33623168e-04 9.99983287e-01 -5.53744033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:-1.30, Z:-0.55 [[ 9.99961107e-01 5.16659224e-03 7.14784532e-03 1.14472484e+02] [-5.16542114e-03 9.99986643e-01 -1.82290633e-04 -1.29665586e+00] [-7.14869166e-03 1.45361911e-04 9.99974437e-01 -5.53671491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:-1.30, Z:-0.55 [[ 9.99932649e-01 8.11133527e-03 8.30078398e-03 1.14504860e+02] [-8.10985463e-03 9.99967092e-01 -2.12017706e-04 -1.29880611e+00] [-8.30223056e-03 1.44685275e-04 9.99965525e-01 -5.54627105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:-1.30, Z:-0.56 [[ 9.99901158e-01 1.11834942e-02 8.52078628e-03 1.14536446e+02] [-1.11820449e-02 9.99937455e-01 -2.17714166e-04 -1.30162285e+00] [-8.52268815e-03 1.22412832e-04 9.99963674e-01 -5.55229445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:-1.30, Z:-0.56 [[ 9.99875684e-01 1.37151915e-02 7.77888274e-03 1.14568972e+02] [-1.37140502e-02 9.99905938e-01 -2.00040999e-04 -1.30472305e+00] [-7.78089464e-03 9.33361422e-05 9.99969724e-01 -5.56312815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.60, Y:-1.31, Z:-0.56 [[ 9.99846015e-01 1.60528032e-02 7.08904826e-03 1.14599746e+02] [-1.60519066e-02 9.99871143e-01 -1.83365704e-04 -1.30865544e+00] [-7.09107832e-03 6.95447280e-05 9.99974856e-01 -5.57277288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:-1.32, Z:-0.56 [[ 9.99805322e-01 1.87813010e-02 6.04815000e-03 1.14631048e+02] [-1.87806902e-02 9.99823615e-01 -1.57781185e-04 -1.31536191e+00] [-6.05004653e-03 4.41620370e-05 9.99981697e-01 -5.57408695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:-1.32, Z:-0.56 [[ 9.99783393e-01 1.98999015e-02 6.09600121e-03 1.14661301e+02] [-1.98993004e-02 9.99801977e-01 -1.59242805e-04 -1.31827354e+00] [-6.09796298e-03 3.79021526e-05 9.99981407e-01 -5.57785258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:-1.32, Z:-0.56 [[ 9.99752429e-01 2.14267339e-02 5.99799908e-03 1.14691207e+02] [-2.14261791e-02 9.99770421e-01 -1.56756007e-04 -1.32090798e+00] [-5.99998084e-03 2.82029961e-05 9.99982000e-01 -5.57453876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:114.72, Y:-1.32, Z:-0.56 [[ 9.99703279e-01 2.34647610e-02 6.53895877e-03 1.14721770e+02] [-2.34641442e-02 9.99724664e-01 -1.71036818e-04 -1.32407743e+00] [-6.54117170e-03 1.75549959e-05 9.99978606e-01 -5.59374514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:-1.33, Z:-0.56 [[ 9.99508397e-01 3.01802484e-02 8.49222598e-03 1.14751929e+02] [-3.01794504e-02 9.99544472e-01 -2.22127613e-04 -1.32929728e+00] [-8.49506140e-03 -3.42722983e-05 9.99963916e-01 -5.58003078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:-1.33, Z:-0.56 [[ 9.99404052e-01 3.31886687e-02 9.48963545e-03 1.14782191e+02] [-3.31878079e-02 9.99449102e-01 -2.48216437e-04 -1.33214595e+00] [-9.49264560e-03 -6.68716856e-05 9.99954942e-01 -5.58669829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.81, Y:-1.33, Z:-0.56 [[ 9.99316809e-01 3.54868019e-02 1.03248402e-02 1.14812095e+02] [-3.54859056e-02 9.99370140e-01 -2.70052071e-04 -1.33453935e+00] [-1.03279203e-02 -9.65187319e-05 9.99946661e-01 -5.59709961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:-1.34, Z:-0.56 [[ 9.99256216e-01 3.70996309e-02 1.05181444e-02 1.14842269e+02] [-3.70987886e-02 9.99311565e-01 -2.75240968e-04 -1.33682682e+00] [-1.05211147e-02 -1.15174168e-04 9.99944645e-01 -5.60280777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:-1.34, Z:-0.56 [[ 9.99215163e-01 3.81995309e-02 1.04811194e-02 1.14873165e+02] [-3.81987539e-02 9.99270124e-01 -2.74385123e-04 -1.33913903e+00] [-1.04839509e-02 -1.26195927e-04 9.99945034e-01 -5.61131781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:-1.34, Z:-0.56 [[ 9.99173043e-01 3.99594200e-02 7.51491239e-03 1.14903409e+02] [-3.99590695e-02 9.99201298e-01 -1.96837815e-04 -1.34335398e+00] [-7.51677574e-03 -1.03613868e-04 9.99971743e-01 -5.61141448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:-1.35, Z:-0.56 [[ 9.99149741e-01 4.07903269e-02 5.99543273e-03 1.14933430e+02] [-4.07901175e-02 9.99167724e-01 -1.57251316e-04 -1.34605363e+00] [-5.99685721e-03 -8.74367942e-05 9.99982015e-01 -5.62054863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:-1.35, Z:-0.56 [[ 9.99114020e-01 4.17654961e-02 5.17859162e-03 1.14963041e+02] [-4.17653522e-02 9.99127438e-01 -1.35972801e-04 -1.34835169e+00] [-5.17975194e-03 -8.04333712e-05 9.99986582e-01 -5.62342179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:-1.35, Z:-0.56 [[ 9.99043474e-01 4.33957328e-02 5.38021784e-03 1.14991890e+02] [-4.33956015e-02 9.99057957e-01 -1.41194750e-04 -1.35050584e+00] [-5.38127669e-03 -9.24180961e-05 9.99985517e-01 -5.62879381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:-1.35, Z:-0.56 [[ 9.98961578e-01 4.51378917e-02 6.19159097e-03 1.15021957e+02] [-4.51377534e-02 9.98980759e-01 -1.62142042e-04 -1.35244461e+00] [-6.19259900e-03 -1.17500836e-04 9.99980819e-01 -5.64096032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:-1.35, Z:-0.56 [[ 9.98878596e-01 4.68087674e-02 7.10568326e-03 1.15050206e+02] [-4.68086287e-02 9.98903858e-01 -1.85914997e-04 -1.35344317e+00] [-7.10659687e-03 -1.46900777e-04 9.99974737e-01 -5.64705499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:-1.35, Z:-0.57 [[ 9.98704048e-01 5.02382421e-02 8.14520209e-03 1.15079731e+02] [-5.02381770e-02 9.98737243e-01 -2.12718145e-04 -1.35475394e+00] [-8.14560326e-03 -1.96757633e-04 9.99966805e-01 -5.65621712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:-1.36, Z:-0.57 [[ 9.98704655e-01 5.02261723e-02 8.14520820e-03 1.15109885e+02] [-5.02261088e-02 9.98737850e-01 -2.12483841e-04 -1.35550158e+00] [-8.14559998e-03 -1.96893513e-04 9.99966805e-01 -5.65958870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:-1.36, Z:-0.57 [[ 9.98658695e-01 5.11618842e-02 7.95437145e-03 1.15138092e+02] [-5.11618534e-02 9.98690353e-01 -2.07489717e-04 -1.35678840e+00] [-7.95456959e-03 -1.99748976e-04 9.99968342e-01 -5.65837981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:-1.36, Z:-0.57 [[ 9.98663194e-01 5.10910819e-02 7.84382226e-03 1.15167329e+02] [-5.10910522e-02 9.98693978e-01 -2.04290542e-04 -1.35888437e+00] [-7.84401548e-03 -1.96731687e-04 9.99969216e-01 -5.66578200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:-1.36, Z:-0.57 [[ 9.98741858e-01 4.94958394e-02 8.05380089e-03 1.15196993e+02] [-4.94957583e-02 9.98774312e-01 -2.09514489e-04 -1.36091036e+00] [-8.05429954e-03 -1.89378092e-04 9.99967546e-01 -5.67445951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:-1.37, Z:-0.57 [[ 9.98963974e-01 4.46066829e-02 9.01230198e-03 1.15226362e+02] [-4.46063835e-02 9.99004612e-01 -2.34321966e-04 -1.36635750e+00] [-9.01378357e-03 -1.67926996e-04 9.99959361e-01 -5.67546988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.26, Y:-1.37, Z:-0.57 [[ 9.99041595e-01 4.26921685e-02 9.65768612e-03 1.15256217e+02] [-4.26917376e-02 9.99088261e-01 -2.50868132e-04 -1.37022991e+00] [-9.65959094e-03 -1.61675703e-04 9.99953332e-01 -5.67239803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.435898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:115.29, Y:-1.37, Z:-0.57 [[ 9.99095240e-01 4.12375969e-02 1.04000980e-02 1.15287483e+02] [-4.12370112e-02 9.99149356e-01 -2.70847699e-04 -1.37473448e+00] [-1.04024204e-02 -1.58266313e-04 9.99945881e-01 -5.69509694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:-1.38, Z:-0.57 [[ 9.99121622e-01 4.05068774e-02 1.07320433e-02 1.15318118e+02] [-4.05062086e-02 9.99179248e-01 -2.79767787e-04 -1.37809958e+00] [-1.07345675e-02 -1.55192338e-04 9.99942371e-01 -5.66758026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.35, Y:-1.38, Z:-0.57 [[ 9.99127846e-01 4.04243325e-02 1.04603895e-02 1.15349736e+02] [-4.04236914e-02 9.99182591e-01 -2.72800804e-04 -1.38208755e+00] [-1.04628669e-02 -1.50284679e-04 9.99945251e-01 -5.67082039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:-1.39, Z:-0.57 [[ 9.99104438e-01 4.14154233e-02 8.66518081e-03 1.15381264e+02] [-4.14150193e-02 9.99142004e-01 -2.26138056e-04 -1.38892944e+00] [-8.66711172e-03 -1.32933095e-04 9.99962431e-01 -5.67370389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:-1.39, Z:-0.57 [[ 9.99069155e-01 4.23384168e-02 8.26334900e-03 1.15411124e+02] [-4.23380790e-02 9.99103318e-01 -2.15874985e-04 -1.39367513e+00] [-8.26507921e-03 -1.34180284e-04 9.99965835e-01 -5.67961671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:-1.40, Z:-0.57 [[ 9.99009251e-01 4.35766251e-02 9.03292918e-03 1.15440965e+02] [-4.35762710e-02 9.99050075e-01 -2.36101780e-04 -1.39899131e+00] [-9.03463710e-03 -1.57753508e-04 9.99959174e-01 -5.68281107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:-1.40, Z:-0.57 [[ 9.98922928e-01 4.53430962e-02 9.84825302e-03 1.15471720e+02] [-4.53427601e-02 9.98971455e-01 -2.57526054e-04 -1.40441183e+00] [-9.84980067e-03 -1.89298294e-04 9.99951472e-01 -5.67559697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.50, Y:-1.41, Z:-0.57 [[ 9.98799098e-01 4.79290671e-02 1.01571066e-02 1.15502471e+02] [-4.79288405e-02 9.98850717e-01 -2.65859999e-04 -1.40942006e+00] [-1.01581756e-02 -2.21277615e-04 9.99948380e-01 -5.66819126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:-1.42, Z:-0.57 [[ 9.98428035e-01 5.52899443e-02 9.19139977e-03 1.15533041e+02] [-5.52900691e-02 9.98470305e-01 -2.40716799e-04 -1.41592717e+00] [-9.19064896e-03 -2.67854728e-04 9.99957729e-01 -5.67825709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:115.56, Y:-1.42, Z:-0.57 [[ 9.98187611e-01 5.96319425e-02 8.09479011e-03 1.15563189e+02] [-5.96321777e-02 9.98220396e-01 -2.12516569e-04 -1.41910028e+00] [-8.09305736e-03 -2.70578556e-04 9.99967214e-01 -5.71320583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.59, Y:-1.42, Z:-0.57 [[ 9.97923511e-01 6.40363302e-02 6.92931464e-03 1.15593290e+02] [-6.40366078e-02 9.97947534e-01 -1.82031975e-04 -1.42022607e+00] [-6.92674912e-03 -2.62075816e-04 9.99975975e-01 -5.70071140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:-1.42, Z:-0.57 [[ 9.97609196e-01 6.88135830e-02 6.37049068e-03 1.15623096e+02] [-6.88139145e-02 9.97629499e-01 -1.67407672e-04 -1.42186350e+00] [-6.36690935e-03 -2.71370968e-04 9.99979694e-01 -5.71011746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.795898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:115.65, Y:-1.42, Z:-0.57 [[ 9.97303481e-01 7.31722321e-02 5.62052641e-03 1.15653166e+02] [-7.31725591e-02 9.97319284e-01 -1.47714698e-04 -1.42343970e+00] [-5.61626799e-03 -2.63951918e-04 9.99984194e-01 -5.73370615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:-1.42, Z:-0.57 [[ 9.96831260e-01 7.93514531e-02 5.54846575e-03 1.15681745e+02] [-7.93518679e-02 9.96846658e-01 -1.45698532e-04 -1.42242009e+00] [-5.54253093e-03 -2.95044270e-04 9.99984597e-01 -5.72081387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:-1.42, Z:-0.57 [[ 9.96728801e-01 8.06230952e-02 5.62255300e-03 1.15711018e+02] [-8.06235421e-02 9.96744613e-01 -1.47500432e-04 -1.42200196e+00] [-5.61614136e-03 -3.06292210e-04 9.99984182e-01 -5.72365910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:-1.42, Z:-0.57 [[ 9.96755965e-01 8.02995359e-02 5.43427131e-03 1.15739486e+02] [-8.02999488e-02 9.96770735e-01 -1.42509163e-04 -1.42144009e+00] [-5.42816603e-03 -2.94324850e-04 9.99985224e-01 -5.72318792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:-1.42, Z:-0.57 [[ 9.97041331e-01 7.67261188e-02 4.65685842e-03 1.15769463e+02] [-7.67263840e-02 9.97052179e-01 -1.21940918e-04 -1.42138524e+00] [-4.65248689e-03 -2.35723773e-04 9.99989149e-01 -5.74224699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:-1.42, Z:-0.57 [[ 9.97233904e-01 7.41907931e-02 4.50188033e-03 1.15799448e+02] [-7.41910156e-02 9.97244042e-01 -1.17791981e-04 -1.42256027e+00] [-4.49821242e-03 -2.16532916e-04 9.99989860e-01 -5.74451239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:-1.42, Z:-0.58 [[ 9.97424836e-01 7.15272961e-02 5.24818510e-03 1.15828857e+02] [-7.15275625e-02 9.97438614e-01 -1.37147348e-04 -1.42389526e+00] [-5.24455226e-03 -2.38595717e-04 9.99986219e-01 -5.75265644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.86, Y:-1.43, Z:-0.58 [[ 9.97590037e-01 6.91247353e-02 5.99075617e-03 1.15857404e+02] [-6.91250399e-02 9.97607991e-01 -1.56431844e-04 -1.42569621e+00] [-5.98723954e-03 -2.58056410e-04 9.99982043e-01 -5.75599065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:-1.43, Z:-0.57 [[ 9.97664762e-01 6.79585961e-02 6.83025382e-03 1.15886444e+02] [-6.79589683e-02 9.97688101e-01 -1.77842898e-04 -1.42719493e+00] [-6.82654892e-03 -2.86749411e-04 9.99976658e-01 -5.74757379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06589822699999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:115.92, Y:-1.43, Z:-0.58 [[ 9.97696829e-01 6.74901173e-02 6.79133168e-03 1.15916708e+02] [-6.74904736e-02 9.97719903e-01 -1.76958489e-04 -1.42921245e+00] [-6.78778973e-03 -2.81799268e-04 9.99976923e-01 -5.76455430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.95, Y:-1.43, Z:-0.57 [[ 9.97464520e-01 7.07765215e-02 7.43064993e-03 1.15946963e+02] [-7.07770390e-02 9.97492142e-01 -1.93616900e-04 -1.42930388e+00] [-7.42571844e-03 -3.32793412e-04 9.99972374e-01 -5.74150261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:-1.43, Z:-0.57 [[ 9.97254940e-01 7.35888233e-02 8.20185280e-03 1.15976062e+02] [-7.35895485e-02 9.97288590e-01 -2.13746949e-04 -1.42945202e+00] [-8.19534360e-03 -3.90410443e-04 9.99966341e-01 -5.74888822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:-1.43, Z:-0.58 [[ 9.97018791e-01 7.66423067e-02 8.91557271e-03 1.16006201e+02] [-7.66432862e-02 9.97058550e-01 -2.32256407e-04 -1.42990146e+00] [-8.90714867e-03 -4.51754788e-04 9.99960229e-01 -5.75449052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:-1.43, Z:-0.58 [[ 9.96802734e-01 7.93191286e-02 9.63250398e-03 1.16035581e+02] [-7.93203990e-02 9.96849142e-01 -2.50685147e-04 -1.43074799e+00] [-9.62203745e-03 -5.14170419e-04 9.99953575e-01 -5.75207896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:-1.43, Z:-0.58 [[ 9.96510308e-01 8.27872857e-02 1.06523412e-02 1.16065347e+02] [-8.27890399e-02 9.96567057e-01 -2.76939002e-04 -1.43232083e+00] [-1.06386994e-02 -6.05924532e-04 9.99943224e-01 -5.75084183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:-1.43, Z:-0.58 [[ 9.96479053e-01 8.32191532e-02 1.02014182e-02 1.16095615e+02] [-8.32207858e-02 9.96531099e-01 -2.65090347e-04 -1.43325657e+00] [-1.01880911e-02 -5.84813063e-04 9.99947929e-01 -5.75355660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:-1.43, Z:-0.58 [[ 9.96477835e-01 8.32665829e-02 9.92973307e-03 1.16125253e+02] [-8.32681318e-02 9.96527145e-01 -2.58060388e-04 -1.43376904e+00] [-9.91673636e-03 -5.69678865e-04 9.99950666e-01 -5.75514639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.15, Y:-1.43, Z:-0.58 [[ 9.96468696e-01 8.33375400e-02 1.02465589e-02 1.16154873e+02] [-8.33391957e-02 9.96521203e-01 -2.66027556e-04 -1.43446260e+00] [-1.02330833e-02 -5.88851845e-04 9.99947467e-01 -5.77266291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:-1.43, Z:-0.58 [[ 9.96357321e-01 8.45622081e-02 1.10146141e-02 1.16184811e+02] [-8.45641976e-02 9.96417992e-01 -2.85826072e-04 -1.43411834e+00] [-1.09993298e-02 -6.46657105e-04 9.99939296e-01 -5.75243130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:-1.43, Z:-0.57 [[ 9.96033318e-01 8.82470010e-02 1.14059862e-02 1.16214143e+02] [-8.82493767e-02 9.96098369e-01 -2.95838381e-04 -1.43343562e+00] [-1.13875911e-02 -7.11906290e-04 9.99934906e-01 -5.74700902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39589822699999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:116.24, Y:-1.43, Z:-0.58 [[ 9.95839533e-01 9.04636323e-02 1.09524248e-02 1.16243203e+02] [-9.04659590e-02 9.95899508e-01 -2.83823859e-04 -1.43326419e+00] [-1.09331902e-02 -7.08178595e-04 9.99939980e-01 -5.76857259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:-1.43, Z:-0.58 [[ 9.95541479e-01 9.35930009e-02 1.17266652e-02 1.16272351e+02] [-9.36483783e-02 9.95596201e-01 4.26454496e-03 -1.43326183e+00] [-1.12758918e-02 -5.34371457e-03 9.99922146e-01 -5.75503986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:-1.43, Z:-0.58 [[ 9.95335229e-01 9.60683739e-02 8.86847940e-03 1.16300912e+02] [-9.60289078e-02 9.95367094e-01 -4.77458004e-03 -1.42786442e+00] [-9.28607871e-03 3.90067732e-03 9.99949275e-01 -5.75431274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:-1.43, Z:-0.58 [[ 9.95168574e-01 9.79195086e-02 7.16100973e-03 1.16328468e+02] [-9.79206979e-02 9.95194203e-01 -1.85179651e-04 -1.42800494e+00] [-7.14472807e-03 -5.16926102e-04 9.99974342e-01 -5.76612955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:-1.42, Z:-0.58 [[ 9.95005319e-01 9.96493254e-02 5.86753324e-03 1.16357235e+02] [-9.96501553e-02 9.95022524e-01 -1.51463372e-04 -1.42467339e+00] [-5.85342096e-03 -4.33993738e-04 9.99982774e-01 -5.77500153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:-1.42, Z:-0.58 [[ 9.95029324e-01 9.93797115e-02 6.34965795e-03 1.16384930e+02] [-9.93806798e-02 9.95049473e-01 -1.63620889e-04 -1.42338686e+00] [-6.33448439e-03 -4.68225740e-04 9.99979827e-01 -5.78036494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.575898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:116.41, Y:-1.42, Z:-0.58 [[ 9.95115339e-01 9.84987515e-02 6.59231237e-03 1.16413606e+02] [-9.84997791e-02 9.95137058e-01 -1.69403348e-04 -1.42232533e+00] [-6.57694036e-03 -4.80765443e-04 9.99978256e-01 -5.80159720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:-1.42, Z:-0.58 [[ 9.95213186e-01 9.74927886e-02 6.77282341e-03 1.16442657e+02] [-9.74938523e-02 9.95236112e-01 -1.73708066e-04 -1.42083059e+00] [-6.75749372e-03 -4.87432088e-04 9.99977049e-01 -5.79569679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:-1.42, Z:-0.58 [[ 9.95325073e-01 9.63724885e-02 6.35151188e-03 1.16470740e+02] [-9.63734026e-02 9.95345237e-01 -1.62691324e-04 -1.42000768e+00] [-6.33762607e-03 -4.50186058e-04 9.99979816e-01 -5.80541212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:-1.42, Z:-0.58 [[ 9.95465299e-01 9.48694995e-02 6.97260660e-03 1.16499202e+02] [-9.48705681e-02 9.95489600e-01 -1.78081749e-04 -1.41840302e+00] [-6.95805188e-03 -4.84220947e-04 9.99975675e-01 -5.81244181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:-1.42, Z:-0.58 [[ 9.95482611e-01 9.46259848e-02 7.76490254e-03 1.16526077e+02] [-9.46544049e-02 9.95504464e-01 3.37722860e-03 -1.41927693e+00] [-7.41042156e-03 -4.09695457e-03 9.99964150e-01 -5.80834841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:-1.42, Z:-0.58 [[ 9.95539440e-01 9.40397292e-02 7.59953733e-03 1.16556381e+02] [-9.40135636e-02 9.95563926e-01 -3.73070283e-03 -1.41645797e+00] [-7.91665951e-03 2.99960222e-03 9.99964164e-01 -5.81232957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:-1.43, Z:-0.59 [[ 9.95484067e-01 9.40416851e-02 1.29473304e-02 1.16583854e+02] [-9.43209213e-02 9.95276678e-01 2.29760421e-02 -1.42812165e+00] [-1.07254703e-02 -2.40934879e-02 9.99652174e-01 -5.86215831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:-1.41, Z:-0.58 [[ 9.95483662e-01 9.48262831e-02 4.50044527e-03 1.16615173e+02] [-9.46969375e-02 9.95232836e-01 -2.33257910e-02 -1.40923824e+00] [-6.69088897e-03 2.27942655e-02 9.99717787e-01 -5.81437418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:-1.42, Z:-0.58 [[ 9.95438380e-01 9.52626622e-02 5.23997207e-03 1.16642256e+02] [-9.52632745e-02 9.95452104e-01 -1.33193736e-04 -1.41964601e+00] [-5.22882961e-03 -3.66590740e-04 9.99986262e-01 -5.83272656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:-1.42, Z:-0.58 [[ 9.95368829e-01 9.59238226e-02 6.28610418e-03 1.16671449e+02] [-9.59247207e-02 9.95388579e-01 -1.59176466e-04 -1.41984186e+00] [-6.27238512e-03 -4.44553496e-04 9.99980230e-01 -5.82944660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:-1.42, Z:-0.58 [[ 9.95291206e-01 9.66277131e-02 7.64851396e-03 1.16700132e+02] [-9.66290669e-02 9.95320444e-01 -1.93217596e-04 -1.42009636e+00] [-7.63139248e-03 -5.46760993e-04 9.99970731e-01 -5.82649547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:-1.42, Z:-0.58 [[ 9.95207572e-01 9.74494386e-02 8.09291714e-03 1.16729388e+02] [-9.74509844e-02 9.95240305e-01 -2.04048086e-04 -1.42074842e+00] [-8.07428169e-03 -5.85592542e-04 9.99967231e-01 -5.82535571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:-1.42, Z:-0.58 [[ 9.95102040e-01 9.87129156e-02 5.26221008e-03 1.16757390e+02] [-9.87135867e-02 9.95115878e-01 -1.32682404e-04 -1.42271942e+00] [-5.24960627e-03 -3.87419100e-04 9.99986146e-01 -5.84331106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.79, Y:-1.42, Z:-0.58 [[ 9.95124394e-01 9.84950112e-02 5.11604547e-03 1.16785947e+02] [-9.84956443e-02 9.95137474e-01 -1.28662457e-04 -1.42417348e+00] [-5.10384117e-03 -3.75873045e-04 9.99986905e-01 -5.84979055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:-1.43, Z:-0.59 [[ 9.95194844e-01 9.76990920e-02 6.48917906e-03 1.16813562e+02] [-9.77000965e-02 9.95215888e-01 -1.62796574e-04 -1.42575492e+00] [-6.47403918e-03 -4.71979109e-04 9.99978932e-01 -5.85443655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:-1.43, Z:-0.58 [[ 9.95599603e-01 9.32004199e-02 9.75250794e-03 1.16840937e+02] [-9.32024826e-02 9.95647145e-01 -2.43758174e-04 -1.42880371e+00] [-9.73277506e-03 -6.66272411e-04 9.99952413e-01 -5.84866969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:-1.43, Z:-0.59 [[ 9.95866348e-01 9.02807508e-02 9.98016332e-03 1.16869699e+02] [-9.02827720e-02 9.95916141e-01 -2.48750396e-04 -1.43138357e+00] [-9.96186311e-03 -6.53314661e-04 9.99950166e-01 -5.85344061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:-1.43, Z:-0.59 [[ 9.96163598e-01 8.69924201e-02 9.50812377e-03 1.16897861e+02] [-8.69941095e-02 9.96208798e-01 -2.36537545e-04 -1.43392146e+00] [-9.49265352e-03 -5.91520669e-04 9.99954769e-01 -5.85391241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:-1.44, Z:-0.59 [[ 9.96423152e-01 8.40468646e-02 8.77643438e-03 1.16927809e+02] [-8.40481920e-02 9.96461667e-01 -2.18129503e-04 -1.43709553e+00] [-8.76371353e-03 -5.20294155e-04 9.99961463e-01 -5.85661655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:-1.44, Z:-0.59 [[ 9.96424126e-01 8.40353231e-02 8.77644010e-03 1.16957964e+02] [-8.40366521e-02 9.96462640e-01 -2.17899111e-04 -1.43780576e+00] [-8.76370589e-03 -5.20422712e-04 9.99961463e-01 -5.85999579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:-1.44, Z:-0.59 [[ 9.96641618e-01 8.13936594e-02 8.97534966e-03 1.16987433e+02] [-8.13949432e-02 9.96681902e-01 -2.22758202e-04 -1.44144682e+00] [-8.96369967e-03 -5.08537981e-04 9.99959696e-01 -5.87096878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:-1.45, Z:-0.59 [[ 9.96810578e-01 7.92631522e-02 9.27493443e-03 1.17017123e+02] [-7.92644333e-02 9.96853598e-01 -2.29962345e-04 -1.44524765e+00] [-9.26397930e-03 -5.05943524e-04 9.99956960e-01 -5.87042993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:-1.45, Z:-0.59 [[ 9.96944475e-01 7.75372729e-02 9.47021913e-03 1.17046218e+02] [-7.75385333e-02 9.96989328e-01 -2.34549352e-04 -1.44928267e+00] [-9.45989373e-03 -5.00474221e-04 9.99955129e-01 -5.87384383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:-1.46, Z:-0.59 [[ 9.97135004e-01 7.51283818e-02 8.80398257e-03 1.17076303e+02] [-7.51293785e-02 9.97173771e-01 -2.17923700e-04 -1.45563927e+00] [-8.79547276e-03 -4.44138390e-04 9.99961220e-01 -5.88373648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:-1.46, Z:-0.59 [[ 9.97148250e-01 7.50353444e-02 8.06628180e-03 1.17106873e+02] [-7.50361781e-02 9.97180792e-01 -1.99663500e-04 -1.45974851e+00] [-8.05852309e-03 -4.06168847e-04 9.99967447e-01 -5.89145418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:-1.46, Z:-0.59 [[ 9.97101498e-01 7.57317097e-02 7.30139998e-03 1.17135851e+02] [-7.57324110e-02 9.97128161e-01 -1.80778033e-04 -1.46400398e+00] [-7.29412217e-03 -3.72698577e-04 9.99973328e-01 -5.89923190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:-1.47, Z:-0.59 [[ 9.97025244e-01 7.67828689e-02 6.71221359e-03 1.17166685e+02] [-7.67834862e-02 9.97047777e-01 -1.66064567e-04 -1.46865390e+00] [-6.70514855e-03 -3.49816594e-04 9.99977459e-01 -5.90435832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:-1.48, Z:-0.59 [[ 9.96771080e-01 7.99259002e-02 7.69830776e-03 1.17196123e+02] [-7.99268059e-02 9.96800717e-01 -1.90420386e-04 -1.47637321e+00] [-7.68889822e-03 -4.25495617e-04 9.99970349e-01 -5.89897329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:-1.48, Z:-0.59 [[ 9.96682895e-01 8.09186329e-02 8.68222766e-03 1.17226105e+02] [-8.09198212e-02 9.96720591e-01 -2.14905202e-04 -1.47994470e+00] [-8.67114492e-03 -4.88371971e-04 9.99962286e-01 -5.90262188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:-1.48, Z:-0.59 [[ 9.96596584e-01 8.19126372e-02 9.25031496e-03 1.17256754e+02] [-8.19140298e-02 9.96639373e-01 -2.28862624e-04 -1.48384185e+00] [-9.23797484e-03 -5.29646867e-04 9.99957189e-01 -5.90191261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:-1.49, Z:-0.59 [[ 9.96592066e-01 8.19493496e-02 9.41052936e-03 1.17287827e+02] [-8.19507872e-02 9.96636350e-01 -2.33394394e-04 -1.48791783e+00] [-9.39800215e-03 -5.38601287e-04 9.99955693e-01 -5.90649100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:-1.49, Z:-0.59 [[ 9.96638347e-01 8.14210017e-02 9.08990791e-03 1.17319542e+02] [-8.14223193e-02 9.96679665e-01 -2.25639553e-04 -1.49244020e+00] [-9.07809818e-03 -5.15240354e-04 9.99958660e-01 -5.91207185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:-1.50, Z:-0.59 [[ 9.96703479e-01 8.06457979e-02 8.85603767e-03 1.17349446e+02] [-8.06470169e-02 9.96742700e-01 -2.19959167e-04 -1.49753336e+00] [-8.84492968e-03 -4.94978953e-04 9.99960760e-01 -5.91695475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:-1.51, Z:-0.59 [[ 9.96843207e-01 7.90196690e-02 7.71441316e-03 1.17381644e+02] [-7.90205457e-02 9.96872969e-01 -1.91567124e-04 -1.50656839e+00] [-7.70542753e-03 -4.18634752e-04 9.99970225e-01 -5.91666038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:-1.51, Z:-0.59 [[ 9.96891709e-01 7.84756600e-02 6.96362765e-03 1.17413359e+02] [-7.84763549e-02 9.96915960e-01 -1.73830685e-04 -1.51123613e+00] [-6.95579302e-03 -3.73189746e-04 9.99975739e-01 -5.92021352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.44, Y:-1.52, Z:-0.59 [[ 9.96905647e-01 7.82947195e-02 7.00478812e-03 1.17444057e+02] [-7.82954096e-02 9.96930187e-01 -1.76080124e-04 -1.51536696e+00] [-6.99707087e-03 -3.72907485e-04 9.99975451e-01 -5.92878610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:-1.52, Z:-0.59 [[ 9.96845507e-01 7.90059567e-02 7.55599966e-03 1.17475761e+02] [-7.90067707e-02 9.96874061e-01 -1.91174085e-04 -1.51882687e+00] [-7.54748396e-03 -4.06404105e-04 9.99971435e-01 -5.92680460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.51, Y:-1.52, Z:-0.59 [[ 9.96699193e-01 8.07509900e-02 8.36638935e-03 1.17508156e+02] [-8.07520358e-02 9.96734199e-01 -2.13286993e-04 -1.52185795e+00] [-8.35628953e-03 -4.63019999e-04 9.99964978e-01 -5.92850760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:-1.52, Z:-0.59 [[ 9.96317994e-01 8.52813694e-02 8.80580379e-03 1.17539947e+02] [-8.52826904e-02 9.96356769e-01 -2.26057077e-04 -1.52472309e+00] [-8.79300067e-03 -5.25757905e-04 9.99961203e-01 -5.92484265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.57, Y:-1.53, Z:-0.59 [[ 9.96313356e-01 8.53355477e-02 8.80575457e-03 1.17572601e+02] [-8.53368541e-02 9.96352131e-01 -2.27957317e-04 -1.52566396e+00] [-8.79308520e-03 -5.24338474e-04 9.99961203e-01 -5.92850299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:-1.53, Z:-0.59 [[ 9.95900888e-01 9.00456316e-02 8.55599992e-03 1.17605244e+02] [-9.00470367e-02 9.95937489e-01 -2.21642192e-04 -1.52592183e+00] [-8.54119899e-03 -5.49708783e-04 9.99963372e-01 -5.92678205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:-1.53, Z:-0.59 [[ 9.95695928e-01 9.22078881e-02 9.34469695e-03 1.17636524e+02] [-9.22096427e-02 9.95739586e-01 -2.43832333e-04 -1.52618687e+00] [-9.32736794e-03 -6.18888305e-04 9.99956308e-01 -5.93258395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83589822699999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:117.67, Y:-1.53, Z:-0.60 [[ 9.95579334e-01 9.33847482e-02 1.00537748e-02 1.17669053e+02] [-9.33868222e-02 9.95629867e-01 -2.63995202e-04 -1.52624708e+00] [-1.00344916e-02 -6.76061914e-04 9.99949425e-01 -5.96155605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:-1.53, Z:-0.59 [[ 9.95485922e-01 9.45004456e-02 8.80022175e-03 1.17700070e+02] [-9.46172481e-02 9.95415752e-01 1.39662803e-02 -1.53219535e+00] [-7.44005964e-03 -1.47358882e-02 9.99863740e-01 -5.87517012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:-1.52, Z:-0.60 [[ 9.95434595e-01 9.49135948e-02 1.00685895e-02 1.17731852e+02] [-9.47628351e-02 9.95393953e-01 -1.45217967e-02 -1.52010249e+00] [-1.14005290e-02 1.35013707e-02 9.99843858e-01 -5.95767215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92589822699999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:117.76, Y:-1.53, Z:-0.60 [[ 9.95492141e-01 9.43516099e-02 9.65249425e-03 1.17763733e+02] [-9.43535348e-02 9.95538721e-01 -2.56784128e-04 -1.52571193e+00] [-9.63365977e-03 -6.55120371e-04 9.99953381e-01 -5.97465591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:-1.52, Z:-0.60 [[ 9.95452105e-01 9.49463474e-02 7.76517911e-03 1.17794588e+02] [-9.49476036e-02 9.95482250e-01 -2.07552709e-04 -1.52320907e+00] [-7.74980435e-03 -5.30676367e-04 9.99969829e-01 -5.96472751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:-1.52, Z:-0.60 [[ 9.95417215e-01 9.53543704e-02 7.21889136e-03 1.17825400e+02] [-9.53554554e-02 9.95443268e-01 -1.94519453e-04 -1.52233393e+00] [-7.20454508e-03 -4.94732661e-04 9.99973925e-01 -5.96321996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:-1.52, Z:-0.60 [[ 9.95354186e-01 9.60337582e-02 6.89651303e-03 1.17856734e+02] [-9.60347646e-02 9.95377963e-01 -1.85852678e-04 -1.52167724e+00] [-6.88248522e-03 -4.77315764e-04 9.99976202e-01 -5.95960061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:-1.54, Z:-0.60 [[ 9.95065403e-01 9.79861870e-02 1.56060972e-02 1.17886002e+02] [-9.85789497e-02 9.94186026e-01 4.33166952e-02 -1.53984293e+00] [-1.12709259e-02 -4.46413775e-02 9.98939494e-01 -5.99147338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:-1.50, Z:-0.60 [[ 9.95074458e-01 9.90881814e-02 2.89071734e-03 1.17920910e+02] [-9.88549632e-02 9.94060294e-01 -4.55173461e-02 -1.50061083e+00] [-7.38377837e-03 4.50073867e-02 9.98959366e-01 -5.96497139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:-1.52, Z:-0.60 [[ 9.94953676e-01 1.00286060e-01 3.14470146e-03 1.17950461e+02] [-1.00286290e-01 9.94958619e-01 -8.47412024e-05 -1.51516488e+00] [-3.13734618e-03 -2.31056873e-04 9.99995052e-01 -5.97145480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:-1.51, Z:-0.60 [[ 9.94971212e-01 1.00104429e-01 3.37488141e-03 1.17979922e+02] [-1.00104694e-01 9.94976905e-01 -9.08473389e-05 -1.51428798e+00] [-3.36702329e-03 -2.47450983e-04 9.99994301e-01 -5.97485762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:-1.51, Z:-0.60 [[ 9.95093204e-01 9.88721877e-02 3.71551267e-03 1.18008461e+02] [-9.88725002e-02 9.95100105e-01 -9.99205015e-05 -1.51427328e+00] [-3.70718641e-03 -2.67931815e-04 9.99993092e-01 -5.98060768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:-1.52, Z:-0.60 [[ 9.95289851e-01 9.68507314e-02 4.24830618e-03 1.18036781e+02] [-9.68511222e-02 9.95298873e-01 -1.14147407e-04 -1.51541396e+00] [-4.23938961e-03 -2.97843465e-04 9.99990969e-01 -5.98654789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:-1.52, Z:-0.60 [[ 9.95734791e-01 9.20389655e-02 6.40734355e-03 1.18067184e+02] [-9.20397583e-02 9.95755318e-01 -1.71653765e-04 -1.51882252e+00] [-6.39594525e-03 -4.18808726e-04 9.99979458e-01 -5.98916800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:-1.52, Z:-0.60 [[ 9.95880617e-01 9.03353552e-02 7.83076065e-03 1.18097985e+02] [-9.03364879e-02 9.95911279e-01 -2.09669988e-04 -1.52076407e+00] [-7.81768347e-03 -4.98597137e-04 9.99969317e-01 -5.98463709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:-1.52, Z:-0.60 [[ 9.95947795e-01 8.95084103e-02 8.73118600e-03 1.18127828e+02] [-8.95097815e-02 9.95985916e-01 -2.34381760e-04 -1.52193782e+00] [-8.71711742e-03 -5.48094553e-04 9.99961855e-01 -5.98530680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:-1.52, Z:-0.60 [[ 9.95919608e-01 8.97724162e-02 9.22209760e-03 1.18158781e+02] [-8.97739562e-02 9.95962136e-01 -2.47663273e-04 -1.52313125e+00] [-9.20709335e-03 -5.81251477e-04 9.99957445e-01 -5.98566679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:-1.52, Z:-0.60 [[ 9.95809846e-01 9.09063522e-02 9.93915054e-03 1.18189159e+02] [-9.09081948e-02 9.95859241e-01 -2.67172543e-04 -1.52420293e+00] [-9.92228260e-03 -6.37497186e-04 9.99950570e-01 -5.99666444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:-1.52, Z:-0.60 [[ 9.95657287e-01 9.26106028e-02 9.47859624e-03 1.18220308e+02] [-9.26123545e-02 9.95702208e-01 -2.54892615e-04 -1.52487564e+00] [-9.46146496e-03 -6.24049426e-04 9.99955045e-01 -5.99533308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:-1.52, Z:-0.60 [[ 9.95137406e-01 9.82691882e-02 6.68647298e-03 1.18250843e+02] [-9.82701859e-02 9.95159755e-01 -1.79971629e-04 -1.52481557e+00] [-6.67179447e-03 -4.77984442e-04 9.99977629e-01 -5.99195756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:-1.53, Z:-0.60 [[ 9.94792782e-01 1.01743298e-01 5.96842825e-03 1.18281600e+02] [-1.01744155e-01 9.94810586e-01 -1.60644896e-04 -1.52515278e+00] [-5.95380014e-03 -4.47444306e-04 9.99982176e-01 -5.99575980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:-1.53, Z:-0.60 [[ 9.94503731e-01 1.04544556e-01 5.72407283e-03 1.18311314e+02] [-1.04545390e-01 9.94520104e-01 -1.54166462e-04 -1.52566988e+00] [-5.70882277e-03 -4.45106302e-04 9.99983605e-01 -5.99542522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:-1.53, Z:-0.60 [[ 9.94327912e-01 1.06189644e-01 5.98024662e-03 1.18339857e+02] [-1.06190584e-01 9.94345782e-01 -1.60961186e-04 -1.52581781e+00] [-5.96352542e-03 -4.74997682e-04 9.99982105e-01 -5.99932564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52589822699998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:118.37, Y:-1.53, Z:-0.60 [[ 9.94299981e-01 1.06430907e-01 6.32530694e-03 1.18369593e+02] [-1.06431966e-01 9.94319973e-01 -1.69965465e-04 -1.52622221e+00] [-6.30746860e-03 -5.04218193e-04 9.99979981e-01 -6.01760950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:-1.53, Z:-0.60 [[ 9.94271993e-01 1.06644292e-01 7.08510696e-03 1.18397961e+02] [-1.06645626e-01 9.94297075e-01 -1.90223457e-04 -1.52620212e+00] [-7.06498738e-03 -5.66461814e-04 9.99974882e-01 -6.00851519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:-1.53, Z:-0.60 [[ 9.94481077e-01 1.04704150e-01 6.66554187e-03 1.18427105e+02] [-1.04705289e-01 9.94503278e-01 -1.78710991e-04 -1.52702024e+00] [-6.64761503e-03 -5.20192792e-04 9.99977769e-01 -6.02343911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:-1.53, Z:-0.60 [[ 9.94628841e-01 1.03307695e-01 6.40231739e-03 1.18457029e+02] [-1.03308719e-01 9.94649325e-01 -1.71519137e-04 -1.52818520e+00] [-6.38577992e-03 -4.90817326e-04 9.99979490e-01 -6.02717409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64589822699999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:118.49, Y:-1.53, Z:-0.60 [[ 9.94774049e-01 1.01915555e-01 6.14907571e-03 1.18486334e+02] [-1.01916473e-01 9.94792946e-01 -1.64560963e-04 -1.52940996e+00] [-6.13382846e-03 -4.62991136e-04 9.99981081e-01 -6.04582042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:-1.53, Z:-0.60 [[ 9.94805373e-01 1.01631698e-01 5.76777120e-03 1.18515859e+02] [-1.01632502e-01 9.94822000e-01 -1.54345748e-04 -1.52931234e+00] [-5.75359210e-03 -4.32649038e-04 9.99983354e-01 -6.02916263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:-1.53, Z:-0.60 [[ 9.94816817e-01 1.01561147e-01 4.98341131e-03 1.18544816e+02] [-1.01561746e-01 9.94829229e-01 -1.33329179e-04 -1.52932520e+00] [-4.97118429e-03 -3.73485845e-04 9.99987574e-01 -6.03404413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73589822699999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:118.57, Y:-1.53, Z:-0.60 [[ 9.94822759e-01 1.01562642e-01 3.56476479e-03 1.18574848e+02] [-1.01562949e-01 9.94829110e-01 -9.52788413e-05 -1.53014484e+00] [-3.55600856e-03 -2.67262463e-04 9.99993642e-01 -6.04724219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.60, Y:-1.53, Z:-0.60 [[ 9.94676124e-01 1.03024199e-01 2.32870512e-03 1.18604695e+02] [-1.03024334e-01 9.94678834e-01 -6.22740606e-05 -1.53140079e+00] [-2.32272943e-03 -1.77970773e-04 9.99997287e-01 -6.03616225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:-1.53, Z:-0.60 [[ 9.94606903e-01 1.03679653e-01 2.76370823e-03 1.18633317e+02] [-1.03679845e-01 9.94610720e-01 -7.38810111e-05 -1.53236470e+00] [-2.75647379e-03 -2.13058279e-04 9.99996178e-01 -6.03918612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:-1.53, Z:-0.60 [[ 9.94526097e-01 1.04422145e-01 3.72266282e-03 1.18662988e+02] [-1.04422501e-01 9.94533022e-01 -9.91805672e-05 -1.53329940e+00] [-3.71266775e-03 -2.90092100e-04 9.99993066e-01 -6.03468040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:-1.53, Z:-0.60 [[ 9.94450640e-01 1.05097264e-01 4.74234799e-03 1.18692329e+02] [-1.05097850e-01 9.94461878e-01 -1.26187355e-04 -1.53442832e+00] [-4.72934623e-03 -3.72923483e-04 9.99988747e-01 -6.03186391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:-1.54, Z:-0.60 [[ 9.94380028e-01 1.05747737e-01 5.07695733e-03 1.18720466e+02] [-1.05748417e-01 9.94392907e-01 -1.35009148e-04 -1.53601583e+00] [-5.06276727e-03 -4.02629800e-04 9.99987103e-01 -6.03005216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:-1.54, Z:-0.60 [[ 9.94309757e-01 1.06408688e-01 5.02975925e-03 1.18750245e+02] [-1.06409365e-01 9.94322397e-01 -1.33515254e-04 -1.53743794e+00] [-5.01540945e-03 -4.02457969e-04 9.99987342e-01 -6.03176190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:-1.54, Z:-0.60 [[ 9.94085487e-01 1.08433266e-01 6.02264717e-03 1.18778993e+02] [-1.08434275e-01 9.94103608e-01 -1.59729290e-04 -1.53854028e+00] [-6.00445525e-03 -4.94276811e-04 9.99981851e-01 -6.03384284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:-1.54, Z:-0.60 [[ 9.93904995e-01 1.10032399e-01 6.76254878e-03 1.18808877e+02] [-1.10033710e-01 9.93927840e-01 -1.79034889e-04 -1.53822862e+00] [-6.74118514e-03 -5.66164659e-04 9.99977118e-01 -6.03244044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:-1.54, Z:-0.60 [[ 9.93718772e-01 1.11665055e-01 7.34287483e-03 1.18838212e+02] [-1.11666646e-01 9.93745703e-01 -1.94216849e-04 -1.53740259e+00] [-7.31863755e-03 -6.26957277e-04 9.99973022e-01 -6.03493275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:118.87, Y:-1.54, Z:-0.61 [[ 9.93661687e-01 1.12192221e-01 7.02548493e-03 1.18868110e+02] [-1.12193692e-01 9.93686339e-01 -1.85665690e-04 -1.53595511e+00] [-7.00195865e-03 -6.03726207e-04 9.99975304e-01 -6.05701354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:118.90, Y:-1.54, Z:-0.61 [[ 9.93663003e-01 1.12180560e-01 7.02549019e-03 1.18898265e+02] [-1.12182032e-01 9.93687656e-01 -1.85466454e-04 -1.53671403e+00] [-7.00194861e-03 -6.03842613e-04 9.99975304e-01 -6.06001313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:-1.53, Z:-0.60 [[ 9.93639751e-01 1.12444155e-01 6.02975208e-03 1.18927084e+02] [-1.12445244e-01 9.93657910e-01 -1.59216792e-04 -1.53403550e+00] [-6.00941385e-03 -5.19812808e-04 9.99981808e-01 -6.04764510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:-1.53, Z:-0.61 [[ 9.93720362e-01 1.11751594e-01 5.60559971e-03 1.18956475e+02] [-1.11752525e-01 9.93736057e-01 -1.47793633e-04 -1.52880450e+00] [-5.58700272e-03 -4.79574381e-04 9.99984278e-01 -6.05408980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:-1.53, Z:-0.60 [[ 9.93761381e-01 1.11337912e-01 6.49518713e-03 1.18986471e+02] [-1.11339155e-01 9.93782453e-01 -1.71061309e-04 -1.52710308e+00] [-6.47384861e-03 -5.53174526e-04 9.99978891e-01 -6.04726726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:-1.53, Z:-0.60 [[ 9.93841955e-01 1.10541675e-01 7.66200872e-03 1.19014856e+02] [-1.10543382e-01 9.93871279e-01 -2.01573675e-04 -1.52544602e+00] [-7.63733270e-03 -6.46651983e-04 9.99970626e-01 -6.04859483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:-1.52, Z:-0.61 [[ 9.93970483e-01 1.09356293e-01 7.99243883e-03 1.19044185e+02] [-1.09358115e-01 9.94002394e-01 -2.10052506e-04 -1.52320820e+00] [-7.96747389e-03 -6.65252054e-04 9.99968038e-01 -6.05392645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:-1.52, Z:-0.61 [[ 9.94162737e-01 1.07625004e-01 7.57044815e-03 1.19073718e+02] [-1.07626589e-01 9.94191369e-01 -1.98800348e-04 -1.52077576e+00] [-7.54787009e-03 -6.17141617e-04 9.99971324e-01 -6.06938089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27589822699998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:119.10, Y:-1.52, Z:-0.61 [[ 9.94452237e-01 1.04995542e-01 6.37850375e-03 1.19102658e+02] [-1.04996614e-01 9.94472565e-01 -1.67429156e-04 -1.51887138e+00] [-6.36082630e-03 -5.03220997e-04 9.99979643e-01 -6.09002838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:-1.52, Z:-0.61 [[ 9.94734494e-01 1.02331979e-01 5.60828724e-03 1.19131620e+02] [-1.02332766e-01 9.94750212e-01 -1.47109932e-04 -1.51696644e+00] [-5.59389897e-03 -4.27576223e-04 9.99984263e-01 -6.08072570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:119.16, Y:-1.52, Z:-0.61 [[ 9.95372899e-01 9.59744247e-02 4.65861375e-03 1.19160458e+02] [-9.59748998e-02 9.95383747e-01 -1.22001162e-04 -1.51592677e+00] [-4.64881741e-03 -3.25673338e-04 9.99989141e-01 -6.09152435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:-1.52, Z:-0.61 [[ 9.95601851e-01 9.35285022e-02 5.41976603e-03 1.19189131e+02] [-9.35291101e-02 9.95616535e-01 -1.41744366e-04 -1.51607010e+00] [-5.40926581e-03 -3.65784940e-04 9.99985303e-01 -6.06856649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:-1.52, Z:-0.61 [[ 9.95846727e-01 9.08590760e-02 5.82450078e-03 1.19217576e+02] [-9.08597346e-02 9.95863688e-01 -1.51990007e-04 -1.51687001e+00] [-5.81421850e-03 -3.77853844e-04 9.99983026e-01 -6.07346544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:-1.52, Z:-0.61 [[ 9.96027150e-01 8.88531256e-02 5.91929914e-03 1.19246456e+02] [-8.88537717e-02 9.96044669e-01 -1.54249017e-04 -1.51842796e+00] [-5.90959186e-03 -3.72315846e-04 9.99982469e-01 -6.08449858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:-1.52, Z:-0.61 [[ 9.96188622e-01 8.70635885e-02 5.30677774e-03 1.19276380e+02] [-8.70640836e-02 9.96202703e-01 -1.38079243e-04 -1.51980350e+00] [-5.29864800e-03 -3.24476769e-04 9.99985909e-01 -6.08957224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:-1.52, Z:-0.61 [[ 9.96298918e-01 8.58179325e-02 4.87328647e-03 1.19306008e+02] [-8.58183356e-02 9.96310793e-01 -1.26712811e-04 -1.52083570e+00] [-4.86618214e-03 -2.91973497e-04 9.99988117e-01 -6.09797521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:-1.52, Z:-0.61 [[ 9.96312936e-01 8.56796265e-02 4.41981396e-03 1.19334287e+02] [-8.56799572e-02 9.96322705e-01 -1.14837308e-04 -1.52397830e+00] [-4.41340022e-03 -2.64275575e-04 9.99990226e-01 -6.10065576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:-1.53, Z:-0.61 [[ 9.96254774e-01 8.63637475e-02 4.21051086e-03 1.19364219e+02] [-8.63640540e-02 9.96263639e-01 -1.09306961e-04 -1.52696395e+00] [-4.20421903e-03 -2.54739205e-04 9.99991130e-01 -6.09532986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:-1.53, Z:-0.61 [[ 9.96158460e-01 8.74728507e-02 4.10155678e-03 1.19392926e+02] [-8.74731510e-02 9.96166872e-01 -1.06455474e-04 -1.53009432e+00] [-4.09514695e-03 -2.52729575e-04 9.99991583e-01 -6.09777490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:-1.53, Z:-0.61 [[ 9.95956376e-01 8.97391886e-02 4.21599805e-03 1.19422670e+02] [-8.97395271e-02 9.95965263e-01 -1.09196581e-04 -1.53423656e+00] [-4.20878682e-03 -2.69586640e-04 9.99991107e-01 -6.10607278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:-1.54, Z:-0.61 [[ 9.95883337e-01 9.04958082e-02 5.18541046e-03 1.19451622e+02] [-9.04963311e-02 9.95896780e-01 -1.34181044e-04 -1.53723211e+00] [-5.17627640e-03 -3.35631957e-04 9.99986547e-01 -6.11251580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:-1.55, Z:-0.60 [[ 9.95845794e-01 9.09465509e-02 4.45868653e-03 1.19481033e+02] [-9.10074600e-02 9.95718391e-01 1.62027433e-02 -1.54780446e+00] [-2.96601256e-03 -1.65412075e-02 9.99858786e-01 -6.03591382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:-1.54, Z:-0.61 [[ 9.95834856e-01 9.09366097e-02 6.59341984e-03 1.19510650e+02] [-9.08180502e-02 9.95731187e-01 -1.64767954e-02 -1.53751721e+00] [-8.06361768e-03 1.58093656e-02 9.99842509e-01 -6.11334922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:-1.55, Z:-0.60 [[ 9.95847943e-01 9.08472455e-02 5.80099443e-03 1.19539889e+02] [-9.09163959e-02 9.95773114e-01 1.30428130e-02 -1.55330937e+00] [-4.59157065e-03 -1.35160640e-02 9.99898112e-01 -6.04948241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:-1.54, Z:-0.61 [[ 9.95898690e-01 9.02995103e-02 5.63900993e-03 1.19569642e+02] [-9.02181790e-02 9.95833045e-01 -1.33126308e-02 -1.54461739e+00] [-6.81763647e-03 1.27492904e-02 9.99895482e-01 -6.11619290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:-1.55, Z:-0.61 [[ 9.95870183e-01 9.07352589e-02 3.11315704e-03 1.19599781e+02] [-9.07354493e-02 9.95875028e-01 -8.02966578e-05 -1.55231527e+00] [-3.10760109e-03 -2.02508655e-04 9.99995151e-01 -6.12832951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:-1.55, Z:-0.61 [[ 9.95794561e-01 9.15766821e-02 2.62731780e-03 1.19628166e+02] [-9.15768200e-02 9.95798012e-01 -6.80187128e-05 -1.55260882e+00] [-2.62250677e-03 -1.72868745e-04 9.99996546e-01 -6.13430212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84589822699999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:119.66, Y:-1.55, Z:-0.62 [[ 9.95713847e-01 9.24229760e-02 3.45379792e-03 1.19657455e+02] [-9.24232204e-02 9.95719810e-01 -8.91120716e-05 -1.55248426e+00] [-3.44725102e-03 -2.30481003e-04 9.99994032e-01 -6.15395397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.875898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:119.69, Y:-1.56, Z:-0.61 [[ 9.95574651e-01 9.38824224e-02 4.14785400e-03 1.19686977e+02] [-9.39309777e-02 9.95484525e-01 1.36942646e-02 -1.55839613e+00] [-2.84347374e-03 -1.40232746e-02 9.99897626e-01 -6.06854940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:-1.55, Z:-0.61 [[ 9.95526757e-01 9.42510385e-02 6.57400668e-03 1.19715898e+02] [-9.41523677e-02 9.95459640e-01 -1.39798466e-02 -1.54683064e+00] [-7.86177338e-03 1.32983530e-02 9.99880666e-01 -6.12778941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:-1.55, Z:-0.61 [[ 9.95482256e-01 9.46524388e-02 7.48285928e-03 1.19745859e+02] [-9.46536504e-02 9.95510246e-01 -1.92867193e-04 -1.55340485e+00] [-7.46751843e-03 -5.16284077e-04 9.99971984e-01 -6.12509743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:-1.56, Z:-0.61 [[ 9.95407715e-01 9.55689187e-02 5.48296070e-03 1.19775018e+02] [-9.55695827e-02 9.95422742e-01 -1.41373835e-04 -1.55571101e+00] [-5.47137472e-03 -3.83279661e-04 9.99984958e-01 -6.12887574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99589822699998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.81, Y:-1.56, Z:-0.61 [[ 9.95413000e-01 9.55718332e-02 4.35717536e-03 1.19805834e+02] [-9.55722529e-02 9.95422489e-01 -1.12252463e-04 -1.55659656e+00] [-4.34795852e-03 -3.04687505e-04 9.99990501e-01 -6.14516506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02589822699998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:119.84, Y:-1.56, Z:-0.62 [[ 9.95427834e-01 9.54008801e-02 4.70097578e-03 1.19835071e+02] [-9.54013665e-02 9.95438880e-01 -1.21172409e-04 -1.55732093e+00] [-4.69109402e-03 -3.27861125e-04 9.99988943e-01 -6.15725791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:-1.56, Z:-0.61 [[ 9.95413316e-01 9.55279583e-02 5.17097449e-03 1.19865225e+02] [-9.55285486e-02 9.95426682e-01 -1.33267067e-04 -1.55743781e+00] [-5.16005670e-03 -3.61319874e-04 9.99986622e-01 -6.14353414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:-1.56, Z:-0.61 [[ 9.95369057e-01 9.59492560e-02 5.84645662e-03 1.19895006e+02] [-9.59500189e-02 9.95386142e-01 -1.50513842e-04 -1.55816733e+00] [-5.83392359e-03 -4.11150802e-04 9.99982898e-01 -6.14982296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11589822699999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:119.93, Y:-1.56, Z:-0.62 [[ 9.95282487e-01 9.68459621e-02 5.79914000e-03 1.19925534e+02] [-9.68467292e-02 9.95299296e-01 -1.49059211e-04 -1.55939453e+00] [-5.78631574e-03 -4.13271719e-04 9.99983174e-01 -6.17390058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:-1.56, Z:-0.62 [[ 9.95094121e-01 9.87982450e-02 5.15727676e-03 1.19954685e+02] [-9.87988780e-02 9.95107413e-01 -1.32497664e-04 -1.55979068e+00] [-5.14513487e-03 -3.77685511e-04 9.99986692e-01 -6.15207827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:-1.56, Z:-0.62 [[ 9.94674367e-01 1.03021451e-01 3.07965316e-03 1.19984310e+02] [-1.03021696e-01 9.94679106e-01 -7.93621580e-05 -1.55724575e+00] [-3.07144266e-03 -2.38331587e-04 9.99995255e-01 -6.16482839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:-1.56, Z:-0.62 [[ 9.94460754e-01 1.05078058e-01 2.53197664e-03 1.20011918e+02] [-1.05078230e-01 9.94463957e-01 -6.54927005e-05 -1.55528460e+00] [-2.52484135e-03 -2.00925703e-04 9.99996792e-01 -6.16822301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:-1.55, Z:-0.62 [[ 9.94310964e-01 1.06491599e-01 2.29030216e-03 1.20041264e+02] [-1.06491743e-01 9.94313585e-01 -5.90585987e-05 -1.55333936e+00] [-2.28356779e-03 -1.85175657e-04 9.99997376e-01 -6.16556303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:-1.55, Z:-0.62 [[ 9.94267523e-01 1.06907324e-01 1.70774865e-03 1.20070384e+02] [-1.06907405e-01 9.94268980e-01 -4.40938168e-05 -1.55179205e+00] [-1.70267546e-03 -1.38729926e-04 9.99998541e-01 -6.16495737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:-1.55, Z:-0.62 [[ 9.94302465e-01 1.06577965e-01 1.93545472e-03 1.20098439e+02] [-1.06578069e-01 9.94304336e-01 -4.99113794e-05 -1.55069949e+00] [-1.92975048e-03 -1.56650019e-04 9.99998126e-01 -6.17066833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:-1.55, Z:-0.62 [[ 9.94410316e-01 1.05550527e-01 2.68504996e-03 1.20126014e+02] [-1.05550723e-01 9.94413918e-01 -6.88484401e-05 -1.54954267e+00] [-2.67731804e-03 -2.14945365e-04 9.99996393e-01 -6.17730189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:-1.55, Z:-0.62 [[ 9.94609384e-01 1.03593167e-01 4.54198152e-03 1.20154909e+02] [-1.03593712e-01 9.94619691e-01 -1.15718197e-04 -1.54678558e+00] [-4.52953187e-03 -3.55426320e-04 9.99989678e-01 -6.18161175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:-1.55, Z:-0.62 [[ 9.94699128e-01 1.02703754e-01 5.05795045e-03 1.20182572e+02] [-1.02704419e-01 9.94711911e-01 -1.28632730e-04 -1.54517777e+00] [-5.04441463e-03 -3.91523000e-04 9.99987200e-01 -6.18376898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:-1.54, Z:-0.62 [[ 9.94793592e-01 1.01795095e-01 4.84432885e-03 1.20210518e+02] [-1.01795696e-01 9.94805318e-01 -1.22973576e-04 -1.54383488e+00] [-4.83168221e-03 -3.70798502e-04 9.99988259e-01 -6.18236006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.24, Y:-1.54, Z:-0.62 [[ 9.94940029e-01 1.00386143e-01 4.11825206e-03 1.20239582e+02] [-1.00386567e-01 9.94948504e-01 -1.04269090e-04 -1.54292315e+00] [-4.10791590e-03 -3.09675694e-04 9.99991515e-01 -6.19466854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:-1.54, Z:-0.62 [[ 9.95056489e-01 9.92497878e-02 3.47331055e-03 1.20267480e+02] [-9.92500822e-02 9.95062517e-01 -8.79250485e-05 -1.54287860e+00] [-3.46488768e-03 -2.57235968e-04 9.99993964e-01 -6.19289000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:-1.54, Z:-0.62 [[ 9.95216215e-01 9.76361008e-02 3.44642762e-03 1.20296139e+02] [-9.76363819e-02 9.95222151e-01 -8.69807369e-05 -1.54399613e+00] [-3.43845357e-03 -2.49932084e-04 9.99994057e-01 -6.19643006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:-1.55, Z:-0.62 [[ 9.95502989e-01 9.46471318e-02 3.96466721e-03 1.20323429e+02] [-9.46474810e-02 9.95510846e-01 -9.98729301e-05 -1.54747584e+00] [-3.95632190e-03 -2.75821964e-04 9.99992136e-01 -6.18875965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56589822699999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.35, Y:-1.55, Z:-0.62 [[ 9.95699985e-01 9.25274709e-02 4.49530040e-03 1.20352481e+02] [-9.25279005e-02 9.95710086e-01 -1.12769547e-04 -1.55009382e+00] [-4.48645022e-03 -3.03656071e-04 9.99989890e-01 -6.20624843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:-1.55, Z:-0.62 [[ 9.95830346e-01 9.10768256e-02 5.18970660e-03 1.20382201e+02] [-9.10773800e-02 9.95843810e-01 -1.29906165e-04 -1.55246160e+00] [-5.17996863e-03 -3.43300378e-04 9.99986525e-01 -6.20263969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:-1.55, Z:-0.62 [[ 9.95920724e-01 9.00425342e-02 5.85261423e-03 1.20411755e+02] [-9.00432227e-02 9.95937848e-01 -1.46292639e-04 -1.55476618e+00] [-5.84201258e-03 -3.81292376e-04 9.99982863e-01 -6.20595994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:-1.56, Z:-0.62 [[ 9.95901779e-01 9.02273715e-02 6.21833615e-03 1.20441660e+02] [-9.02281525e-02 9.95921110e-01 -1.55398578e-04 -1.55663520e+00] [-6.20699344e-03 -4.06307262e-04 9.99980654e-01 -6.21523586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:-1.56, Z:-0.62 [[ 9.95759433e-01 9.18045158e-02 5.92304316e-03 1.20471262e+02] [-9.18052538e-02 9.95776970e-01 -1.47738107e-04 -1.55855968e+00] [-5.91159300e-03 -3.96654867e-04 9.99982448e-01 -6.21861080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71589822699998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:120.50, Y:-1.56, Z:-0.62 [[ 9.95602167e-01 9.35440103e-02 5.08369665e-03 1.20500719e+02] [-9.35445754e-02 9.95615084e-01 -1.27024051e-04 -1.56051075e+00] [-5.07328740e-03 -3.49086824e-04 9.99987070e-01 -6.23874184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:-1.56, Z:-0.62 [[ 9.95399159e-01 9.56851683e-02 4.98623907e-03 1.20529936e+02] [-9.56857392e-02 9.95411585e-01 -1.24482789e-04 -1.56207406e+00] [-4.97527129e-03 -3.53201907e-04 9.99987561e-01 -6.22023564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.56, Y:-1.56, Z:-0.62 [[ 9.95283242e-01 9.68183131e-02 6.12222077e-03 1.20559633e+02] [-9.68191963e-02 9.95301974e-01 -1.52650176e-04 -1.56445747e+00] [-6.10823775e-03 -4.40818332e-04 9.99981247e-01 -6.21653553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:-1.57, Z:-0.62 [[ 9.95341776e-01 9.62183154e-02 6.06504067e-03 1.20588704e+02] [-9.62191728e-02 9.95360160e-01 -1.50934402e-04 -1.56689462e+00] [-6.05142251e-03 -4.33341881e-04 9.99981596e-01 -6.22215825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83589822699999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:120.62, Y:-1.57, Z:-0.62 [[ 9.95520678e-01 9.43878393e-02 5.43287931e-03 1.20617784e+02] [-9.43884998e-02 9.95535430e-01 -1.35263822e-04 -1.56993676e+00] [-5.42139110e-03 -3.78143396e-04 9.99985233e-01 -6.24673478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:-1.57, Z:-0.62 [[ 9.95663124e-01 9.29114809e-02 4.73295525e-03 1.20647088e+02] [-9.29119648e-02 9.95674321e-01 -1.18010019e-04 -1.57314673e+00] [-4.72344649e-03 -3.22249947e-04 9.99988793e-01 -6.22971215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:-1.58, Z:-0.62 [[ 9.95838326e-01 9.10204523e-02 4.61573447e-03 1.20675432e+02] [-9.10208920e-02 9.95848976e-01 -1.15152690e-04 -1.57567184e+00] [-4.60705570e-03 -3.05454807e-04 9.99989341e-01 -6.22999979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:120.71, Y:-1.58, Z:-0.62 [[ 9.96038447e-01 8.87804333e-02 5.04445913e-03 1.20706236e+02] [-8.87809317e-02 9.96051169e-01 -1.25488494e-04 -1.57813556e+00] [-5.03568033e-03 -3.22860417e-04 9.99987269e-01 -6.24948258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95589822699999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:120.74, Y:-1.58, Z:-0.63 [[ 9.96039460e-01 8.87690740e-02 5.04445774e-03 1.20736392e+02] [-8.87695719e-02 9.96052181e-01 -1.25544539e-04 -1.57884733e+00] [-5.03568760e-03 -3.22747039e-04 9.99987269e-01 -6.25248754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:-1.58, Z:-0.62 [[ 9.96321639e-01 8.55083007e-02 5.61437498e-03 1.20765570e+02] [-8.55088664e-02 9.96337400e-01 -1.39651274e-04 -1.58421103e+00] [-5.60575312e-03 -3.40941254e-04 9.99984230e-01 -6.22956998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:-1.59, Z:-0.62 [[ 9.96423820e-01 8.43272050e-02 5.33783247e-03 1.20795979e+02] [-8.43277000e-02 9.96438067e-01 -1.32665046e-04 -1.58700367e+00] [-5.33000675e-03 -3.17936523e-04 9.99985745e-01 -6.22797964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:-1.59, Z:-0.62 [[ 9.96439592e-01 8.41643533e-02 4.94983705e-03 1.20825940e+02] [-8.41647783e-02 9.96451843e-01 -1.22747588e-04 -1.58993646e+00] [-4.94260522e-03 -2.94291381e-04 9.99987742e-01 -6.23144028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:-1.59, Z:-0.62 [[ 9.96410111e-01 8.45614069e-02 4.03235969e-03 1.20856583e+02] [-8.45616904e-02 9.96418241e-01 -1.00440040e-04 -1.59247752e+00] [-4.02641010e-03 -2.40903681e-04 9.99991865e-01 -6.23461366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:-1.60, Z:-0.62 [[ 9.96344563e-01 8.53315925e-02 4.00385294e-03 1.20886997e+02] [-8.53318785e-02 9.96352578e-01 -9.96611353e-05 -1.59740596e+00] [-3.99775345e-03 -2.42359463e-04 9.99991980e-01 -6.24553999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:-1.60, Z:-0.62 [[ 9.96343615e-01 8.53426628e-02 4.00385173e-03 1.20917986e+02] [-8.53429487e-02 9.96351630e-01 -9.97100419e-05 -1.59818360e+00] [-3.99775372e-03 -2.42355049e-04 9.99991980e-01 -6.24862815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:-1.60, Z:-0.62 [[ 9.96336364e-01 8.52795722e-02 6.42218794e-03 1.20948258e+02] [-8.52803053e-02 9.96356986e-01 -1.60112734e-04 -1.60254450e+00] [-6.41244617e-03 -3.88160009e-04 9.99979365e-01 -6.24436500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:-1.61, Z:-0.62 [[ 9.96334386e-01 8.52389311e-02 7.21917013e-03 1.20979721e+02] [-8.52398568e-02 9.96360444e-01 -1.79918983e-04 -1.60549223e+00] [-7.20823166e-03 -4.36101559e-04 9.99973925e-01 -6.24333790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:-1.61, Z:-0.62 [[ 9.96279662e-01 8.58799097e-02 7.17468511e-03 1.21010636e+02] [-8.58808394e-02 9.96305400e-01 -1.78974587e-04 -1.60890349e+00] [-7.16354784e-03 -4.37859239e-04 9.99974246e-01 -6.24081982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:-1.61, Z:-0.62 [[ 9.96154296e-01 8.73866129e-02 6.34018951e-03 1.21041929e+02] [-8.73873714e-02 9.96174394e-01 -1.57815523e-04 -1.61228903e+00] [-6.32972541e-03 -3.96843885e-04 9.99979888e-01 -6.24305815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.07, Y:-1.61, Z:-0.63 [[ 9.95992196e-01 8.92572309e-02 5.71766180e-03 1.21073085e+02] [-8.92578713e-02 9.96008540e-01 -1.43578681e-04 -1.61448600e+00] [-5.70765542e-03 -3.67343076e-04 9.99983644e-01 -6.25749862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:-1.62, Z:-0.63 [[ 9.95714611e-01 9.23326785e-02 5.20471027e-03 1.21103198e+02] [-9.23332501e-02 9.95728153e-01 -1.30857335e-04 -1.61644933e+00] [-5.19455895e-03 -3.50271255e-04 9.99986447e-01 -6.25511980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:-1.62, Z:-0.63 [[ 9.95240711e-01 9.73336962e-02 4.69879021e-03 1.21133016e+02] [-9.73342173e-02 9.95251745e-01 -1.18184433e-04 -1.61751870e+00] [-4.68798248e-03 -3.39731108e-04 9.99988954e-01 -6.26255871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:-1.62, Z:-0.63 [[ 9.95119765e-01 9.85637861e-02 4.67259865e-03 1.21164420e+02] [-9.85643149e-02 9.95130676e-01 -1.17516689e-04 -1.61906351e+00] [-4.66142914e-03 -3.43608305e-04 9.99989076e-01 -6.26566368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.405898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:121.20, Y:-1.62, Z:-0.63 [[ 9.95208558e-01 9.76510282e-02 4.91969593e-03 1.21195681e+02] [-9.76516028e-02 9.95220653e-01 -1.23854659e-04 -1.62029644e+00] [-4.90827753e-03 -3.57154975e-04 9.99987891e-01 -6.28728135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:-1.62, Z:-0.63 [[ 9.95328848e-01 9.63989373e-02 5.26578613e-03 1.21226445e+02] [-9.63995806e-02 9.95342707e-01 -1.32104517e-04 -1.62295780e+00] [-5.25399655e-03 -3.76132138e-04 9.99986127e-01 -6.27710990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:-1.63, Z:-0.63 [[ 9.95538243e-01 9.42060645e-02 5.36890351e-03 1.21258250e+02] [-9.42066972e-02 9.95552650e-01 -1.35487772e-04 -1.62567430e+00] [-5.35778989e-03 -3.70903409e-04 9.99985578e-01 -6.27882453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:-1.63, Z:-0.63 [[ 9.95988204e-01 8.92766287e-02 6.09770361e-03 1.21289485e+02] [-8.92773451e-02 9.96006793e-01 -1.55138943e-04 -1.62888421e+00] [-6.08720450e-03 -3.89870233e-04 9.99981397e-01 -6.27128022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:-1.63, Z:-0.63 [[ 9.96097916e-01 8.80198674e-02 6.43775603e-03 1.21320476e+02] [-8.80206330e-02 9.96118638e-01 -1.64853493e-04 -1.62998397e+00] [-6.42727916e-03 -4.02445140e-04 9.99979264e-01 -6.26688334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:-1.63, Z:-0.63 [[ 9.96108052e-01 8.78887686e-02 6.65684964e-03 1.21352669e+02] [-8.78895778e-02 9.96130209e-01 -1.71449101e-04 -1.63062800e+00] [-6.64615747e-03 -4.14285874e-04 9.99977828e-01 -6.26051006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:-1.63, Z:-0.63 [[ 9.96100576e-01 8.79459505e-02 7.01086397e-03 1.21384774e+02] [-8.79468411e-02 9.96125153e-01 -1.81765308e-04 -1.63030852e+00] [-6.99968347e-03 -4.35526811e-04 9.99975407e-01 -6.25941105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:-1.63, Z:-0.63 [[ 9.96076175e-01 8.81749303e-02 7.57856081e-03 1.21416772e+02] [-8.81759674e-02 9.96104894e-01 -1.97816298e-04 -1.63036400e+00] [-7.56648395e-03 -4.71206829e-04 9.99971263e-01 -6.26320988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:-1.63, Z:-0.63 [[ 9.96099663e-01 8.78991154e-02 7.69460417e-03 1.21447981e+02] [-8.79001666e-02 9.96129269e-01 -2.02119869e-04 -1.63053586e+00] [-7.68258658e-03 -4.75025455e-04 9.99970376e-01 -6.27289870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:-1.63, Z:-0.63 [[ 9.96392118e-01 8.45545924e-02 7.29851735e-03 1.21479826e+02] [-8.45554417e-02 9.96418757e-01 -1.92679435e-04 -1.63163806e+00] [-7.28867152e-03 -4.25145088e-04 9.99973347e-01 -6.29485104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:-1.63, Z:-0.63 [[ 9.96650363e-01 8.14884254e-02 6.90587237e-03 1.21512191e+02] [-8.14891054e-02 9.96674216e-01 -1.83322767e-04 -1.63305996e+00] [-6.89784361e-03 -3.80044659e-04 9.99976137e-01 -6.29909497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.55, Y:-1.63, Z:-0.63 [[ 9.96932646e-01 7.79281363e-02 7.24596935e-03 1.21545319e+02] [-7.79287829e-02 9.96958910e-01 -1.93496593e-04 -1.63462410e+00] [-7.23901253e-03 -3.71766502e-04 9.99973729e-01 -6.31244738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:-1.64, Z:-0.63 [[ 9.97144756e-01 7.51053058e-02 7.84404407e-03 1.21576944e+02] [-7.51059631e-02 9.97175536e-01 -2.11158635e-04 -1.63740183e+00] [-7.83774798e-03 -3.78578759e-04 9.99969213e-01 -6.29869211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:-1.64, Z:-0.63 [[ 9.97517118e-01 6.97401864e-02 9.79311020e-03 1.21608823e+02] [-6.97409312e-02 9.97565102e-01 -2.65838390e-04 -1.64235548e+00] [-9.78780459e-03 -4.17802280e-04 9.99952011e-01 -6.28823147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:-1.65, Z:-0.63 [[ 9.97623408e-01 6.81536708e-02 1.01298239e-02 1.21641289e+02] [-6.81543736e-02 9.97674749e-01 -2.76214561e-04 -1.64584096e+00] [-1.01250946e-02 -4.14833693e-04 9.99948654e-01 -6.28622922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:-1.65, Z:-0.63 [[ 9.97658878e-01 6.77144120e-02 9.56667705e-03 1.21672899e+02] [-6.77150026e-02 9.97704670e-01 -2.62538897e-04 -1.64940106e+00] [-9.56249604e-03 -3.85883299e-04 9.99954204e-01 -6.29197859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:-1.65, Z:-0.63 [[ 9.97630618e-01 6.82318944e-02 8.80676165e-03 1.21705409e+02] [-6.82324029e-02 9.97669424e-01 -2.43057732e-04 -1.65336987e+00] [-8.80282112e-03 -3.58424674e-04 9.99961190e-01 -6.29871719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:-1.66, Z:-0.63 [[ 9.97552767e-01 6.93877604e-02 8.59155706e-03 1.21737480e+02] [-6.93882732e-02 9.97589701e-01 -2.38741980e-04 -1.65783772e+00] [-8.58741460e-03 -3.57995586e-04 9.99963063e-01 -6.30994328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:-1.67, Z:-0.63 [[ 9.97292222e-01 7.31040230e-02 8.00166145e-03 1.21769789e+02] [-7.31045767e-02 9.97324256e-01 -2.23647941e-04 -1.66598761e+00] [-7.99660061e-03 -3.61915721e-04 9.99967961e-01 -6.31387759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:-1.67, Z:-0.63 [[ 9.97064054e-01 7.62137596e-02 7.39837897e-03 1.21801595e+02] [-7.62143089e-02 9.97091438e-01 -2.08074390e-04 -1.66954681e+00] [-7.39271845e-03 -3.56398845e-04 9.99972610e-01 -6.32450421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:-1.67, Z:-0.63 [[ 9.96802873e-01 7.96248023e-02 6.62739405e-03 1.21833796e+02] [-7.96253116e-02 9.96824847e-01 -1.87389245e-04 -1.67230007e+00] [-6.62127189e-03 -3.40918179e-04 9.99978021e-01 -6.33108628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:-1.68, Z:-0.63 [[ 9.96541424e-01 8.28814796e-02 5.98756647e-03 1.21866678e+02] [-8.28819492e-02 9.96559358e-01 -1.70079158e-04 -1.67502831e+00] [-5.98106181e-03 -3.26770253e-04 9.99982060e-01 -6.34091521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:-1.68, Z:-0.63 [[ 9.96294939e-01 8.57994304e-02 5.90350229e-03 1.21899023e+02] [-8.57999313e-02 9.96312372e-01 -1.68831252e-04 -1.67852651e+00] [-5.89621800e-03 -3.38314368e-04 9.99982560e-01 -6.34590545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.93, Y:-1.68, Z:-0.64 [[ 9.96102840e-01 8.79518650e-02 6.60322586e-03 1.21932229e+02] [-8.79525300e-02 9.96124649e-01 -1.90170182e-04 -1.68240128e+00] [-6.59436187e-03 -3.91341363e-04 9.99978180e-01 -6.35156178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:-1.69, Z:-0.64 [[ 9.95889070e-01 9.02669830e-02 7.53874165e-03 1.21964071e+02] [-9.02679030e-02 9.95917495e-01 -2.18828538e-04 -1.69007448e+00] [-7.52771770e-03 -4.62577451e-04 9.99971559e-01 -6.35485337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:-1.69, Z:-0.64 [[ 9.95870707e-01 9.04398777e-02 7.88433520e-03 1.21996751e+02] [-9.04408780e-02 9.95901800e-01 -2.30304442e-04 -1.69405978e+00] [-7.87285232e-03 -4.83712751e-04 9.99968892e-01 -6.35657684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:-1.70, Z:-0.64 [[ 9.95884723e-01 9.02445955e-02 8.33856052e-03 1.22028469e+02] [-9.02456936e-02 9.95919502e-01 -2.45242853e-04 -1.69794483e+00] [-8.32666688e-03 -5.08285567e-04 9.99965204e-01 -6.36341403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:-1.70, Z:-0.64 [[ 9.95911008e-01 8.99383537e-02 8.50625350e-03 1.22061594e+02] [-8.99394728e-02 9.95947201e-01 -2.51654090e-04 -1.70184362e+00] [-8.49441272e-03 -5.14422877e-04 9.99963790e-01 -6.36801777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:-1.71, Z:-0.64 [[ 9.95864896e-01 9.04818131e-02 8.13325508e-03 1.22093349e+02] [-9.04828424e-02 9.95897985e-01 -2.42080146e-04 -1.70556299e+00] [-8.12179619e-03 -4.94840918e-04 9.99966895e-01 -6.36947518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:-1.71, Z:-0.64 [[ 9.95728945e-01 9.20313761e-02 7.35491234e-03 1.22125459e+02] [-9.20322517e-02 9.95756002e-01 -2.20036580e-04 -1.70863812e+00] [-7.34394838e-03 -4.57792352e-04 9.99972928e-01 -6.36976677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30589822699999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:122.16, Y:-1.71, Z:-0.64 [[ 9.95352458e-01 9.61739291e-02 4.90512842e-03 1.22157963e+02] [-9.61743675e-02 9.95364491e-01 -1.46968871e-04 -1.71040545e+00] [-4.89652523e-03 -3.25461796e-04 9.99987959e-01 -6.38614486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:-1.71, Z:-0.64 [[ 9.95131574e-01 9.84560922e-02 4.42143733e-03 1.22191089e+02] [-9.84564680e-02 9.95141350e-01 -1.33105792e-04 -1.71116776e+00] [-4.41306019e-03 -3.02861327e-04 9.99990217e-01 -6.37947656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:-1.71, Z:-0.64 [[ 9.94961732e-01 1.00121371e-01 5.18289361e-03 1.22222604e+02] [-1.00121903e-01 9.94975165e-01 -1.57348176e-04 -1.71143361e+00] [-5.17260434e-03 -3.62365757e-04 9.99986556e-01 -6.38579631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:-1.71, Z:-0.64 [[ 9.94791029e-01 1.01738813e-01 6.32630128e-03 1.22255784e+02] [-1.01739630e-01 9.94811043e-01 -1.93486296e-04 -1.71177896e+00] [-6.31315943e-03 -4.51157116e-04 9.99979970e-01 -6.38450110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:-1.71, Z:-0.64 [[ 9.94629806e-01 1.03208410e-01 7.71833200e-03 1.22288585e+02] [-1.03209656e-01 9.94659595e-01 -2.37824320e-04 -1.71189897e+00] [-7.70165846e-03 -5.60059232e-04 9.99970185e-01 -6.38437475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:-1.71, Z:-0.64 [[ 9.94436941e-01 1.05001490e-01 8.35812384e-03 1.22321599e+02] [-1.05003000e-01 9.94471871e-01 -2.59228056e-04 -1.71152567e+00] [-8.33913838e-03 -6.19842119e-04 9.99965037e-01 -6.38577802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:-1.71, Z:-0.64 [[ 9.94238508e-01 1.06884768e-01 8.08920658e-03 1.22353624e+02] [-1.06886231e-01 9.94271226e-01 -2.52500458e-04 -1.71027101e+00] [-8.06985379e-03 -6.13579123e-04 9.99967250e-01 -6.38765189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:-1.71, Z:-0.64 [[ 9.94062355e-01 1.08556556e-01 7.45033862e-03 1.22386435e+02] [-1.08557839e-01 9.94090107e-01 -2.33180576e-04 -1.70882004e+00] [-7.43162120e-03 -5.76996628e-04 9.99972219e-01 -6.39238885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:-1.70, Z:-0.64 [[ 9.93874236e-01 1.10355358e-01 5.97478405e-03 1.22418409e+02] [-1.10356211e-01 9.93892082e-01 -1.87793788e-04 -1.70269698e+00] [-5.95901461e-03 -4.72711118e-04 9.99982133e-01 -6.40622557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:-1.70, Z:-0.64 [[ 9.93894577e-01 1.10217096e-01 5.07565768e-03 1.22451441e+02] [-1.10217707e-01 9.93907456e-01 -1.60109489e-04 -1.70066205e+00] [-5.06238081e-03 -4.00295396e-04 9.99987106e-01 -6.41297920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:-1.70, Z:-0.64 [[ 9.94040189e-01 1.08928746e-01 4.31641890e-03 1.22483241e+02] [-1.08929173e-01 9.94049504e-01 -1.36739667e-04 -1.69878687e+00] [-4.30562895e-03 -3.34259218e-04 9.99990675e-01 -6.42162433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:-1.70, Z:-0.64 [[ 9.94298340e-01 1.06534762e-01 4.59960085e-03 1.22515871e+02] [-1.06535218e-01 9.94308919e-01 -1.46543917e-04 -1.69786317e+00] [-4.58903617e-03 -3.44311104e-04 9.99989411e-01 -6.42772112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:-1.70, Z:-0.64 [[ 9.94681605e-01 1.02850550e-01 5.50175418e-03 1.22549239e+02] [-1.02851138e-01 9.94696744e-01 -1.76611842e-04 -1.69794020e+00] [-5.49074159e-03 -3.90189129e-04 9.99984850e-01 -6.42791230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:-1.70, Z:-0.64 [[ 9.95131601e-01 9.83651422e-02 6.11525288e-03 1.22582040e+02] [-9.83657767e-02 9.95150308e-01 -1.97642673e-04 -1.69866027e+00] [-6.10503694e-03 -4.04851131e-04 9.99981282e-01 -6.42783446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:-1.70, Z:-0.64 [[ 9.95941071e-01 8.98215095e-02 5.78608555e-03 1.22613989e+02] [-8.98219279e-02 9.95957823e-01 -1.88024219e-04 -1.69951130e+00] [-5.77958579e-03 -3.32456317e-04 9.99983243e-01 -6.42764645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:122.65, Y:-1.70, Z:-0.64 [[ 9.96176553e-01 8.72151613e-02 5.07849109e-03 1.22646148e+02] [-8.72154467e-02 9.96189459e-01 -1.65658888e-04 -1.70008213e+00] [-5.07358725e-03 -2.77897369e-04 9.99987091e-01 -6.43881217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:-1.70, Z:-0.64 [[ 9.96239764e-01 8.65148061e-02 4.63902345e-03 1.22678915e+02] [-8.65150337e-02 9.96250534e-01 -1.51970097e-04 -1.70094178e+00] [-4.63477725e-03 -2.49946617e-04 9.99989228e-01 -6.43981006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:-1.70, Z:-0.64 [[ 9.96244741e-01 8.64512538e-02 4.75351245e-03 1.22711974e+02] [-8.64514876e-02 9.96256049e-01 -1.56660883e-04 -1.70162571e+00] [-4.74925906e-03 -2.54875641e-04 9.99988690e-01 -6.44771709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:-1.70, Z:-0.64 [[ 9.96220600e-01 8.66849293e-02 5.49907051e-03 1.22744809e+02] [-8.66852386e-02 9.96235733e-01 -1.82533615e-04 -1.70236977e+00] [-5.49419345e-03 -2.94844492e-04 9.99984863e-01 -6.44249558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:-1.70, Z:-0.64 [[ 9.96213340e-01 8.67683277e-02 5.49901931e-03 1.22778286e+02] [-8.67686298e-02 9.96228473e-01 -1.84060516e-04 -1.70362206e+00] [-5.49425024e-03 -2.93778830e-04 9.99984863e-01 -6.44583407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:-1.71, Z:-0.64 [[ 9.96151403e-01 8.74193612e-02 6.34329032e-03 1.22810376e+02] [-8.74197743e-02 9.96171540e-01 -2.12637818e-04 -1.70511458e+00] [-6.33759395e-03 -3.42709547e-04 9.99979859e-01 -6.44416749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:-1.71, Z:-0.64 [[ 9.96084155e-01 8.81621110e-02 6.61810407e-03 1.22843606e+02] [-8.81625689e-02 9.96106075e-01 -2.23079927e-04 -1.70753156e+00] [-6.61200086e-03 -3.61262675e-04 9.99978075e-01 -6.43925533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:-1.71, Z:-0.64 [[ 9.95977396e-01 8.93669265e-02 6.52522676e-03 1.22875457e+02] [-8.93673894e-02 9.95998705e-01 -2.21182177e-04 -1.71034162e+00] [-6.51888378e-03 -3.62850032e-04 9.99978686e-01 -6.43061633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:-1.71, Z:-0.64 [[ 9.95677013e-01 9.26265061e-02 6.90046029e-03 1.22908638e+02] [-9.26270932e-02 9.95700842e-01 -2.35143214e-04 -1.71418713e+00] [-6.89257462e-03 -4.05042885e-04 9.99976164e-01 -6.43075787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:-1.72, Z:-0.64 [[ 9.95491078e-01 9.45446008e-02 7.67025692e-03 1.22940743e+02] [-9.45453698e-02 9.95520519e-01 -2.63097306e-04 -1.71631965e+00] [-7.66077258e-03 -4.63276256e-04 9.99970549e-01 -6.43352057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:-1.72, Z:-0.64 [[ 9.95278027e-01 9.66602948e-02 8.85646915e-03 1.22974163e+02] [-9.66613869e-02 9.95317277e-01 -3.05653796e-04 -1.71868030e+00] [-8.84454135e-03 -5.51868085e-04 9.99960734e-01 -6.43788121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:-1.72, Z:-0.64 [[ 9.95082649e-01 9.86111417e-02 9.29324581e-03 1.23007006e+02] [-9.86124124e-02 9.95125865e-01 -3.22507609e-04 -1.72057943e+00] [-9.27975213e-03 -5.95507662e-04 9.99956765e-01 -6.44328921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:-1.72, Z:-0.64 [[ 9.94884855e-01 1.00632890e-01 8.78330336e-03 1.23039727e+02] [-1.00634090e-01 9.94923457e-01 -3.06370603e-04 -1.72229956e+00] [-8.76954551e-03 -5.79096267e-04 9.99961379e-01 -6.44186453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:-1.72, Z:-0.65 [[ 9.94668541e-01 1.02840813e-01 7.63290669e-03 1.23071789e+02] [-1.02841775e-01 9.94697692e-01 -2.67485793e-04 -1.72451164e+00] [-7.61994312e-03 -5.18921966e-04 9.99970833e-01 -6.45108771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:-1.73, Z:-0.65 [[ 9.94370936e-01 1.05829229e-01 5.15906907e-03 1.23104613e+02] [-1.05829706e-01 9.94384252e-01 -1.81085636e-04 -1.72772231e+00] [-5.14926119e-03 -3.65916472e-04 9.99986676e-01 -6.45766968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:-1.73, Z:-0.65 [[ 9.94237137e-01 1.07033587e-01 6.02716087e-03 1.23136598e+02] [-1.07034252e-01 9.94255311e-01 -2.13066018e-04 -1.72972070e+00] [-6.01534193e-03 -4.33274510e-04 9.99981814e-01 -6.46084773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:-1.73, Z:-0.65 [[ 9.94066942e-01 1.08496488e-01 7.70892695e-03 1.23168092e+02] [-1.08497605e-01 9.94096673e-01 -2.74372745e-04 -1.73186264e+00] [-7.69318711e-03 -5.63655233e-04 9.99970248e-01 -6.45997085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:-1.73, Z:-0.65 [[ 9.93931589e-01 1.09616853e-01 9.17289565e-03 1.23201041e+02] [-1.09618464e-01 9.93973684e-01 -3.28407726e-04 -1.73363795e+00] [-9.15361590e-03 -6.79103922e-04 9.99957874e-01 -6.45804324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:-1.74, Z:-0.65 [[ 9.93814481e-01 1.10601293e-01 1.00065913e-02 1.23233577e+02] [-1.10603241e-01 9.93864575e-01 -3.60273191e-04 -1.73557361e+00] [-9.98504328e-03 -7.48716710e-04 9.99949868e-01 -6.46254038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:-1.74, Z:-0.65 [[ 9.93737239e-01 1.11313667e-01 9.77587106e-03 1.23266495e+02] [-1.11315543e-01 9.93785050e-01 -3.53765821e-04 -1.73761118e+00] [-9.75449348e-03 -7.36656123e-04 9.99952152e-01 -6.47424099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:-1.74, Z:-0.65 [[ 9.93677168e-01 1.12088150e-01 6.47560093e-03 1.23298528e+02] [-1.12088985e-01 9.93698145e-01 -2.34979902e-04 -1.73969765e+00] [-6.46113109e-03 -4.92349368e-04 9.99979005e-01 -6.49148288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:-1.74, Z:-0.65 [[ 9.93668231e-01 1.12167350e-01 6.47554642e-03 1.23332001e+02] [-1.12168177e-01 9.93689209e-01 -2.36470955e-04 -1.74104998e+00] [-6.46120492e-03 -4.91376562e-04 9.99979005e-01 -6.49482144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:-1.74, Z:-0.65 [[ 9.93753346e-01 1.11479513e-01 5.15809679e-03 1.23364855e+02] [-1.11480030e-01 9.93766656e-01 -1.88114756e-04 -1.74386333e+00] [-5.14691555e-03 -3.88085119e-04 9.99986679e-01 -6.49518438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:123.40, Y:-1.75, Z:-0.65 [[ 9.93909520e-01 1.10050839e-01 5.71652411e-03 1.23398257e+02] [-1.10051443e-01 9.93925870e-01 -2.09700882e-04 -1.74633857e+00] [-5.70487895e-03 -4.20688026e-04 9.99983639e-01 -6.49959437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:-1.75, Z:-0.65 [[ 9.94055202e-01 1.08704918e-01 6.12339164e-03 1.23430492e+02] [-1.08705577e-01 9.94073964e-01 -2.26190807e-04 -1.74975829e+00] [-6.11169225e-03 -4.40800669e-04 9.99981226e-01 -6.49196577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:-1.75, Z:-0.65 [[ 9.94197567e-01 1.07415536e-01 5.75337079e-03 1.23463266e+02] [-1.07416093e-01 9.94214131e-01 -2.12860182e-04 -1.75339069e+00] [-5.74294703e-03 -4.06379539e-04 9.99983427e-01 -6.49692418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:123.50, Y:-1.76, Z:-0.65 [[ 9.94345043e-01 1.06096618e-01 4.63059492e-03 1.23496641e+02] [-1.06096963e-01 9.94355774e-01 -1.71804951e-04 -1.75651051e+00] [-4.62268672e-03 -3.20458656e-04 9.99989264e-01 -6.51092353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:-1.76, Z:-0.65 [[ 9.94326682e-01 1.06294097e-01 4.00174802e-03 1.23528147e+02] [-1.06294353e-01 9.94334696e-01 -1.49365049e-04 -1.76086495e+00] [-3.99495352e-03 -2.76845561e-04 9.99991982e-01 -6.51349418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:-1.78, Z:-0.65 [[ 9.94267870e-01 1.06589885e-01 8.36654630e-03 1.23558982e+02] [-1.06737122e-01 9.94091120e-01 1.97492123e-02 -1.77599199e+00] [-6.21204310e-03 -2.05290283e-02 9.99769958e-01 -6.50954230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.625898227 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:123.59, Y:-1.76, Z:-0.65 [[ 9.94291040e-01 1.06668557e-01 2.67328186e-03 1.23591316e+02] [-1.06593447e-01 9.94097336e-01 -2.02070374e-02 -1.76292891e+00] [-4.81295791e-03 1.98067219e-02 9.99792243e-01 -6.53132262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:-1.78, Z:-0.65 [[ 9.94253994e-01 1.06948927e-01 4.57419956e-03 1.23624237e+02] [-1.06949261e-01 9.94264465e-01 -1.72256368e-04 -1.77617643e+00] [-4.56638671e-03 -3.17940679e-04 9.99989523e-01 -6.49542513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.685898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.66, Y:-1.78, Z:-0.65 [[ 9.94240923e-01 1.07015472e-01 5.71622613e-03 1.23655987e+02] [-1.07015986e-01 9.94257276e-01 -2.16819919e-04 -1.77970842e+00] [-5.70660251e-03 -3.96156339e-04 9.99983639e-01 -6.50905932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:-1.78, Z:-0.65 [[ 9.94136344e-01 1.07946061e-01 6.37005569e-03 1.23687510e+02] [-1.07946708e-01 9.94156652e-01 -2.43118102e-04 -1.78394181e+00] [-6.35907688e-03 -4.45934004e-04 9.99979681e-01 -6.50769225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:-1.79, Z:-0.65 [[ 9.94037615e-01 1.08884603e-01 5.77616534e-03 1.23720443e+02] [-1.08885149e-01 9.94054312e-01 -2.20677137e-04 -1.78782917e+00] [-5.76585040e-03 -4.09577251e-04 9.99983293e-01 -6.51099776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77589822699998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:123.75, Y:-1.79, Z:-0.65 [[ 9.94011893e-01 1.09161205e-01 4.91814197e-03 1.23751901e+02] [-1.09161599e-01 9.94023998e-01 -1.88918688e-04 -1.79051178e+00] [-4.90937374e-03 -3.49084820e-04 9.99987888e-01 -6.53347667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:-1.79, Z:-0.65 [[ 9.93963590e-01 1.09629921e-01 4.20267039e-03 1.23784907e+02] [-1.09630214e-01 9.93972429e-01 -1.61354688e-04 -1.79383114e+00] [-4.19502779e-03 -3.00358968e-04 9.99991156e-01 -6.52651203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:-1.80, Z:-0.65 [[ 9.94066576e-01 1.08714564e-01 3.57578338e-03 1.23818001e+02] [-1.08714769e-01 9.94072975e-01 -1.37671448e-04 -1.79781843e+00] [-3.56955651e-03 -2.51885878e-04 9.99993597e-01 -6.52440779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:-1.80, Z:-0.65 [[ 9.94120928e-01 1.08194245e-01 4.19363372e-03 1.23849722e+02] [-1.08194517e-01 9.94129730e-01 -1.62668243e-04 -1.80171170e+00] [-4.18661573e-03 -2.92016271e-04 9.99991193e-01 -6.53005238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:-1.81, Z:-0.65 [[ 9.94217008e-01 1.07311554e-01 4.09521188e-03 1.23882452e+02] [-1.07311803e-01 9.94225403e-01 -1.59482113e-04 -1.80595822e+00] [-4.08867795e-03 -2.80904743e-04 9.99991602e-01 -6.52656286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:-1.81, Z:-0.65 [[ 9.94325752e-01 1.06267734e-01 4.84443374e-03 1.23915779e+02] [-1.06268064e-01 9.94337499e-01 -1.89889344e-04 -1.81025882e+00] [-4.83718124e-03 -3.25996731e-04 9.99988248e-01 -6.53325705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:-1.81, Z:-0.65 [[ 9.94468507e-01 1.04888911e-01 5.54116860e-03 1.23947992e+02] [-1.04889315e-01 9.94483878e-01 -2.18586989e-04 -1.81426401e+00] [-5.53353019e-03 -3.63831501e-04 9.99984624e-01 -6.52805019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:-1.82, Z:-0.65 [[ 9.94629723e-01 1.03267368e-01 6.89667849e-03 1.23981332e+02] [-1.03267942e-01 9.94653536e-01 -2.73687434e-04 -1.81778913e+00] [-6.88806863e-03 -4.39988138e-04 9.99976180e-01 -6.52942690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:-1.82, Z:-0.65 [[ 9.94769918e-01 1.01771681e-01 8.67962389e-03 1.24013345e+02] [-1.01772516e-01 9.94807637e-01 -3.46616455e-04 -1.82134034e+00] [-8.66983187e-03 -5.38543535e-04 9.99962271e-01 -6.52626249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:-1.83, Z:-0.65 [[ 9.94875512e-01 1.00599936e-01 1.01177283e-02 1.24046600e+02] [-1.00600988e-01 9.94926769e-01 -4.06157417e-04 -1.82518622e+00] [-1.01072581e-02 -6.13777399e-04 9.99948732e-01 -6.52278680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:-1.83, Z:-0.65 [[ 9.94941857e-01 9.98849797e-02 1.06626755e-02 1.24078879e+02] [-9.98860848e-02 9.94998786e-01 -4.30188573e-04 -1.82879909e+00] [-1.06523186e-02 -6.37040292e-04 9.99943060e-01 -6.52958019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:-1.83, Z:-0.65 [[ 9.94941783e-01 1.00201032e-01 7.11353899e-03 1.24112209e+02] [-1.00201527e-01 9.94967121e-01 -2.87656273e-04 -1.83265615e+00] [-7.10656087e-03 -4.26586225e-04 9.99974657e-01 -6.54766995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:-1.83, Z:-0.66 [[ 9.94801148e-01 1.01746372e-01 4.28390051e-03 1.24143808e+02] [-1.01746565e-01 9.94810337e-01 -1.73362083e-04 -1.83496266e+00] [-4.27930747e-03 -2.63411363e-04 9.99990809e-01 -6.55878182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.18, Y:-1.84, Z:-0.66 [[ 9.94602164e-01 1.03737091e-01 2.26949492e-03 1.24175502e+02] [-1.03737150e-01 9.94604743e-01 -9.18874055e-05 -1.83741820e+00] [-2.26678255e-03 -1.44039523e-04 9.99997420e-01 -6.56914147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:-1.84, Z:-0.66 [[ 9.94328361e-01 1.06346220e-01 1.26133947e-03 1.24208882e+02] [-1.06346242e-01 9.94329158e-01 -5.00471105e-05 -1.83977845e+00] [-1.25950894e-03 -8.43754515e-05 9.99999203e-01 -6.56480139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:-1.84, Z:-0.66 [[ 9.94011786e-01 1.09259798e-01 1.69304509e-03 1.24241279e+02] [-1.09259840e-01 9.94013221e-01 -6.82625880e-05 -1.84114548e+00] [-1.69036756e-03 -1.17128018e-04 9.99998564e-01 -6.56311963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25589822699999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:124.27, Y:-1.84, Z:-0.66 [[ 9.93686931e-01 1.12165345e-01 2.28438872e-03 1.24274377e+02] [-1.12165426e-01 9.93689543e-01 -9.30787620e-05 -1.84161679e+00] [-2.28041339e-03 -1.63738285e-04 9.99997386e-01 -6.56235557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:-1.84, Z:-0.66 [[ 9.93338540e-01 1.15165504e-01 3.93086698e-03 1.24306575e+02] [-1.15165759e-01 9.93346275e-01 -1.62305020e-04 -1.84111323e+00] [-3.92340401e-03 -2.91477446e-04 9.99992261e-01 -6.56553762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:-1.84, Z:-0.66 [[ 9.92793277e-01 1.19751722e-01 4.58625612e-03 1.24338350e+02] [-1.19752112e-01 9.92803805e-01 -1.90453651e-04 -1.83756874e+00] [-4.57605968e-03 -3.60132752e-04 9.99989465e-01 -6.57259264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:-1.86, Z:-0.66 [[ 9.92454341e-01 1.21124341e-01 1.90597970e-02 1.24367966e+02] [-1.21981198e-01 9.91106587e-01 5.31819469e-02 -1.85832856e+00] [-1.24486621e-02 -5.51055909e-02 9.98402927e-01 -6.56628138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:-1.81, Z:-0.67 [[ 9.92524662e-01 1.22044199e-01 9.52297236e-05 1.24403968e+02] [-1.21853239e-01 9.91014709e-01 -5.51510204e-02 -1.80960778e+00] [-6.82523617e-03 5.47271438e-02 9.98478020e-01 -6.65357873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:-1.83, Z:-0.66 [[ 9.92609952e-01 1.21339308e-01 1.50198656e-03 1.24435938e+02] [-1.21339352e-01 9.92611081e-01 -6.16103068e-05 -1.82998511e+00] [-1.49836426e-03 -1.21095073e-04 9.99998870e-01 -6.59369036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:-1.83, Z:-0.66 [[ 9.92778624e-01 1.19954106e-01 1.27150540e-03 1.24467890e+02] [-1.19954137e-01 9.92779433e-01 -5.22315074e-05 -1.82714548e+00] [-1.26858979e-03 -1.00668009e-04 9.99999190e-01 -6.59817671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:-1.83, Z:-0.66 [[ 9.93049755e-01 1.17694262e-01 4.95383628e-04 1.24501353e+02] [-1.17694267e-01 9.93049877e-01 -1.94746398e-05 -1.82520640e+00] [-4.94232705e-04 -3.89645267e-05 9.99999877e-01 -6.59230849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.53, Y:-1.82, Z:-0.66 [[ 9.93437148e-01 1.14379336e-01 -1.29564536e-05 1.24534431e+02] [-1.14379336e-01 9.93437148e-01 2.18560815e-06 -1.82377545e+00] [ 1.31214107e-05 -6.89313764e-07 1.00000000e+00 -6.59081542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:-1.82, Z:-0.66 [[ 9.93923852e-01 1.10069861e-01 5.42329636e-05 1.24566515e+02] [-1.10069861e-01 9.93923853e-01 -7.94917230e-07 -1.82300073e+00] [-5.39909326e-05 -5.17932756e-06 9.99999999e-01 -6.59054253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:-1.82, Z:-0.66 [[ 9.94423252e-01 1.05460489e-01 6.93215431e-04 1.24599475e+02] [-1.05460494e-01 9.94423493e-01 -2.81509599e-05 -1.82316288e+00] [-6.92318524e-04 -4.51128730e-05 9.99999759e-01 -6.58716293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:-1.82, Z:-0.66 [[ 9.95412381e-01 9.56150597e-02 3.45713329e-03 1.24631324e+02] [-9.56151222e-02 9.95418368e-01 -1.47565213e-04 -1.82373787e+00] [-3.45540343e-03 -1.83665981e-04 9.99994013e-01 -6.58010502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:-1.83, Z:-0.66 [[ 9.95817715e-01 9.12730223e-02 4.03909127e-03 1.24664700e+02] [-9.12730665e-02 9.95825887e-01 -1.73775721e-04 -1.82602869e+00] [-4.03809268e-03 -1.95611304e-04 9.99991828e-01 -6.57520978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:-1.83, Z:-0.66 [[ 9.96071373e-01 8.84356824e-02 4.57718205e-03 1.24696431e+02] [-8.84357089e-02 9.96081867e-01 -1.97002314e-04 -1.82814759e+00] [-4.57667008e-03 -2.08557974e-04 9.99989505e-01 -6.58273136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:-1.83, Z:-0.66 [[ 9.96170470e-01 8.73098038e-02 4.62534844e-03 1.24727903e+02] [-8.73098148e-02 9.96181186e-01 -1.99933550e-04 -1.82999670e+00] [-4.62514125e-03 -2.04670417e-04 9.99989283e-01 -6.58230901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:-1.84, Z:-0.66 [[ 9.96092900e-01 8.76022723e-02 1.11703673e-02 1.24758948e+02] [-8.77827788e-02 9.95997169e-01 1.68470245e-02 -1.83863674e+00] [-9.64981662e-03 -1.77617673e-02 9.99795679e-01 -6.58748212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:-1.83, Z:-0.66 [[ 9.95984382e-01 8.92976439e-02 6.40640981e-03 1.24791180e+02] [-8.91809183e-02 9.95876404e-01 -1.66418878e-02 -1.82647284e+00] [-7.86607373e-03 1.60037309e-02 9.99840990e-01 -6.61287417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:-1.83, Z:-0.66 [[ 9.95985876e-01 8.92266383e-02 7.12331423e-03 1.24824359e+02] [-8.92266847e-02 9.96011296e-01 -3.11917645e-04 -1.83482764e+00] [-7.12273280e-03 -3.24924144e-04 9.99974580e-01 -6.59976829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:-1.84, Z:-0.66 [[ 9.95535746e-01 9.40427359e-02 8.03376049e-03 1.24856109e+02] [-9.40429464e-02 9.95568079e-01 -3.52395867e-04 -1.83838573e+00] [-8.03129577e-03 -4.04695824e-04 9.99967667e-01 -6.60554812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:-1.86, Z:-0.66 [[ 9.95117221e-01 9.66991388e-02 1.97735381e-02 1.24887361e+02] [-9.74016107e-02 9.94506418e-01 3.83394216e-02 -1.85765559e+00] [-1.59575215e-02 -4.00781931e-02 9.99069115e-01 -6.60642038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:-1.83, Z:-0.67 [[ 9.94778451e-01 1.01575877e-01 9.90830131e-03 1.24920528e+02] [-1.01148431e-01 9.94188151e-01 -3.68634748e-02 -1.82908218e+00] [-1.35951555e-02 3.56687812e-02 9.99271189e-01 -6.66526058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:-1.85, Z:-0.66 [[ 9.94345761e-01 1.05542743e-01 1.17148398e-02 1.24951633e+02] [-1.05543921e-01 9.94414507e-01 -5.19301328e-04 -1.84694798e+00] [-1.17042151e-02 -7.20065057e-04 9.99931244e-01 -6.63263574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:-1.85, Z:-0.66 [[ 9.93890608e-01 1.09787281e-01 1.13231286e-02 1.24984076e+02] [-1.09788634e-01 9.93954829e-01 -5.03939073e-04 -1.84961517e+00] [-1.13100044e-02 -7.42290504e-04 9.99935764e-01 -6.63217266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:-1.86, Z:-0.66 [[ 9.93032463e-01 1.16699673e-01 1.63619836e-02 1.25016646e+02] [-1.16995088e-01 9.92961354e-01 1.84363553e-02 -1.86120760e+00] [-1.40953007e-02 -2.02221710e-02 9.99696147e-01 -6.63928085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:-1.85, Z:-0.67 [[ 9.92775515e-01 1.19605920e-01 9.54992834e-03 1.25050161e+02] [-1.19402262e-01 9.92651993e-01 -1.96244950e-02 -1.84727033e+00] [-1.18269612e-02 1.83424351e-02 9.99761811e-01 -6.66768629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:-1.86, Z:-0.67 [[ 9.92640069e-01 1.20601385e-01 1.09999670e-02 1.25082819e+02] [-1.20603262e-01 9.92700664e-01 -4.94929104e-04 -1.85722580e+00] [-1.09793637e-02 -8.35345448e-04 9.99939376e-01 -6.65995083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:-1.86, Z:-0.67 [[ 9.92647202e-01 1.20559884e-01 1.08095380e-02 1.25114769e+02] [-1.20561673e-01 9.92705719e-01 -4.88348932e-04 -1.85954620e+00] [-1.07895655e-02 -8.18457790e-04 9.99941456e-01 -6.66951925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:-1.87, Z:-0.66 [[ 9.92781686e-01 1.19654228e-01 8.20915205e-03 1.25146357e+02] [-1.19733735e-01 9.92755743e-01 9.99334710e-03 -1.86631619e+00] [-6.95393661e-03 -1.09041244e-02 9.99916368e-01 -6.60940541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:-1.86, Z:-0.67 [[ 9.93043933e-01 1.17436124e-01 8.51493510e-03 1.25178716e+02] [-1.17342362e-01 9.93032972e-01 -1.07836594e-02 -1.85975275e+00] [-9.72200247e-03 9.70948496e-03 9.99905600e-01 -6.69805341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:-1.87, Z:-0.67 [[ 9.93790701e-01 1.10988313e-01 7.85096782e-03 1.25211417e+02] [-1.10988935e-01 9.93821578e-01 -3.57778207e-04 -1.86884598e+00] [-7.84217043e-03 -5.15813902e-04 9.99969117e-01 -6.69459291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:-1.87, Z:-0.67 [[ 9.94107475e-01 1.08075185e-01 8.37153240e-03 1.25243861e+02] [-1.08075787e-01 9.94142585e-01 -3.81750869e-04 -1.87239954e+00] [-8.36375465e-03 -5.25258562e-04 9.99964885e-01 -6.69245402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.28, Y:-1.88, Z:-0.67 [[ 9.94322805e-01 1.06007484e-01 9.19634784e-03 1.25276070e+02] [-1.06008104e-01 9.94365177e-01 -4.21426524e-04 -1.87671672e+00] [-9.18920241e-03 -5.55853393e-04 9.99957624e-01 -6.69265112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:-1.88, Z:-0.67 [[ 9.94460610e-01 1.04585497e-01 1.04866237e-02 1.25308169e+02] [-1.04586199e-01 9.94515708e-01 -4.82910874e-04 -1.88163048e+00] [-1.04796174e-02 -6.16520267e-04 9.99944897e-01 -6.69499267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:-1.89, Z:-0.67 [[ 9.94579169e-01 1.03411064e-01 1.08825281e-02 1.25340555e+02] [-1.03411737e-01 9.94638507e-01 -5.02351737e-04 -1.88660302e+00] [-1.08761302e-02 -6.25752558e-04 9.99940657e-01 -6.69171775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:-1.89, Z:-0.67 [[ 9.94626764e-01 1.02964820e-01 1.07632265e-02 1.25372770e+02] [-1.02965430e-01 9.94684810e-01 -4.98905266e-04 -1.89129712e+00] [-1.07573876e-02 -6.12015715e-04 9.99941950e-01 -6.68917143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:-1.90, Z:-0.66 [[ 9.94579752e-01 1.03689477e-01 7.72068795e-03 1.25404235e+02] [-1.03777472e-01 9.94527736e-01 1.20340566e-02 -1.90399602e+00] [-6.43063327e-03 -1.27700625e-02 9.99897781e-01 -6.61382003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:-1.90, Z:-0.67 [[ 9.94401202e-01 1.05373265e-01 7.91993158e-03 1.25435740e+02] [-1.05267047e-01 9.94361503e-01 -1.28081999e-02 -1.89828101e+00] [-9.22491691e-03 1.19027815e-02 9.99886606e-01 -6.72008132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:-1.91, Z:-0.67 [[ 9.94138613e-01 1.07774813e-01 8.54441645e-03 1.25468304e+02] [-1.07775351e-01 9.94175193e-01 -3.98702790e-04 -1.90826188e+00] [-8.53761700e-03 -5.24511647e-04 9.99963416e-01 -6.70900266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:-1.91, Z:-0.67 [[ 9.93765267e-01 1.11143938e-01 8.81017382e-03 1.25499847e+02] [-1.11144627e-01 9.93804156e-01 -4.12879395e-04 -1.91292062e+00] [-8.80147640e-03 -5.68898283e-04 9.99961104e-01 -6.70583438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:-1.92, Z:-0.67 [[ 9.93387298e-01 1.14454251e-01 9.04993859e-03 1.25532643e+02] [-1.14455100e-01 9.93428331e-01 -4.25699374e-04 -1.91655328e+00] [-9.03918849e-03 -6.12927279e-04 9.99958958e-01 -6.70590838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:-1.92, Z:-0.67 [[ 9.92748064e-01 1.19837841e-01 9.49601056e-03 1.25564215e+02] [-1.19839001e-01 9.92793237e-01 -4.48811764e-04 -1.92301179e+00] [-9.48135970e-03 -6.92435412e-04 9.99954811e-01 -6.71115544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:-1.92, Z:-0.67 [[ 9.92733066e-01 1.19962023e-01 9.49595963e-03 1.25597660e+02] [-1.19963179e-01 9.92778240e-01 -4.49886454e-04 -1.92474315e+00] [-9.48135137e-03 -6.92548343e-04 9.99954811e-01 -6.71546729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-1.93, Z:-0.67 [[ 9.92580729e-01 1.21189730e-01 9.82574546e-03 1.25630912e+02] [-1.21191016e-01 9.92629095e-01 -4.66615063e-04 -1.92968018e+00] [-9.80986977e-03 -7.27638956e-04 9.99951617e-01 -6.72417439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:-1.93, Z:-0.67 [[ 9.92601028e-01 1.20960639e-01 1.05699380e-02 1.25663149e+02] [-1.20962091e-01 9.92656999e-01 -5.04132535e-04 -1.93400704e+00] [-1.05533031e-02 -7.78159331e-04 9.99944010e-01 -6.72999335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:-1.94, Z:-0.67 [[ 9.93060280e-01 1.16976456e-01 1.21568717e-02 1.25695677e+02] [-1.16978051e-01 9.93134330e-01 -5.82247995e-04 -1.94114780e+00] [-1.21415160e-02 -8.43879806e-04 9.99925933e-01 -6.74754024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:-1.95, Z:-0.68 [[ 9.93458183e-01 1.13560582e-01 1.20346483e-02 1.25728482e+02] [-1.13561869e-01 9.93530758e-01 -5.78554739e-04 -1.94621011e+00] [-1.20224943e-02 -7.91907223e-04 9.99927414e-01 -6.76062725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:-1.95, Z:-0.68 [[ 9.93878153e-01 1.09875666e-01 1.15565968e-02 1.25760888e+02] [-1.09876581e-01 9.93945082e-01 -5.57576183e-04 -1.95204549e+00] [-1.15478866e-02 -7.15636562e-04 9.99933065e-01 -6.76930215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:-1.96, Z:-0.68 [[ 9.94254106e-01 1.06259271e-01 1.29514276e-02 1.25791822e+02] [-1.06335887e-01 9.94315733e-01 5.37603051e-03 -1.96057019e+00] [-1.23065551e-02 -6.72234194e-03 9.99901675e-01 -6.77458006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69589822699999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:125.83, Y:-1.96, Z:-0.68 [[ 9.94683624e-01 1.02497956e-01 9.93264918e-03 1.25825131e+02] [-1.02437011e-01 9.94718496e-01 -6.46311731e-03 -1.96068994e+00] [-1.05426462e-02 5.41128606e-03 9.99929783e-01 -6.80809187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:-1.97, Z:-0.68 [[ 9.95101832e-01 9.85239492e-02 8.08551971e-03 1.25857125e+02] [-9.85240017e-02 9.95134597e-01 -3.92791778e-04 -1.97280745e+00] [-8.08487980e-03 -4.05749940e-04 9.99967235e-01 -6.78967214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:-1.98, Z:-0.68 [[ 9.95155175e-01 9.80106856e-02 7.75132423e-03 1.25889545e+02] [-9.80107079e-02 9.95185288e-01 -3.77906785e-04 -1.97905821e+00] [-7.75104274e-03 -3.83636882e-04 9.99969887e-01 -6.78686271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:-1.99, Z:-0.68 [[ 9.95114576e-01 9.84419359e-02 7.49437439e-03 1.25921476e+02] [-9.84419587e-02 9.95142727e-01 -3.66751675e-04 -1.98521423e+00] [-7.49407591e-03 -3.72800956e-04 9.99971850e-01 -6.77867913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:-1.99, Z:-0.68 [[ 9.94969746e-01 9.98592780e-02 7.95801714e-03 1.25953101e+02] [-9.98593371e-02 9.95001487e-01 -3.90915662e-04 -1.99065600e+00] [-7.95727544e-03 -4.05733060e-04 9.99968258e-01 -6.77609699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:-1.99, Z:-0.68 [[ 9.94727989e-01 1.02197652e-01 8.47744611e-03 1.25985559e+02] [-1.02197790e-01 9.94764011e-01 -4.18098310e-04 -1.99490394e+00] [-8.47578696e-03 -4.50482164e-04 9.99963978e-01 -6.77556185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:-2.00, Z:-0.68 [[ 9.94357051e-01 1.05716579e-01 8.83519992e-03 1.26017485e+02] [-1.05716851e-01 9.94396177e-01 -4.37600109e-04 -1.99855543e+00] [-8.83195060e-03 -4.98898758e-04 9.99960873e-01 -6.78166517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:-2.00, Z:-0.68 [[ 9.93447138e-01 1.14029556e-01 7.74877774e-03 1.26049955e+02] [-1.14030008e-01 9.93477231e-01 -3.84830875e-04 -2.00310309e+00] [-7.74211634e-03 -5.01284057e-04 9.99969904e-01 -6.79596631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:-2.01, Z:-0.68 [[ 9.92997084e-01 1.17940320e-01 6.84626504e-03 1.26081709e+02] [-1.17940758e-01 9.93020574e-01 -3.41091613e-04 -2.00531136e+00] [-6.83871049e-03 -4.68750712e-04 9.99976506e-01 -6.80544209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:-2.01, Z:-0.68 [[ 9.92698248e-01 1.20453403e-01 6.41605537e-03 1.26114723e+02] [-1.20453834e-01 9.92718878e-01 -3.20628417e-04 -2.00665870e+00] [-6.40796007e-03 -4.54551202e-04 9.99979366e-01 -6.81260626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99589822699998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:-2.01, Z:-0.68 [[ 9.92561205e-01 1.21574175e-01 6.47882711e-03 1.26147298e+02] [-1.21574631e-01 9.92582240e-01 -3.24900472e-04 -2.00789153e+00] [-6.47026823e-03 -4.65177411e-04 9.99978959e-01 -6.81841022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:-2.01, Z:-0.68 [[ 9.92646067e-01 1.20839400e-01 7.18511853e-03 1.26179834e+02] [-1.20839931e-01 9.92671940e-01 -3.61838631e-04 -2.00937103e+00] [-7.17618992e-03 -5.09071532e-04 9.99974121e-01 -6.81893140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:-2.01, Z:-0.68 [[ 9.93283292e-01 1.15281463e-01 9.92405188e-03 1.26212293e+02] [-1.15282172e-01 9.93332657e-01 -5.02465436e-04 -2.01184788e+00] [-9.91580978e-03 -6.44975732e-04 9.99950629e-01 -6.81447958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:-2.01, Z:-0.68 [[ 9.93686915e-01 1.11588685e-01 1.15879004e-02 1.26244665e+02] [-1.11589372e-01 9.93754228e-01 -5.89323260e-04 -2.01454890e+00] [-1.15812868e-02 -7.07483711e-04 9.99932684e-01 -6.81762110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.115898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:126.28, Y:-2.02, Z:-0.68 [[ 9.94077246e-01 1.07861161e-01 1.32815475e-02 1.26277230e+02] [-1.07861708e-01 9.94165677e-01 -6.77219157e-04 -2.01775762e+00] [-1.32771043e-02 -7.59362238e-04 9.99911567e-01 -6.83745612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:-2.02, Z:-0.68 [[ 9.94417273e-01 1.04656908e-01 1.34617240e-02 1.26309961e+02] [-1.04657143e-01 9.94508124e-01 -6.88907028e-04 -2.02203961e+00] [-1.34598928e-02 -7.23804532e-04 9.99909150e-01 -6.82759600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:-2.03, Z:-0.68 [[ 9.94660660e-01 1.02401953e-01 1.28067089e-02 1.26342282e+02] [-1.02401950e-01 9.94742885e-01 -6.57644961e-04 -2.02650758e+00] [-1.28067267e-02 -6.57298398e-04 9.99917774e-01 -6.83482803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:-2.03, Z:-0.68 [[ 9.94800355e-01 1.01220087e-01 1.12581973e-02 1.26375525e+02] [-1.01219990e-01 9.94863899e-01 -5.79920914e-04 -2.03141746e+00] [-1.12590737e-02 -5.62649085e-04 9.99936456e-01 -6.84030295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:-2.04, Z:-0.68 [[ 9.94829522e-01 1.01180888e-01 8.75495290e-03 1.26407952e+02] [-1.01180818e-01 9.94867950e-01 -4.52068559e-04 -2.03894245e+00] [-8.75576275e-03 -4.36102148e-04 9.99961572e-01 -6.84264243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:-2.04, Z:-0.68 [[ 9.94720771e-01 1.02276238e-01 8.37614090e-03 1.26440042e+02] [-1.02276200e-01 9.94755945e-01 -4.34020417e-04 -2.04394422e+00] [-8.37660593e-03 -4.24950734e-04 9.99964825e-01 -6.84776880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:-2.05, Z:-0.68 [[ 9.94579399e-01 1.03621307e-01 8.62803505e-03 1.26472109e+02] [-1.03621304e-01 9.94616722e-01 -4.48636982e-04 -2.04869045e+00] [-8.62807629e-03 -4.47843143e-04 9.99962677e-01 -6.84810761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.325898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:126.50, Y:-2.05, Z:-0.69 [[ 9.94419352e-01 1.05036673e-01 9.87161458e-03 1.26504527e+02] [-1.05036719e-01 9.94468211e-01 -5.15274899e-04 -2.05319162e+00] [-9.87112965e-03 -5.24482675e-04 9.99951142e-01 -6.86073229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:-2.06, Z:-0.68 [[ 9.94134838e-01 1.07601897e-01 1.08515214e-02 1.26536247e+02] [-1.07602080e-01 9.94193879e-01 -5.68705749e-04 -2.05869174e+00] [-1.08497100e-02 -6.02276074e-04 9.99940959e-01 -6.84739617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.385898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:126.57, Y:-2.06, Z:-0.69 [[ 9.93857865e-01 1.10071138e-01 1.14406801e-02 1.26569274e+02] [-1.10071480e-01 9.93923492e-01 -6.01662135e-04 -2.06241771e+00] [-1.14373863e-02 -6.61325947e-04 9.99934372e-01 -6.86571302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:-2.07, Z:-0.69 [[ 9.93194942e-01 1.15913061e-01 1.13124031e-02 1.26600796e+02] [-1.15913748e-01 9.93259103e-01 -5.97128323e-04 -2.06762344e+00] [-1.13053623e-02 -7.18198204e-04 9.99935834e-01 -6.86580675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:-2.07, Z:-0.69 [[ 9.92859221e-01 1.18774416e-01 1.10997902e-02 1.26633107e+02] [-1.18775243e-01 9.92920992e-01 -5.87084531e-04 -2.07016074e+00] [-1.10909453e-02 -7.35487985e-04 9.99938223e-01 -6.87250244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:-2.07, Z:-0.69 [[ 9.92570993e-01 1.21202119e-01 1.06240403e-02 1.26664598e+02] [-1.21202996e-01 9.92627582e-01 -5.63612422e-04 -2.07228525e+00] [-1.06140264e-02 -7.28240175e-04 9.99943404e-01 -6.87307939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:-2.07, Z:-0.69 [[ 9.92340358e-01 1.23109163e-01 1.02346823e-02 1.26697095e+02] [-1.23110062e-01 9.92392874e-01 -5.44519666e-04 -2.07431009e+00] [-1.02238612e-02 -7.19643536e-04 9.99947476e-01 -6.88634138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:-2.08, Z:-0.69 [[ 9.92194934e-01 1.24352330e-01 9.25804527e-03 1.26729432e+02] [-1.24353105e-01 9.92237906e-01 -4.94072099e-04 -2.07616398e+00] [-9.24762247e-03 -6.61050843e-04 9.99957021e-01 -6.89515895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:-2.08, Z:-0.69 [[ 9.92118950e-01 1.25033948e-01 8.15478022e-03 1.26762446e+02] [-1.25034564e-01 9.92152291e-01 -4.36275350e-04 -2.07843351e+00] [-8.14533310e-03 -5.86792343e-04 9.99966654e-01 -6.90521876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:-2.08, Z:-0.69 [[ 9.92237134e-01 1.24234239e-01 5.59682068e-03 1.26794553e+02] [-1.24234514e-01 9.92252839e-01 -2.99802455e-04 -2.08111035e+00] [-5.59070694e-03 -3.97843167e-04 9.99984293e-01 -6.91753688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:-2.08, Z:-0.69 [[ 9.92255534e-01 1.24107453e-01 5.12799313e-03 1.26827908e+02] [-1.24107679e-01 9.92268718e-01 -2.75286436e-04 -2.08373090e+00] [-5.12251227e-03 -3.63268837e-04 9.99986814e-01 -6.92307599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:-2.09, Z:-0.69 [[ 9.92177701e-01 1.24733482e-01 4.99675666e-03 1.26860093e+02] [-1.24733700e-01 9.92190219e-01 -2.69169089e-04 -2.08595937e+00] [-4.99130748e-03 -3.56200380e-04 9.99987480e-01 -6.92116989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:-2.09, Z:-0.69 [[ 9.92168331e-01 1.24807995e-01 4.99667250e-03 1.26893523e+02] [-1.24808207e-01 9.92180850e-01 -2.70719357e-04 -2.08790755e+00] [-4.99139071e-03 -3.55026562e-04 9.99987480e-01 -6.92549885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:-2.09, Z:-0.69 [[ 9.92000896e-01 1.26113596e-01 5.43911135e-03 1.26926648e+02] [-1.26113868e-01 9.92015729e-01 -2.94411713e-04 -2.08921711e+00] [-5.43281333e-03 -3.93890687e-04 9.99985165e-01 -6.92938808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:-2.09, Z:-0.69 [[ 9.91807441e-01 1.27604252e-01 5.92917028e-03 1.26959247e+02] [-1.27604594e-01 9.91825067e-01 -3.22149721e-04 -2.09014688e+00] [-5.92180739e-03 -4.37078874e-04 9.99982370e-01 -6.92961643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:-2.09, Z:-0.69 [[ 9.91460229e-01 1.30242067e-01 6.60437896e-03 1.26991707e+02] [-1.30242539e-01 9.91482098e-01 -3.60432228e-04 -2.09061632e+00] [-6.59506695e-03 -5.02816864e-04 9.99978126e-01 -6.93720428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:-2.09, Z:-0.69 [[ 9.91360036e-01 1.30985599e-01 6.93191024e-03 1.27024963e+02] [-1.30986128e-01 9.91384129e-01 -3.79587085e-04 -2.09196083e+00] [-6.92190623e-03 -5.31676614e-04 9.99975902e-01 -6.93970766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.835898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:127.06, Y:-2.09, Z:-0.70 [[ 9.91362030e-01 1.30934392e-01 7.58357935e-03 1.27058040e+02] [-1.30935012e-01 9.91390866e-01 -4.16869648e-04 -2.09257437e+00] [-7.57287387e-03 -5.79687311e-04 9.99971157e-01 -6.95669141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.865898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:127.09, Y:-2.09, Z:-0.70 [[ 9.91502286e-01 1.29844739e-01 7.97249479e-03 1.27090602e+02] [-1.29845376e-01 9.91534157e-01 -4.39824112e-04 -2.09271535e+00] [-7.96210975e-03 -5.99104973e-04 9.99968122e-01 -6.96189976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:-2.09, Z:-0.70 [[ 9.91666570e-01 1.28595031e-01 7.79304725e-03 1.27123632e+02] [-1.28595590e-01 9.91697024e-01 -4.31312256e-04 -2.09360599e+00] [-7.78380638e-03 -5.74433567e-04 9.99969541e-01 -6.95089459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:-2.09, Z:-0.70 [[ 9.91971829e-01 1.26207205e-01 7.97696828e-03 1.27155672e+02] [-1.26207702e-01 9.92003740e-01 -4.43072761e-04 -2.09450263e+00] [-7.96910134e-03 -5.67239137e-04 9.99968085e-01 -6.96068715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.955898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.19, Y:-2.10, Z:-0.70 [[ 9.92659342e-01 1.20605141e-01 9.04608391e-03 1.27189014e+02] [-1.20605532e-01 9.92700383e-01 -5.04261998e-04 -2.09766291e+00] [-9.04086756e-03 -5.90447381e-04 9.99958956e-01 -6.96823069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:-2.10, Z:-0.70 [[ 9.93027505e-01 1.17485084e-01 9.67618877e-03 1.27222188e+02] [-1.17485366e-01 9.93074466e-01 -5.41312253e-04 -2.10169115e+00] [-9.67277211e-03 -5.99272619e-04 9.99953038e-01 -6.96249025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:-2.11, Z:-0.70 [[ 9.93482622e-01 1.13491480e-01 1.05812569e-02 1.27255100e+02] [-1.13491568e-01 9.93538782e-01 -5.94084537e-04 -2.10541270e+00] [-1.05803126e-02 -6.10670768e-04 9.99943840e-01 -6.96672422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:-2.11, Z:-0.70 [[ 9.93921150e-01 1.09433949e-01 1.20398583e-02 1.27286700e+02] [-1.09433736e-01 9.93993862e-01 -6.78491489e-04 -2.10991872e+00] [-1.20417953e-02 -6.43199640e-04 9.99927288e-01 -6.97153566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:-2.11, Z:-0.70 [[ 9.94316334e-01 1.05599362e-01 1.35574017e-02 1.27318494e+02] [-1.05598702e-01 9.94408531e-01 -7.66545174e-04 -2.11494104e+00] [-1.35625426e-02 -6.69455641e-04 9.99907800e-01 -6.97027764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:-2.12, Z:-0.70 [[ 9.94597174e-01 1.02718759e-01 1.50105969e-02 1.27351159e+02] [-1.02717593e-01 9.94710195e-01 -8.50690381e-04 -2.12028210e+00] [-1.50185756e-02 -6.95758126e-04 9.99886973e-01 -6.97171990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:-2.13, Z:-0.70 [[ 9.94805922e-01 1.00590987e-01 1.55765881e-02 1.27382982e+02] [-1.00589426e-01 9.94927627e-01 -8.85600786e-04 -2.12517958e+00] [-1.55866613e-02 -6.85839154e-04 9.99878285e-01 -6.97623938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:-2.13, Z:-0.70 [[ 9.94927507e-01 9.95429463e-02 1.45071576e-02 1.27415263e+02] [-9.95414483e-02 9.95033073e-01 -8.27089250e-04 -2.12984155e+00] [-1.45174325e-02 -6.21169637e-04 9.99894424e-01 -6.97842942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:-2.14, Z:-0.70 [[ 9.95019647e-01 9.89064128e-02 1.23864662e-02 1.27447228e+02] [-9.89052483e-02 9.95096604e-01 -7.08055019e-04 -2.13618389e+00] [-1.23957616e-02 -5.20557861e-04 9.99923034e-01 -6.99123318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:-2.14, Z:-0.70 [[ 9.95019333e-01 9.89253389e-02 1.22598456e-02 1.27478532e+02] [-9.89241749e-02 9.95094726e-01 -7.02821384e-04 -2.14055014e+00] [-1.22692345e-02 -5.13474243e-04 9.99924598e-01 -6.99225504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:-2.15, Z:-0.70 [[ 9.95091400e-01 9.80886025e-02 1.31046668e-02 1.27511526e+02] [-9.80871700e-02 9.95177542e-01 -7.53545822e-04 -2.14532332e+00] [-1.31153844e-02 -5.35552715e-04 9.99913846e-01 -6.99224227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.285898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:127.54, Y:-2.15, Z:-0.70 [[ 9.95228072e-01 9.65098390e-02 1.43852393e-02 1.27543720e+02] [-9.65079091e-02 9.95331872e-01 -8.29903764e-04 -2.15017637e+00] [-1.43981810e-02 -5.62345844e-04 9.99896183e-01 -6.99992363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:-2.16, Z:-0.70 [[ 9.95349743e-01 9.50498009e-02 1.56340899e-02 1.27576204e+02] [-9.50472980e-02 9.95472346e-01 -9.04734388e-04 -2.15554731e+00] [-1.56492990e-02 -5.85450863e-04 9.99877371e-01 -6.98820408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:-2.16, Z:-0.70 [[ 9.95450627e-01 9.39202793e-02 1.60321852e-02 1.27608033e+02] [-9.39174543e-02 9.95579553e-01 -9.30684901e-04 -2.16002685e+00] [-1.60487260e-02 -5.79251155e-04 9.99871043e-01 -6.98761364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:-2.16, Z:-0.70 [[ 9.95497218e-01 9.35208564e-02 1.54641294e-02 1.27640180e+02] [-9.35181412e-02 9.95617169e-01 -9.00207214e-04 -2.16442933e+00] [-1.54805409e-02 -5.50022858e-04 9.99880018e-01 -7.00261509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:-2.17, Z:-0.70 [[ 9.95432483e-01 9.43577091e-02 1.45187787e-02 1.27671706e+02] [-9.43553727e-02 9.95538219e-01 -8.47368032e-04 -2.16649079e+00] [-1.45339548e-02 -5.26427115e-04 9.99894238e-01 -7.01081347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:-2.17, Z:-0.70 [[ 9.95310799e-01 9.58256461e-02 1.31855496e-02 1.27704834e+02] [-9.58238224e-02 9.95398011e-01 -7.71468715e-04 -2.16825172e+00] [-1.31987963e-02 -4.95638618e-04 9.99912769e-01 -7.02321876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:-2.17, Z:-0.70 [[ 9.95186574e-01 9.73457804e-02 1.12908318e-02 1.27738134e+02] [-9.73445227e-02 9.95250524e-01 -6.62214688e-04 -2.16951523e+00] [-1.13016701e-02 -4.40073466e-04 9.99936037e-01 -7.03447757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:-2.17, Z:-0.70 [[ 9.95080072e-01 9.85837140e-02 9.84389323e-03 1.27771105e+02] [-9.85828048e-02 9.95128683e-01 -5.78733558e-04 -2.17104509e+00] [-9.85299421e-03 -3.94552374e-04 9.99951380e-01 -7.04522557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:-2.17, Z:-0.71 [[ 9.94986486e-01 9.95677957e-02 9.38859838e-03 1.27804195e+02] [-9.95669988e-02 9.95030706e-01 -5.53410042e-04 -2.17236082e+00] [-9.39704549e-03 -3.84159050e-04 9.99955773e-01 -7.05124422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:-2.17, Z:-0.71 [[ 9.94916209e-01 1.00281858e-01 9.23500144e-03 1.27836012e+02] [-1.00281102e-01 9.94958995e-01 -5.46016811e-04 -2.17270699e+00] [-9.24320334e-03 -3.82855147e-04 9.99957207e-01 -7.05134993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:-2.17, Z:-0.71 [[ 9.94932319e-01 1.00164901e-01 8.75628531e-03 1.27869324e+02] [-1.00164206e-01 9.94970785e-01 -5.18989271e-04 -2.17401024e+00] [-8.76423257e-03 -3.60707169e-04 9.99961528e-01 -7.05409867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:-2.18, Z:-0.71 [[ 9.94982737e-01 9.97058455e-02 8.25207949e-03 1.27900850e+02] [-9.97052004e-02 9.95016901e-01 -4.90551989e-04 -2.17509475e+00] [-8.25986946e-03 -3.34684479e-04 9.99965831e-01 -7.06419226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:-2.18, Z:-0.71 [[ 9.95088871e-01 9.87096042e-02 7.38594021e-03 1.27934149e+02] [-9.87090520e-02 9.95116239e-01 -4.40159624e-04 -2.17617145e+00] [-7.39331703e-03 -2.91061213e-04 9.99972627e-01 -7.07188478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:-2.18, Z:-0.71 [[ 9.95202700e-01 9.76042938e-02 6.70722587e-03 1.27966868e+02] [-9.76038083e-02 9.95225269e-01 -4.00460866e-04 -2.17792859e+00] [-6.71428737e-03 -2.56111053e-04 9.99977426e-01 -7.08420637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:-2.18, Z:-0.71 [[ 9.95331251e-01 9.63204797e-02 6.16972695e-03 1.27998289e+02] [-9.63200377e-02 9.95350347e-01 -3.69425700e-04 -2.18052806e+00] [-6.17662313e-03 -2.26567389e-04 9.99980899e-01 -7.09164111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:-2.18, Z:-0.71 [[ 9.95395779e-01 9.56592368e-02 6.04598695e-03 1.28030980e+02] [-9.56587943e-02 9.95414116e-01 -3.62985279e-04 -2.18386213e+00] [-6.05298365e-03 -2.17037807e-04 9.99981657e-01 -7.09192614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.06, Y:-2.19, Z:-0.71 [[ 9.95416270e-01 9.54458032e-02 6.04556157e-03 1.28062532e+02] [-9.54453496e-02 9.95434605e-01 -3.64168092e-04 -2.18676356e+00] [-6.05271951e-03 -2.14521893e-04 9.99981659e-01 -7.09191466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:-2.19, Z:-0.71 [[ 9.95245573e-01 9.71665567e-02 6.70151102e-03 1.28095532e+02] [-9.71660293e-02 9.95268104e-01 -4.05004034e-04 -2.18890721e+00] [-6.70915301e-03 -2.48080744e-04 9.99977463e-01 -7.07964946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:-2.19, Z:-0.71 [[ 9.95050815e-01 9.90704347e-02 7.67629393e-03 1.28128482e+02] [-9.90697856e-02 9.95080379e-01 -4.65708034e-04 -2.19078324e+00] [-7.68466737e-03 -2.97085636e-04 9.99970428e-01 -7.08041386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:-2.19, Z:-0.71 [[ 9.94849974e-01 1.00966943e-01 8.89972204e-03 1.28160505e+02] [-1.00966127e-01 9.94889716e-01 -5.42026296e-04 -2.19258882e+00] [-8.90896867e-03 -3.59335622e-04 9.99960250e-01 -7.07849301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:-2.19, Z:-0.71 [[ 9.94616882e-01 1.03141246e-01 9.95693631e-03 1.28193880e+02] [-1.03140315e-01 9.94666630e-01 -6.08393322e-04 -2.19476884e+00] [-9.96658273e-03 -4.21843274e-04 9.99950243e-01 -7.07665031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:-2.20, Z:-0.71 [[ 9.94381418e-01 1.05304364e-01 1.07975356e-02 1.28226776e+02] [-1.05303372e-01 9.94439924e-01 -6.61888768e-04 -2.19657452e+00] [-1.08072002e-02 -4.78847017e-04 9.99941486e-01 -7.07950478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:-2.20, Z:-0.71 [[ 9.94171816e-01 1.07229990e-01 1.11413772e-02 1.28259227e+02] [-1.07229031e-01 9.94234110e-01 -6.85106211e-04 -2.19809704e+00] [-1.11506012e-02 -5.13565793e-04 9.99937698e-01 -7.08237351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:-2.20, Z:-0.71 [[ 9.93899623e-01 1.09735608e-01 1.10288547e-02 1.28291454e+02] [-1.09734800e-01 9.93960669e-01 -6.80270753e-04 -2.19979779e+00] [-1.10368977e-02 -5.34128312e-04 9.99938949e-01 -7.09759224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:-2.20, Z:-0.71 [[ 9.93767007e-01 1.10912802e-01 1.12020439e-02 1.28324478e+02] [-1.10912019e-01 9.93829987e-01 -6.92951817e-04 -2.20266100e+00] [-1.12097843e-02 -5.53808655e-04 9.99937015e-01 -7.09365137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.035898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.36, Y:-2.20, Z:-0.71 [[ 9.93612019e-01 1.12199329e-01 1.21022953e-02 1.28357746e+02] [-1.12198482e-01 9.93685532e-01 -7.51076265e-04 -2.20447480e+00] [-1.21101460e-02 -6.11580756e-04 9.99926482e-01 -7.11298333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.39, Y:-2.21, Z:-0.71 [[ 9.93408553e-01 1.13858836e-01 1.32519063e-02 1.28389613e+02] [-1.13857931e-01 9.93496699e-01 -8.25131628e-04 -2.20745730e+00] [-1.32596737e-02 -6.89141822e-04 9.99911849e-01 -7.10170675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:-2.21, Z:-0.71 [[ 9.93197615e-01 1.15588437e-01 1.40645408e-02 1.28422544e+02] [-1.15587554e-01 9.93296907e-01 -8.78339094e-04 -2.20934545e+00] [-1.40717908e-02 -7.53321586e-04 9.99900704e-01 -7.10476103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.46, Y:-2.21, Z:-0.71 [[ 9.92973313e-01 1.17460133e-01 1.43915557e-02 1.28455109e+02] [-1.17459365e-01 9.93077280e-01 -9.01501217e-04 -2.21120298e+00] [-1.43978174e-02 -7.95256344e-04 9.99896030e-01 -7.10765602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:-2.21, Z:-0.71 [[ 9.92734033e-01 1.19482170e-01 1.42530912e-02 1.28486828e+02] [-1.19481589e-01 9.92836013e-01 -8.95362800e-04 -2.21353478e+00] [-1.42579621e-02 -8.14124856e-04 9.99898019e-01 -7.11016838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:-2.22, Z:-0.71 [[ 9.92295645e-01 1.23119396e-01 1.38190942e-02 1.28520124e+02] [-1.23119179e-01 9.92391511e-01 -8.69718427e-04 -2.21620426e+00] [-1.38210310e-02 -8.38377724e-04 9.99904134e-01 -7.12127272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:-2.22, Z:-0.71 [[ 9.92063821e-01 1.25007525e-01 1.35090221e-02 1.28553377e+02] [-1.25007458e-01 9.92155436e-01 -8.52639111e-04 -2.21849564e+00] [-1.35096360e-02 -8.42856104e-04 9.99908385e-01 -7.12889350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.59, Y:-2.22, Z:-0.71 [[ 9.91808250e-01 1.27066496e-01 1.30575716e-02 1.28585299e+02] [-1.27066580e-01 9.91893846e-01 -8.26503311e-04 -2.22021189e+00] [-1.30567458e-02 -8.39448168e-04 9.99914405e-01 -7.14156620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:-2.22, Z:-0.71 [[ 9.91555005e-01 1.29121116e-01 1.20999542e-02 1.28617289e+02] [-1.29121317e-01 9.91628507e-01 -7.67883580e-04 -2.22199127e+00] [-1.20978095e-02 -8.00963215e-04 9.99926498e-01 -7.14985364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:-2.22, Z:-0.72 [[ 9.91374415e-01 1.30614340e-01 1.08011289e-02 1.28650280e+02] [-1.30614578e-01 9.91432984e-01 -6.86398693e-04 -2.22345422e+00] [-1.07982490e-02 -7.30306796e-04 9.99941431e-01 -7.15224798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:-2.22, Z:-0.72 [[ 9.91242503e-01 1.31676100e-01 9.98522144e-03 1.28682858e+02] [-1.31676341e-01 9.91292558e-01 -6.36217195e-04 -2.22429696e+00] [-9.98205031e-03 -6.84171898e-04 9.99949944e-01 -7.16025556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:-2.22, Z:-0.72 [[ 9.91209021e-01 1.32064088e-01 7.98454688e-03 1.28715284e+02] [-1.32064243e-01 9.91241028e-01 -5.10082729e-04 -2.22206527e+00] [-7.98197407e-03 -5.48874537e-04 9.99967993e-01 -7.17847360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:-2.22, Z:-0.72 [[ 9.91222917e-01 1.32009064e-01 7.12290970e-03 1.28748302e+02] [-1.32009185e-01 9.91248389e-01 -4.55313164e-04 -2.22265071e+00] [-7.12067823e-03 -4.88972659e-04 9.99974528e-01 -7.18693605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:-2.22, Z:-0.72 [[ 9.91257388e-01 1.31785433e-01 6.43347575e-03 1.28780494e+02] [-1.31785520e-01 9.91278168e-01 -4.12269414e-04 -2.22333488e+00] [-6.43169516e-03 -4.39173845e-04 9.99979220e-01 -7.19346880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:-2.22, Z:-0.72 [[ 9.91270377e-01 1.31724127e-01 5.63859137e-03 1.28813049e+02] [-1.31724189e-01 9.91286340e-01 -3.61924824e-04 -2.22385882e+00] [-5.63713283e-03 -3.83973519e-04 9.99984038e-01 -7.18947917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:-2.22, Z:-0.72 [[ 9.91292427e-01 1.31575909e-01 5.20608670e-03 1.28845273e+02] [-1.31575954e-01 9.91306035e-01 -3.35457549e-04 -2.22261898e+00] [-5.20496330e-03 -3.52459296e-04 9.99986392e-01 -7.19364330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:-2.22, Z:-0.72 [[ 9.91245822e-01 1.31943357e-01 4.76144484e-03 1.28878665e+02] [-1.31943399e-01 9.91257204e-01 -3.06689133e-04 -2.22053746e+00] [-4.76028210e-03 -3.24236896e-04 9.99988617e-01 -7.19644763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.91, Y:-2.22, Z:-0.72 [[ 9.91201403e-01 1.32297953e-01 4.12679443e-03 1.28912109e+02] [-1.32297985e-01 9.91209954e-01 -2.66209490e-04 -2.21803602e+00] [-4.12573868e-03 -2.82099369e-04 9.99991449e-01 -7.20326712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:-2.22, Z:-0.72 [[ 9.91160529e-01 1.32620271e-01 3.55952197e-03 1.28944502e+02] [-1.32620294e-01 9.91166890e-01 -2.30589525e-04 -2.21603647e+00] [-3.55866116e-03 -2.43513616e-04 9.99993638e-01 -7.21590342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:-2.22, Z:-0.72 [[ 9.91150833e-01 1.32692717e-01 3.55947079e-03 1.28977909e+02] [-1.32692738e-01 9.91157194e-01 -2.31374930e-04 -2.21835061e+00] [-3.55869685e-03 -2.42988471e-04 9.99993638e-01 -7.22023074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.635898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.01, Y:-2.21, Z:-0.72 [[ 9.91336303e-01 1.31305381e-01 3.35125577e-03 1.29011054e+02] [-1.31305394e-01 9.91341942e-01 -2.16937414e-04 -2.21247359e+00] [-3.35072546e-03 -2.24980027e-04 9.99994361e-01 -7.23085726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.665898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:129.04, Y:-2.21, Z:-0.72 [[ 9.91552695e-01 1.29620154e-01 4.67643866e-03 1.29042812e+02] [-1.29620152e-01 9.91563676e-01 -3.04660526e-04 -2.21128333e+00] [-4.67647685e-03 -3.04073725e-04 9.99989019e-01 -7.22697409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:-2.21, Z:-0.72 [[ 9.91865701e-01 1.27108829e-01 6.76581800e-03 1.29075429e+02] [-1.27108753e-01 9.91888688e-01 -4.42928809e-04 -2.21122868e+00] [-6.76723850e-03 -4.20668795e-04 9.99977013e-01 -7.20761156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.11, Y:-2.21, Z:-0.72 [[ 9.92295227e-01 1.23612354e-01 8.37669845e-03 1.29107260e+02] [-1.23612096e-01 9.92330462e-01 -5.50548187e-04 -2.21184040e+00] [-8.38050761e-03 -4.89154911e-04 9.99964763e-01 -7.19749415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:-2.21, Z:-0.72 [[ 9.92734520e-01 1.19933394e-01 9.70325691e-03 1.29140469e+02] [-1.19932853e-01 9.92781800e-01 -6.39712182e-04 -2.21422266e+00] [-9.70993971e-03 -5.28674920e-04 9.99952718e-01 -7.19441842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:-2.22, Z:-0.72 [[ 9.93181923e-01 1.16093121e-01 1.05856249e-02 1.29173293e+02] [-1.16092237e-01 9.93238190e-01 -7.00056340e-04 -2.21758076e+00] [-1.05953187e-02 -5.33625578e-04 9.99943726e-01 -7.19315106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.815898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:129.20, Y:-2.22, Z:-0.72 [[ 9.93819976e-01 1.10259436e-01 1.28339884e-02 1.29204617e+02] [-1.10257613e-01 9.93902678e-01 -8.51693852e-04 -2.22189444e+00] [-1.28496427e-02 -5.68614555e-04 9.99917278e-01 -7.21032930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:-2.23, Z:-0.72 [[ 9.93877108e-01 1.09615625e-01 1.38819412e-02 1.29236163e+02] [-1.09613393e-01 9.93973868e-01 -9.23877642e-04 -2.22595050e+00] [-1.38995582e-02 -6.03425831e-04 9.99903214e-01 -7.21131185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:-2.23, Z:-0.72 [[ 9.93840330e-01 1.09915178e-01 1.41439555e-02 1.29269097e+02] [-1.09912855e-01 9.93940780e-01 -9.43842541e-04 -2.22963975e+00] [-1.41619968e-02 -6.16573750e-04 9.99899524e-01 -7.21499939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:-2.23, Z:-0.72 [[ 9.93741307e-01 1.10762315e-01 1.44887541e-02 1.29301379e+02] [-1.10759927e-01 9.93846718e-01 -9.69634821e-04 -2.23361641e+00] [-1.45069997e-02 -6.41207177e-04 9.99894562e-01 -7.21888510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:-2.24, Z:-0.72 [[ 9.93630664e-01 1.11770749e-01 1.43318745e-02 1.29334017e+02] [-1.11768479e-01 9.93733808e-01 -9.61833146e-04 -2.23759129e+00] [-1.43495730e-02 -6.46144896e-04 9.99896831e-01 -7.21570961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:-2.24, Z:-0.72 [[ 9.93491449e-01 1.13083641e-01 1.36686282e-02 1.29367013e+02] [-1.13081665e-01 9.93585271e-01 -9.19849836e-04 -2.24182112e+00] [-1.36849676e-02 -6.31808279e-04 9.99906157e-01 -7.21370877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:-2.25, Z:-0.72 [[ 9.93104308e-01 1.16680123e-01 1.13834064e-02 1.29398325e+02] [-1.16678968e-01 9.93169386e-01 -7.67860729e-04 -2.24780041e+00] [-1.13952449e-02 -5.65638318e-04 9.99934912e-01 -7.22513840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:-2.25, Z:-0.72 [[ 9.92880402e-01 1.18628998e-01 1.07549357e-02 1.29431055e+02] [-1.18628061e-01 9.92938495e-01 -7.27254826e-04 -2.25185946e+00] [-1.07652632e-02 -5.53760107e-04 9.99941900e-01 -7.24047879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:-2.25, Z:-0.72 [[ 9.92870744e-01 1.18709813e-01 1.07547853e-02 1.29464455e+02] [-1.18708857e-01 9.92928837e-01 -7.29472568e-04 -2.25425000e+00] [-1.07653320e-02 -5.52416296e-04 9.99941900e-01 -7.24480811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.50, Y:-2.26, Z:-0.72 [[ 9.92706573e-01 1.20143533e-01 9.95951099e-03 1.29495874e+02] [-1.20142780e-01 9.92756393e-01 -6.75997926e-04 -2.25868438e+00] [-9.96858498e-03 -5.25495756e-04 9.99950174e-01 -7.24948568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:-2.26, Z:-0.72 [[ 9.92688999e-01 1.20256550e-01 1.03398798e-02 1.29527873e+02] [-1.20255725e-01 9.92742698e-01 -7.03701155e-04 -2.26219444e+00] [-1.03494649e-02 -5.44873355e-04 9.99946294e-01 -7.24661229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:-2.27, Z:-0.72 [[ 9.92718063e-01 1.19982896e-01 1.07215627e-02 1.29559883e+02] [-1.19981971e-01 9.92775801e-01 -7.31742322e-04 -2.26672117e+00] [-1.07319046e-02 -5.59980408e-04 9.99942255e-01 -7.24771648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:-2.27, Z:-0.73 [[ 9.92863310e-01 1.18792477e-01 1.05259419e-02 1.29592641e+02] [-1.18791508e-01 9.92918959e-01 -7.19414707e-04 -2.27182601e+00] [-1.05368683e-02 -5.36112050e-04 9.99944342e-01 -7.25374829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:-2.28, Z:-0.73 [[ 9.93094316e-01 1.16938970e-01 9.43166041e-03 1.29624915e+02] [-1.16938094e-01 9.93138996e-01 -6.46102699e-04 -2.27675723e+00] [-9.44250433e-03 -4.61279478e-04 9.99955312e-01 -7.25872984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:-2.28, Z:-0.73 [[ 9.93372464e-01 1.14647291e-01 8.19431653e-03 1.29657868e+02] [-1.14646543e-01 9.93406188e-01 -5.62528839e-04 -2.28165915e+00] [-8.20477715e-03 -3.80649403e-04 9.99966268e-01 -7.26808164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.265898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.69, Y:-2.29, Z:-0.73 [[ 9.93924679e-01 1.09866190e-01 6.56907697e-03 1.29690357e+02] [-1.09865600e-01 9.93946350e-01 -4.51678629e-04 -2.28817832e+00] [-6.57893429e-03 -2.72781049e-04 9.99978321e-01 -7.30136120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:-2.29, Z:-0.73 [[ 9.94012015e-01 1.09071022e-01 6.60501121e-03 1.29723185e+02] [-1.09070400e-01 9.94033923e-01 -4.55392260e-04 -2.29358027e+00] [-6.61527530e-03 -2.67745837e-04 9.99978083e-01 -7.28430364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:-2.30, Z:-0.73 [[ 9.94011868e-01 1.09027694e-01 7.30529112e-03 1.29754898e+02] [-1.09026920e-01 9.94038669e-01 -5.05378746e-04 -2.29812858e+00] [-7.31684214e-03 -2.94120918e-04 9.99973188e-01 -7.28164618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:-2.30, Z:-0.73 [[ 9.93886905e-01 1.10100552e-01 8.16631094e-03 1.29787008e+02] [-1.10099606e-01 9.93920397e-01 -5.66658303e-04 -2.30236542e+00] [-8.17905241e-03 -3.35913349e-04 9.99966495e-01 -7.28240491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:-2.31, Z:-0.73 [[ 9.93680195e-01 1.11949624e-01 8.18244716e-03 1.29819829e+02] [-1.11948726e-01 9.93713821e-01 -5.69146808e-04 -2.30537323e+00] [-8.19472661e-03 -3.50464623e-04 9.99966361e-01 -7.27804210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:-2.31, Z:-0.73 [[ 9.93036319e-01 1.17588192e-01 7.20322634e-03 1.29851942e+02] [-1.17587633e-01 9.93062383e-01 -5.02478902e-04 -2.30903662e+00] [-7.21233870e-03 -3.48030539e-04 9.99973930e-01 -7.28691133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:-2.31, Z:-0.73 [[ 9.93027252e-01 1.17664744e-01 7.20315393e-03 1.29885335e+02] [-1.17664180e-01 9.93053315e-01 -5.03514176e-04 -2.31150534e+00] [-7.21236175e-03 -3.47549905e-04 9.99973930e-01 -7.29123867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:-2.32, Z:-0.73 [[ 9.92290293e-01 1.23718311e-01 7.33173079e-03 1.29918212e+02] [-1.23717891e-01 9.92317298e-01 -5.12479524e-04 -2.31548090e+00] [-7.33880639e-03 -3.98537814e-04 9.99972991e-01 -7.29883817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:-2.32, Z:-0.73 [[ 9.92009241e-01 1.25788370e-01 9.74434754e-03 1.29948964e+02] [-1.25820804e-01 9.92049068e-01 2.78772462e-03 -2.31979091e+00] [-9.31620756e-03 -3.99149022e-03 9.99948637e-01 -7.29511029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:-2.32, Z:-0.73 [[ 9.91856299e-01 1.26989981e-01 9.72759459e-03 1.29981256e+02] [-1.26953746e-01 9.91899497e-01 -4.25851834e-03 -2.31978594e+00] [-1.01895853e-02 2.98888366e-03 9.99943618e-01 -7.30836688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:-2.32, Z:-0.73 [[ 9.91737837e-01 1.27788742e-01 1.12294359e-02 1.30014417e+02] [-1.27787942e-01 9.91801197e-01 -7.91692700e-04 -2.32430083e+00] [-1.12385374e-02 -6.49834900e-04 9.99936634e-01 -7.29965751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:-2.33, Z:-0.73 [[ 9.91653699e-01 1.28389082e-01 1.17976764e-02 1.30047345e+02] [-1.28388214e-01 9.91723636e-01 -8.34046492e-04 -2.32761408e+00] [-1.18071170e-02 -6.87597317e-04 9.99930057e-01 -7.30415752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:-2.33, Z:-0.73 [[ 9.91587140e-01 1.28903423e-01 1.17835253e-02 1.30079018e+02] [-1.28902568e-01 9.91656912e-01 -8.35223238e-04 -2.33108906e+00] [-1.17928774e-02 -6.90730040e-04 9.99930223e-01 -7.30629866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:-2.34, Z:-0.73 [[ 9.91442003e-01 1.30081819e-01 1.10215241e-02 1.30111650e+02] [-1.30081125e-01 9.91503045e-01 -7.82935899e-04 -2.33601609e+00] [-1.10297205e-02 -6.57456718e-04 9.99938955e-01 -7.31806895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:-2.34, Z:-0.73 [[ 9.91277662e-01 1.31345779e-01 1.08112334e-02 1.30144198e+02] [-1.31345165e-01 9.91336398e-01 -7.69937613e-04 -2.33887616e+00] [-1.08186973e-02 -6.56781278e-04 9.99941260e-01 -7.32264798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.18, Y:-2.34, Z:-0.73 [[ 9.91058246e-01 1.32974517e-01 1.10150632e-02 1.30177512e+02] [-1.32973957e-01 9.91119220e-01 -7.86523208e-04 -2.34113072e+00] [-1.10218284e-02 -6.85226232e-04 9.99939023e-01 -7.32700389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:-2.34, Z:-0.73 [[ 9.90765986e-01 1.35122405e-01 1.11667668e-02 1.30210601e+02] [-1.35121941e-01 9.90828654e-01 -7.99468217e-04 -2.34314423e+00] [-1.11723786e-02 -7.16789281e-04 9.99937330e-01 -7.32985521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:-2.34, Z:-0.73 [[ 9.90450041e-01 1.37442092e-01 1.08806491e-02 1.30243751e+02] [-1.37441769e-01 9.90509541e-01 -7.80943311e-04 -2.34439861e+00] [-1.08847212e-02 -7.21970324e-04 9.99940499e-01 -7.33400182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:-2.34, Z:-0.73 [[ 9.89827482e-01 1.41958534e-01 9.45148228e-03 1.30275621e+02] [-1.41958482e-01 9.89872379e-01 -6.79842006e-04 -2.34376878e+00] [-9.45227063e-03 -6.68791774e-04 9.99955103e-01 -7.33675119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:-2.34, Z:-0.73 [[ 9.89595375e-01 1.43621165e-01 8.59971703e-03 1.30309097e+02] [-1.43621173e-01 9.89632545e-01 -6.19802683e-04 -2.34473574e+00] [-8.59957663e-03 -6.21747578e-04 9.99962830e-01 -7.34278356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:-2.35, Z:-0.74 [[ 9.89529835e-01 1.44106627e-01 7.99905930e-03 1.30341870e+02] [-1.44106639e-01 9.89561995e-01 -5.77818718e-04 -2.34603919e+00] [-7.99883259e-03 -5.80948692e-04 9.99967840e-01 -7.35082437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:-2.35, Z:-0.74 [[ 9.89717534e-01 1.42833300e-01 7.60606351e-03 1.30374213e+02] [-1.42833264e-01 9.89746612e-01 -5.50802839e-04 -2.34862239e+00] [-7.60674858e-03 -5.41259648e-04 9.99970922e-01 -7.36903661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:-2.35, Z:-0.74 [[ 9.90024654e-01 1.40707253e-01 7.25626933e-03 1.30407279e+02] [-1.40707155e-01 9.90051120e-01 -5.26595300e-04 -2.35232800e+00] [-7.25817335e-03 -4.99666680e-04 9.99973534e-01 -7.37502776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:-2.36, Z:-0.74 [[ 9.90367949e-01 1.38233243e-01 7.93074479e-03 1.30439370e+02] [-1.38233033e-01 9.90399564e-01 -5.77261608e-04 -2.35624246e+00] [-7.93440292e-03 -5.24589509e-04 9.99968385e-01 -7.37181034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:-2.36, Z:-0.74 [[ 9.90661438e-01 1.36066517e-01 8.70738941e-03 1.30472020e+02] [-1.36066166e-01 9.90699548e-01 -6.35463220e-04 -2.36063353e+00] [-8.71287202e-03 -5.55252182e-04 9.99961888e-01 -7.36924319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:-2.37, Z:-0.74 [[ 9.90921377e-01 1.34136025e-01 9.07475799e-03 1.30504539e+02] [-1.34135548e-01 9.90962771e-01 -6.63936774e-04 -2.36522867e+00] [-9.08180516e-03 -5.59338494e-04 9.99958603e-01 -7.37207866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:-2.37, Z:-0.74 [[ 9.90910124e-01 1.34219143e-01 9.07460125e-03 1.30537922e+02] [-1.34218650e-01 9.90951518e-01 -6.66071341e-04 -2.36779807e+00] [-9.08188941e-03 -5.57963899e-04 9.99958603e-01 -7.37637634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:-2.37, Z:-0.74 [[ 9.90576122e-01 1.36793820e-01 6.81153308e-03 1.30570064e+02] [-1.36793605e-01 9.90599445e-01 -4.99701365e-04 -2.36976558e+00] [-6.81585695e-03 -4.36781924e-04 9.99976676e-01 -7.38400277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:-2.37, Z:-0.74 [[ 9.90163910e-01 1.39778563e-01 6.11424815e-03 1.30603322e+02] [-1.39778442e-01 9.90182703e-01 -4.49342569e-04 -2.37179412e+00] [-6.11703122e-03 -4.09717282e-04 9.99981207e-01 -7.38779704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:-2.37, Z:-0.74 [[ 9.89730761e-01 1.42810640e-01 6.17582729e-03 1.30634927e+02] [-1.42810567e-01 9.89749935e-01 -4.55146134e-04 -2.37350647e+00] [-6.17752437e-03 -4.31501267e-04 9.99980826e-01 -7.38827345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:-2.38, Z:-0.74 [[ 9.89237215e-01 1.46183933e-01 6.32379612e-03 1.30667359e+02] [-1.46183918e-01 9.89257319e-01 -4.67180954e-04 -2.37531731e+00] [-6.32415595e-03 -4.62284505e-04 9.99979895e-01 -7.38643985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:-2.38, Z:-0.74 [[ 9.88778545e-01 1.49235619e-01 6.76160658e-03 1.30700637e+02] [-1.49235663e-01 9.88801530e-01 -5.00931510e-04 -2.37666410e+00] [-6.76064376e-03 -5.13762512e-04 9.99977015e-01 -7.38340894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:-2.38, Z:-0.74 [[ 9.88327231e-01 1.52151126e-01 7.70186806e-03 1.30733707e+02] [-1.52151258e-01 9.88357055e-01 -5.72322555e-04 -2.37769915e+00] [-7.69927515e-03 -6.06206945e-04 9.99970176e-01 -7.38976178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:-2.38, Z:-0.74 [[ 9.87590269e-01 1.56663664e-01 1.10434433e-02 1.30766030e+02] [-1.56664181e-01 9.87651586e-01 -8.23699636e-04 -2.37687595e+00] [-1.10361181e-02 -9.16634253e-04 9.99938680e-01 -7.39002446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:-2.38, Z:-0.74 [[ 9.87406023e-01 1.57779239e-01 1.16213872e-02 1.30797859e+02] [-1.57779863e-01 9.87473929e-01 -8.68911242e-04 -2.37766876e+00] [-1.16129130e-02 -9.75652689e-04 9.99932092e-01 -7.39581121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:-2.38, Z:-0.74 [[ 9.87404083e-01 1.57794654e-01 1.15768738e-02 1.30830776e+02] [-1.57795252e-01 9.87471471e-01 -8.67493096e-04 -2.37866526e+00] [-1.15687184e-02 -9.70209491e-04 9.99932609e-01 -7.40600452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:-2.38, Z:-0.74 [[ 9.87474985e-01 1.57369548e-01 1.13127757e-02 1.30863220e+02] [-1.57370069e-01 9.87539336e-01 -8.49722440e-04 -2.38003328e+00] [-1.13055314e-02 -9.41212630e-04 9.99935647e-01 -7.42098621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:-2.38, Z:-0.74 [[ 9.87610890e-01 1.56584905e-01 1.02905981e-02 1.30894738e+02] [-1.56585276e-01 9.87664139e-01 -7.74650759e-04 -2.38111465e+00] [-1.02849533e-02 -8.46302623e-04 9.99946750e-01 -7.42732943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:-2.38, Z:-0.74 [[ 9.87647457e-01 1.56402176e-01 9.53201799e-03 1.30927225e+02] [-1.56402479e-01 9.87693145e-01 -7.18255717e-04 -2.38212348e+00] [-9.52704558e-03 -7.81447810e-04 9.99954311e-01 -7.43742804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:-2.38, Z:-0.74 [[ 9.87445534e-01 1.57734992e-01 8.42550850e-03 1.30960097e+02] [-1.57735267e-01 9.87481231e-01 -6.36097448e-04 -2.38113118e+00] [-8.42036633e-03 -7.00888248e-04 9.99964302e-01 -7.44023913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:-2.38, Z:-0.74 [[ 9.87314537e-01 1.58558252e-01 8.32382641e-03 1.30992326e+02] [-1.58558534e-01 9.87349378e-01 -6.30236481e-04 -2.38172041e+00] [-8.31845402e-03 -6.97572077e-04 9.99965158e-01 -7.44245265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:-2.38, Z:-0.74 [[ 9.87302559e-01 1.58632821e-01 8.32374086e-03 1.31025706e+02] [-1.58633096e-01 9.87337400e-01 -6.31363880e-04 -2.38438020e+00] [-8.31849570e-03 -6.97073608e-04 9.99965158e-01 -7.44674781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.525898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:131.06, Y:-2.38, Z:-0.75 [[ 9.87265540e-01 1.58863744e-01 8.31053229e-03 1.31058808e+02] [-1.58864026e-01 9.87300270e-01 -6.30512860e-04 -2.38478282e+00] [-8.30515641e-03 -6.97760995e-04 9.99965268e-01 -7.46090360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:-2.39, Z:-0.75 [[ 9.87255318e-01 1.58884722e-01 9.08751072e-03 1.31090711e+02] [-1.58885042e-01 9.87296848e-01 -6.91389580e-04 -2.38706641e+00] [-9.08192193e-03 -7.61291479e-04 9.99958469e-01 -7.45818411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:-2.39, Z:-0.75 [[ 9.87359878e-01 1.58201345e-01 9.63357872e-03 1.31123890e+02] [-1.58201655e-01 9.87406551e-01 -7.34664117e-04 -2.38959227e+00] [-9.62848358e-03 -7.98670228e-04 9.99953326e-01 -7.46189670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.615898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:131.16, Y:-2.39, Z:-0.75 [[ 9.87735472e-01 1.55823558e-01 9.88212195e-03 1.31155845e+02] [-1.55823746e-01 9.87784586e-01 -7.55728592e-04 -2.39291752e+00] [-9.87916807e-03 -7.93409322e-04 9.99950885e-01 -7.48059990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:-2.40, Z:-0.75 [[ 9.87965515e-01 1.54400805e-01 9.19417762e-03 1.31188830e+02] [-1.54400899e-01 9.88008030e-01 -7.03835939e-04 -2.39720635e+00] [-9.19259415e-03 -7.24223653e-04 9.99957485e-01 -7.47137430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.675898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:131.22, Y:-2.40, Z:-0.75 [[ 9.88213880e-01 1.52849666e-01 8.38498383e-03 1.31222165e+02] [-1.52849678e-01 9.88249241e-01 -6.43223202e-04 -2.39983470e+00] [-8.38477036e-03 -6.45999979e-04 9.99964639e-01 -7.49210156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:-2.40, Z:-0.75 [[ 9.88439085e-01 1.51416015e-01 7.83358232e-03 1.31253893e+02] [-1.51415968e-01 9.88469950e-01 -6.02544767e-04 -2.40360285e+00] [-7.83449565e-03 -5.90550648e-04 9.99969135e-01 -7.49028599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:-2.41, Z:-0.75 [[ 9.88636806e-01 1.50155759e-01 7.10733360e-03 1.31286985e+02] [-1.50155686e-01 9.88662213e-01 -5.46975257e-04 -2.40679247e+00] [-7.10888365e-03 -5.26446683e-04 9.99974593e-01 -7.49879346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:-2.41, Z:-0.75 [[ 9.88747020e-01 1.49464516e-01 6.29996281e-03 1.31319241e+02] [-1.49464438e-01 9.88766982e-01 -4.85799705e-04 -2.40992048e+00] [-6.30180504e-03 -4.61287394e-04 9.99980037e-01 -7.50569969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:-2.41, Z:-0.75 [[ 9.88751343e-01 1.49479628e-01 5.15972905e-03 1.31352069e+02] [-1.49479574e-01 9.88764734e-01 -3.98269058e-04 -2.41248096e+00] [-5.16129123e-03 -3.77485037e-04 9.99986609e-01 -7.50751755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:-2.41, Z:-0.75 [[ 9.88623417e-01 1.50354281e-01 4.16277438e-03 1.31384829e+02] [-1.50354249e-01 9.88632134e-01 -3.22507396e-04 -2.41493003e+00] [-4.16394288e-03 -3.07052452e-04 9.99991284e-01 -7.50778428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:-2.42, Z:-0.75 [[ 9.88407591e-01 1.51780710e-01 3.61254122e-03 1.31417080e+02] [-1.51780697e-01 9.88414155e-01 -2.79190831e-04 -2.41682778e+00] [-3.61306266e-03 -2.72359689e-04 9.99993436e-01 -7.50943941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:-2.42, Z:-0.75 [[ 9.87623766e-01 1.56770062e-01 4.73761723e-03 1.31450373e+02] [-1.56770091e-01 9.87635056e-01 -3.67566762e-04 -2.41764047e+00] [-4.73666032e-03 -3.79699016e-04 9.99988710e-01 -7.50081765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:-2.42, Z:-0.75 [[ 9.87103046e-01 1.59987509e-01 5.61906468e-03 1.31483687e+02] [-1.59987594e-01 9.87118928e-01 -4.37416972e-04 -2.41894563e+00] [-5.61666636e-03 -4.67205011e-04 9.99984117e-01 -7.49823548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:-2.42, Z:-0.75 [[ 9.86631813e-01 1.62845945e-01 6.23407022e-03 1.31516639e+02] [-1.62846097e-01 9.86651363e-01 -4.86696576e-04 -2.41946198e+00] [-6.23011044e-03 -5.35003676e-04 9.99980450e-01 -7.49704294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:-2.42, Z:-0.75 [[ 9.86284214e-01 1.64921055e-01 6.67043744e-03 1.31548802e+02] [-1.64921266e-01 9.86306597e-01 -5.22201242e-04 -2.41850722e+00] [-6.66521843e-03 -5.85058147e-04 9.99977616e-01 -7.50885097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:-2.42, Z:-0.75 [[ 9.86072096e-01 1.66170903e-01 7.00374672e-03 1.31581774e+02] [-1.66171159e-01 9.86096772e-01 -5.49527575e-04 -2.41776368e+00] [-6.99768753e-03 -6.21946900e-04 9.99975322e-01 -7.51073499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:-2.42, Z:-0.75 [[ 9.85995302e-01 1.66606547e-01 7.45134678e-03 1.31613397e+02] [-1.66606835e-01 9.86023234e-01 -5.86492013e-04 -2.41766558e+00] [-7.44491446e-03 -6.63166932e-04 9.99972066e-01 -7.50985312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:-2.42, Z:-0.75 [[ 9.86248026e-01 1.64983234e-01 9.76538616e-03 1.31646211e+02] [-1.64983636e-01 9.86296004e-01 -7.69966159e-04 -2.41711551e+00] [-9.75859285e-03 -8.51751312e-04 9.99952021e-01 -7.49419507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:-2.42, Z:-0.75 [[ 9.86482737e-01 1.63488058e-01 1.11114662e-02 1.31677797e+02] [-1.63488459e-01 9.86544856e-01 -8.78402106e-04 -2.41898987e+00] [-1.11055680e-02 -9.50067967e-04 9.99937880e-01 -7.48975890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.125898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.71, Y:-2.42, Z:-0.75 [[ 9.86814674e-01 1.61420190e-01 1.18457744e-02 1.31710350e+02] [-1.61420473e-01 9.86885277e-01 -9.38543639e-04 -2.42078047e+00] [-1.18419203e-02 -9.85981871e-04 9.99929396e-01 -7.49533837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:-2.42, Z:-0.75 [[ 9.87181265e-01 1.59086053e-01 1.28365728e-02 1.31743637e+02] [-1.59086157e-01 9.87264177e-01 -1.01948246e-03 -2.42327369e+00] [-1.28352739e-02 -1.03570705e-03 9.99917088e-01 -7.49407787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:-2.43, Z:-0.75 [[ 9.87529269e-01 1.56923281e-01 1.26896531e-02 1.31776370e+02] [-1.56923178e-01 9.87610296e-01 -1.01001243e-03 -2.42583743e+00] [-1.26909266e-02 -9.93883868e-04 9.99918973e-01 -7.50071025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:-2.43, Z:-0.75 [[ 9.87685965e-01 1.55943443e-01 1.25728772e-02 1.31809520e+02] [-1.55943235e-01 9.87765509e-01 -1.00289714e-03 -2.42841577e+00] [-1.25754497e-02 -9.70107719e-04 9.99920455e-01 -7.51346816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:-2.43, Z:-0.75 [[ 9.87247129e-01 1.58701718e-01 1.25248186e-02 1.31841243e+02] [-1.58701705e-01 9.87326069e-01 -1.00126345e-03 -2.43095555e+00] [-1.25249821e-02 -9.99215600e-04 9.99921060e-01 -7.51156923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:-2.43, Z:-0.75 [[ 9.86702677e-01 1.62040998e-01 1.26705156e-02 1.31874451e+02] [-1.62041240e-01 9.86783465e-01 -1.01430035e-03 -2.43314071e+00] [-1.26674135e-02 -1.05233319e-03 9.99919211e-01 -7.51181333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:-2.43, Z:-0.75 [[ 9.86059067e-01 1.65966847e-01 1.19383002e-02 1.31906050e+02] [-1.65967324e-01 9.86130788e-01 -9.57664154e-04 -2.43432576e+00] [-1.19316659e-02 -1.03705431e-03 9.99928277e-01 -7.51244533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:-2.43, Z:-0.75 [[ 9.85342708e-01 1.70263432e-01 1.04933547e-02 1.31939380e+02] [-1.70264034e-01 9.85398117e-01 -8.42567768e-04 -2.43456903e+00] [-1.04835904e-02 -9.56422890e-04 9.99944588e-01 -7.52469778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:-2.43, Z:-0.75 [[ 9.84625874e-01 1.74459254e-01 8.70955782e-03 1.31971095e+02] [-1.74459821e-01 9.84664044e-01 -7.00496465e-04 -2.43417271e+00] [-8.69819652e-03 -8.29740953e-04 9.99961826e-01 -7.54174881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:-2.43, Z:-0.76 [[ 9.83371627e-01 1.81496529e-01 6.26524537e-03 1.32003421e+02] [-1.81496961e-01 9.83391376e-01 -5.04334345e-04 -2.43088299e+00] [-6.25272320e-03 -6.41174908e-04 9.99980246e-01 -7.55715282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.425898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:132.04, Y:-2.43, Z:-0.76 [[ 9.83044927e-01 1.83250719e-01 6.46886368e-03 1.32036757e+02] [-1.83251210e-01 9.83065980e-01 -5.21757068e-04 -2.43007254e+00] [-6.45493218e-03 -6.72516460e-04 9.99978941e-01 -7.56591325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:-2.43, Z:-0.76 [[ 9.82980199e-01 1.83579266e-01 6.97010785e-03 1.32069512e+02] [-1.83579835e-01 9.83004642e-01 -5.63514830e-04 -2.42966551e+00] [-6.95509802e-03 -7.25647333e-04 9.99975550e-01 -7.55896642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:-2.43, Z:-0.76 [[ 9.83246926e-01 1.82140941e-01 7.08235524e-03 1.32102473e+02] [-1.82141484e-01 9.83272165e-01 -5.73661492e-04 -2.42963760e+00] [-7.06837002e-03 -7.25939794e-04 9.99974755e-01 -7.55253598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:-2.43, Z:-0.76 [[ 9.83763760e-01 1.79328616e-01 7.07894497e-03 1.32134193e+02] [-1.79329077e-01 9.83788977e-01 -5.74794560e-04 -2.43077005e+00] [-7.06726515e-03 -7.03998608e-04 9.99974779e-01 -7.56202307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:-2.43, Z:-0.76 [[ 9.84429656e-01 1.75664119e-01 6.35367195e-03 1.32166908e+02] [-1.75664409e-01 9.84449973e-01 -5.16725785e-04 -2.43257360e+00] [-6.34564235e-03 -6.07433841e-04 9.99979682e-01 -7.56711080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:-2.43, Z:-0.76 [[ 9.85788723e-01 1.67912517e-01 5.09704743e-03 1.32198815e+02] [-1.67912598e-01 9.85801799e-01 -4.15108275e-04 -2.43457895e+00] [-5.09438040e-03 -4.46649421e-04 9.99986924e-01 -7.58039886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:-2.44, Z:-0.76 [[ 9.86305022e-01 1.64836883e-01 5.58616203e-03 1.32230835e+02] [-1.64836924e-01 9.86320729e-01 -4.56191784e-04 -2.43768141e+00] [-5.58494464e-03 -4.70861521e-04 9.99984293e-01 -7.58107016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:-2.44, Z:-0.76 [[ 9.86694155e-01 1.62440922e-01 6.89861566e-03 1.32263286e+02] [-1.62440916e-01 9.86718111e-01 -5.64964035e-04 -2.44037217e+00] [-6.89876228e-03 -5.63170732e-04 9.99976045e-01 -7.57185059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:-2.44, Z:-0.76 [[ 9.86865487e-01 1.61312759e-01 8.64315383e-03 1.32295185e+02] [-1.61312686e-01 9.86903092e-01 -7.10112008e-04 -2.44222069e+00] [-8.64450536e-03 -6.93465330e-04 9.99962395e-01 -7.56309870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:-2.44, Z:-0.76 [[ 9.86718842e-01 1.62154308e-01 9.58686314e-03 1.32327326e+02] [-1.62154240e-01 9.86765108e-01 -7.89590549e-04 -2.44320747e+00] [-9.58801755e-03 -7.75446635e-04 9.99953733e-01 -7.55508524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:-2.44, Z:-0.76 [[ 9.86352248e-01 1.64376166e-01 9.47196511e-03 1.32360357e+02] [-1.64376187e-01 9.86397414e-01 -7.81668685e-04 -2.44337705e+00] [-9.47160959e-03 -7.85964839e-04 9.99954834e-01 -7.56313246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:-2.44, Z:-0.76 [[ 9.85096801e-01 1.71766610e-01 8.97348184e-03 1.32392303e+02] [-1.71766918e-01 9.85137338e-01 -7.42107624e-04 -2.44036182e+00] [-8.96758132e-03 -8.10299475e-04 9.99959462e-01 -7.58053607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:-2.44, Z:-0.76 [[ 9.84473283e-01 1.75287891e-01 9.30103997e-03 1.32425747e+02] [-1.75288363e-01 9.84516834e-01 -7.70832942e-04 -2.44090410e+00] [-9.29214810e-03 -8.71499630e-04 9.99956447e-01 -7.58858412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:-2.44, Z:-0.76 [[ 9.83981310e-01 1.77978836e-01 1.02135224e-02 1.32459279e+02] [-1.77979527e-01 9.84033825e-01 -8.48542995e-04 -2.44136062e+00] [-1.02014743e-02 -9.82847450e-04 9.99947481e-01 -7.59446332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:-2.44, Z:-0.76 [[ 9.83632149e-01 1.79840610e-01 1.11870266e-02 1.32491088e+02] [-1.79841532e-01 9.83695154e-01 -9.31821753e-04 -2.44143959e+00] [-1.11722033e-02 -1.09532217e-03 9.99936989e-01 -7.60770453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:-2.44, Z:-0.76 [[ 9.83476177e-01 1.80671302e-01 1.15104274e-02 1.32522871e+02] [-1.80672319e-01 9.83542877e-01 -9.60057471e-04 -2.44141065e+00] [-1.14944537e-02 -1.13542196e-03 9.99933292e-01 -7.61249803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:-2.44, Z:-0.76 [[ 9.83530041e-01 1.80414297e-01 1.09242749e-02 1.32556077e+02] [-1.80415178e-01 9.83590123e-01 -9.12878815e-04 -2.44167674e+00] [-1.09097053e-02 -1.07306127e-03 9.99939912e-01 -7.62588540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:-2.44, Z:-0.76 [[ 9.84158811e-01 1.77034788e-01 9.49304605e-03 1.32588649e+02] [-1.77035284e-01 9.84204184e-01 -7.94680769e-04 -2.44214815e+00] [-9.48378178e-03 -8.98512027e-04 9.99954624e-01 -7.63607008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:-2.44, Z:-0.76 [[ 9.84516078e-01 1.75050279e-01 9.24617210e-03 1.32622024e+02] [-1.75050648e-01 9.84559124e-01 -7.75611277e-04 -2.44432864e+00] [-9.23917407e-03 -8.54946645e-04 9.99956952e-01 -7.62902963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:-2.45, Z:-0.76 [[ 9.84796206e-01 1.73457890e-01 9.42302234e-03 1.32655457e+02] [-1.73458185e-01 9.84840916e-01 -7.92188453e-04 -2.44604581e+00] [-9.41758929e-03 -8.54356173e-04 9.99955289e-01 -7.62834572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.69, Y:-2.45, Z:-0.76 [[ 9.85056564e-01 1.71956525e-01 9.72205720e-03 1.32687615e+02] [-1.71956748e-01 9.85104160e-01 -8.19247582e-04 -2.44720662e+00] [-9.71811395e-03 -8.64768128e-04 9.99952404e-01 -7.63129035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:-2.45, Z:-0.76 [[ 9.85273381e-01 1.70738981e-01 9.19596638e-03 1.32720451e+02] [-1.70739115e-01 9.85315966e-01 -7.76342111e-04 -2.44885939e+00] [-9.19348436e-03 -8.05201944e-04 9.99957415e-01 -7.64063660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.75, Y:-2.45, Z:-0.76 [[ 9.85568789e-01 1.69078694e-01 8.15825579e-03 1.32752404e+02] [-1.69078730e-01 9.85602306e-01 -6.90309400e-04 -2.45037037e+00] [-8.15751233e-03 -6.99040128e-04 9.99966483e-01 -7.63946317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.115898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:132.79, Y:-2.45, Z:-0.77 [[ 9.86209415e-01 1.65352317e-01 7.04273217e-03 1.32785458e+02] [-1.65352248e-01 9.86234393e-01 -5.96125159e-04 -2.44997811e+00] [-7.04435537e-03 -5.76627352e-04 9.99975022e-01 -7.67084863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:-2.45, Z:-0.77 [[ 9.86553692e-01 1.63291914e-01 6.89665169e-03 1.32817189e+02] [-1.63291789e-01 9.86577645e-01 -5.85071414e-04 -2.45106928e+00] [-6.89961982e-03 -5.48962227e-04 9.99976047e-01 -7.65137002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:-2.45, Z:-0.77 [[ 9.86863253e-01 1.61404888e-01 7.02721472e-03 1.32849974e+02] [-1.61404702e-01 9.86888122e-01 -5.97370100e-04 -2.45255274e+00] [-7.03149319e-03 -5.44702896e-04 9.99975130e-01 -7.65296910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.88, Y:-2.45, Z:-0.77 [[ 9.87144822e-01 1.59651764e-01 7.51091718e-03 1.32882620e+02] [-1.59651489e-01 9.87173233e-01 -6.40028765e-04 -2.45461778e+00] [-7.51675812e-03 -5.67328034e-04 9.99971588e-01 -7.65923268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:-2.47, Z:-0.76 [[ 9.87472340e-01 1.57098434e-01 1.47803888e-02 1.32914552e+02] [-1.57373897e-01 9.87340476e-01 1.98050927e-02 -2.46523928e+00] [-1.14819271e-02 -2.18830286e-02 9.99694603e-01 -7.64293999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.95, Y:-2.45, Z:-0.77 [[ 9.87764430e-01 1.55821147e-01 6.41879891e-03 1.32946233e+02] [-1.55647815e-01 9.87569111e-01 -2.19319210e-02 -2.44942974e+00] [-9.75646463e-03 2.06644994e-02 9.99738861e-01 -7.69789265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.98, Y:-2.46, Z:-0.77 [[ 9.88146340e-01 1.53247876e-01 9.04984681e-03 1.32978623e+02] [-1.53247176e-01 9.88187585e-01 -7.74883539e-04 -2.45962807e+00] [-9.06169552e-03 -6.21165136e-04 9.99958749e-01 -7.66635492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:-2.46, Z:-0.77 [[ 9.88580191e-01 1.50389235e-01 9.60645245e-03 1.33011604e+02] [-1.50388293e-01 9.88626664e-01 -8.24424166e-04 -2.46079045e+00] [-9.62117956e-03 -6.29688589e-04 9.99953517e-01 -7.66897457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:-2.46, Z:-0.77 [[ 9.89523875e-01 1.43839038e-01 1.23625606e-02 1.33043649e+02] [-1.43905204e-01 9.89580619e-01 4.63582032e-03 -2.46280030e+00] [-1.15669384e-02 -6.36629169e-03 9.99912834e-01 -7.67355559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:-2.47, Z:-0.77 [[ 9.89932533e-01 1.40008063e-01 2.07682848e-02 1.33075589e+02] [-1.40482759e-01 9.89804425e-01 2.34902948e-02 -2.47311321e+00] [-1.72677095e-02 -2.61713929e-02 9.99508321e-01 -7.67252856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:-2.47, Z:-0.77 [[ 9.89904605e-01 1.40463859e-01 1.89413985e-02 1.33109717e+02] [-1.40455731e-01 9.90085386e-01 -1.76543760e-03 -2.46562529e+00] [-1.90015820e-02 -9.12813153e-04 9.99819037e-01 -7.72303353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44589822700001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:133.14, Y:-2.46, Z:-0.78 [[ 9.90406930e-01 1.37764835e-01 1.07220581e-02 1.33140432e+02] [-1.37377976e-01 9.90034905e-01 -3.09544602e-02 -2.45562770e+00] [-1.48796478e-02 2.91845373e-02 9.99463285e-01 -7.75911798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:-2.47, Z:-0.77 [[ 9.90888962e-01 1.33982189e-01 1.37054056e-02 1.33171697e+02] [-1.33978595e-01 9.90983518e-01 -1.18422854e-03 -2.47124872e+00] [-1.37404966e-02 -6.62791986e-04 9.99905375e-01 -7.69909131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:-2.47, Z:-0.77 [[ 9.91387148e-01 1.30180787e-01 1.42998542e-02 1.33204457e+02] [-1.30176441e-01 9.91490071e-01 -1.23822944e-03 -2.47444479e+00] [-1.43393572e-02 -6.33939386e-04 9.99896985e-01 -7.69467214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:-2.48, Z:-0.77 [[ 9.91901402e-01 1.26166497e-01 1.46158429e-02 1.33236287e+02] [-1.26161483e-01 9.92008907e-01 -1.26832507e-03 -2.47833426e+00] [-1.46590664e-02 -5.85902994e-04 9.99892378e-01 -7.69318394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:-2.48, Z:-0.77 [[ 9.92744656e-01 1.19167736e-01 1.60342803e-02 1.33268174e+02] [-1.19160756e-01 9.92873996e-01 -1.39341805e-03 -2.48285722e+00] [-1.60860705e-02 -5.27348637e-04 9.99870472e-01 -7.69211039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:-2.49, Z:-0.77 [[ 9.93006042e-01 1.16929115e-01 1.63273377e-02 1.33301152e+02] [-1.16921542e-01 9.93140138e-01 -1.42092155e-03 -2.48676986e+00] [-1.63814815e-02 -4.98033812e-04 9.99865690e-01 -7.69429726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:-2.49, Z:-0.77 [[ 9.93147201e-01 1.15718211e-01 1.63686294e-02 1.33332648e+02] [-1.15710385e-01 9.93281968e-01 -1.42755359e-03 -2.49061476e+00] [-1.64238583e-02 -4.76249559e-04 9.99865006e-01 -7.69878618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:-2.50, Z:-0.77 [[ 9.93176891e-01 1.15124195e-01 1.86033068e-02 1.33365099e+02] [-1.15234660e-01 9.93325835e-01 4.97571129e-03 -2.49697934e+00] [-1.79063206e-02 -7.08550721e-03 9.99814562e-01 -7.69851243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.40, Y:-2.49, Z:-0.77 [[ 9.93133156e-01 1.15947048e-01 1.55825984e-02 1.33396339e+02] [-1.15833828e-01 9.93236510e-01 -7.98492732e-03 -2.49489841e+00] [-1.64030344e-02 6.12510404e-03 9.99846700e-01 -7.72188424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:-2.50, Z:-0.77 [[ 9.92986857e-01 1.17240922e-01 1.52206486e-02 1.33428648e+02] [-1.17234241e-01 9.93103396e-01 -1.33350261e-03 -2.50106065e+00] [-1.52720189e-02 -4.60230618e-04 9.99883270e-01 -7.71927813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:-2.50, Z:-0.77 [[ 9.92798322e-01 1.19056325e-01 1.33072319e-02 1.33461407e+02] [-1.19051352e-01 9.92887411e-01 -1.16804828e-03 -2.50384148e+00] [-1.33516466e-02 -4.24607580e-04 9.99910773e-01 -7.72922182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.49, Y:-2.51, Z:-0.77 [[ 9.92581170e-01 1.21072191e-01 1.11420891e-02 1.33493814e+02] [-1.21068811e-01 9.92643633e-01 -9.79773463e-04 -2.50604334e+00] [-1.11787472e-02 -3.76454797e-04 9.99937445e-01 -7.73571473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:-2.51, Z:-0.77 [[ 9.92074738e-01 1.24930473e-01 1.34197903e-02 1.33525465e+02] [-1.25088011e-01 9.92077606e-01 1.16195410e-02 -2.51111148e+00] [-1.18618387e-02 -1.32061080e-02 9.99842435e-01 -7.74574014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:-2.50, Z:-0.78 [[ 9.91824001e-01 1.27394440e-01 7.47040121e-03 1.33557105e+02] [-1.27286094e-01 9.91773781e-01 -1.35283924e-02 -2.50112423e+00] [-9.13239002e-03 1.24669061e-02 9.99880581e-01 -7.78030212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:-2.51, Z:-0.78 [[ 9.91688247e-01 1.28327590e-01 9.29787127e-03 1.33588987e+02] [-1.28325522e-01 9.91731761e-01 -8.21153823e-04 -2.50641067e+00] [-9.32637094e-03 -3.78825592e-04 9.99956437e-01 -7.76521530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.895898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.62, Y:-2.52, Z:-0.78 [[ 9.91633984e-01 1.27073756e-01 2.26782283e-02 1.33620280e+02] [-1.27866020e-01 9.91070945e-01 3.77976449e-02 -2.52148666e+00] [-1.76726444e-02 -4.03812040e-02 9.99028046e-01 -7.75870268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:-2.49, Z:-0.78 [[ 9.91828278e-01 1.27337263e-01 7.86693508e-03 1.33654600e+02] [-1.26939003e-01 9.91140465e-01 -3.90777160e-02 -2.48793152e+00] [-1.27732871e-02 3.77597629e-02 9.99205206e-01 -7.83199856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.69, Y:-2.50, Z:-0.78 [[ 9.92122522e-01 1.24713360e-01 1.18100973e-02 1.33685391e+02] [-1.24709725e-01 9.92192718e-01 -1.04660741e-03 -2.50283075e+00] [-1.18484184e-02 -4.34471196e-04 9.99929711e-01 -7.78410846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:-2.50, Z:-0.78 [[ 9.92470026e-01 1.21884149e-01 1.21449999e-02 1.33717849e+02] [-1.21880064e-01 9.92544249e-01 -1.07871568e-03 -2.50267125e+00] [-1.21859282e-02 -4.09640389e-04 9.99925665e-01 -7.78394844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:-2.52, Z:-0.78 [[ 9.92825041e-01 1.17113721e-01 2.41415294e-02 1.33749936e+02] [-1.17872204e-01 9.92485629e-01 3.28393074e-02 -2.51692782e+00] [-2.01141875e-02 -3.54493020e-02 9.99169038e-01 -7.77689457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:-2.49, Z:-0.78 [[ 9.93960611e-01 1.09282770e-01 9.97898331e-03 1.33783903e+02] [-1.08886200e-01 9.93468703e-01 -3.41135208e-02 -2.48589358e+00] [-1.36418277e-02 3.28209224e-02 9.99368144e-01 -7.83733282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:-2.50, Z:-0.78 [[ 9.94471464e-01 1.03585234e-01 1.72222655e-02 1.33815052e+02] [-1.03802502e-01 9.94522635e-01 1.22380236e-02 -2.50499352e+00] [-1.58602543e-02 -1.39580795e-02 9.99776787e-01 -7.79672567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.85, Y:-2.50, Z:-0.78 [[ 9.94960662e-01 9.90680300e-02 1.54533814e-02 1.33847099e+02] [-9.89879032e-02 9.95071332e-01 -5.86842082e-03 -2.49767420e+00] [-1.59585897e-02 4.30915004e-03 9.99863368e-01 -7.80965889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:-2.50, Z:-0.78 [[ 9.95346522e-01 9.44448115e-02 1.91174834e-02 1.33878398e+02] [-9.45230602e-02 9.95517434e-01 3.22965685e-03 -2.50229018e+00] [-1.87267636e-02 -5.02167074e-03 9.99812028e-01 -7.80198226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:-2.50, Z:-0.78 [[ 9.95759920e-01 9.07496969e-02 1.50556855e-02 1.33910154e+02] [-9.05174949e-02 9.95775037e-01 -1.54486011e-02 -2.49561602e+00] [-1.63940317e-02 1.40202948e-02 9.99767306e-01 -7.81143832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:-2.50, Z:-0.78 [[ 9.96021487e-01 8.73715898e-02 1.75328788e-02 1.33941511e+02] [-8.73574791e-02 9.96175790e-01 -1.57054866e-03 -2.50295106e+00] [-1.76030507e-02 3.26721253e-05 9.99845054e-01 -7.80010181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:-2.50, Z:-0.78 [[ 9.96228869e-01 8.47916057e-02 1.83962840e-02 1.33974006e+02] [-8.47755660e-02 9.96398703e-01 -1.65140293e-03 -2.50490518e+00] [-1.84700586e-02 8.56198928e-05 9.99829410e-01 -7.81268499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:-2.51, Z:-0.78 [[ 9.96508161e-01 8.11730717e-02 1.95555015e-02 1.34006784e+02] [-8.11541728e-02 9.96700007e-01 -1.75938670e-03 -2.50789530e+00] [-1.96337833e-02 1.66232657e-04 9.99807225e-01 -7.81520245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.04, Y:-2.51, Z:-0.78 [[ 9.96623481e-01 7.96152395e-02 2.00761111e-02 1.34038823e+02] [-7.95949284e-02 9.96825647e-01 -1.81000912e-03 -2.51150264e+00] [-2.01564867e-02 2.05940971e-04 9.99796816e-01 -7.81857375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:-2.52, Z:-0.78 [[ 9.96705695e-01 7.85467779e-02 2.02029789e-02 1.34072021e+02] [-7.85259371e-02 9.96910402e-01 -1.82404600e-03 -2.51500062e+00] [-2.02838328e-02 2.31579182e-04 9.99794235e-01 -7.81959423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:-2.52, Z:-0.78 [[ 9.96750955e-01 7.78580207e-02 2.06315742e-02 1.34103902e+02] [-7.78360537e-02 9.96964424e-01 -1.86684025e-03 -2.51807081e+00] [-2.07142940e-02 2.54894485e-04 9.99785404e-01 -7.82700830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.14, Y:-2.52, Z:-0.78 [[ 9.96767753e-01 7.76316170e-02 2.06731534e-02 1.34136668e+02] [-7.76094330e-02 9.96982077e-01 -1.87444483e-03 -2.52144351e+00] [-2.07562796e-02 2.63954448e-04 9.99784530e-01 -7.83974735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:-2.53, Z:-0.78 [[ 9.96760809e-01 7.79212218e-02 1.99041027e-02 1.34168923e+02] [-7.79006423e-02 9.96959487e-01 -1.80838023e-03 -2.52524854e+00] [-1.99844952e-02 2.51980155e-04 9.99800258e-01 -7.84648018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:-2.53, Z:-0.79 [[ 9.96678380e-01 7.95597824e-02 1.73910015e-02 1.34201010e+02] [-7.95442893e-02 9.96830078e-01 -1.58189329e-03 -2.53005435e+00] [-1.74617285e-02 1.93283984e-04 9.99847514e-01 -7.86134907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:-2.53, Z:-0.79 [[ 9.96559576e-01 8.12931195e-02 1.61381594e-02 1.34233555e+02] [-8.12799635e-02 9.96690225e-01 -1.47052811e-03 -2.53342864e+00] [-1.62042895e-02 1.53759865e-04 9.99868690e-01 -7.86397392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.27, Y:-2.54, Z:-0.79 [[ 9.96403646e-01 8.32982300e-02 1.55299664e-02 1.34266625e+02] [-8.32862471e-02 9.96524656e-01 -1.41788927e-03 -2.53634367e+00] [-1.55941021e-02 1.19357420e-04 9.99878397e-01 -7.86688771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.30, Y:-2.54, Z:-0.79 [[ 9.96211036e-01 8.56422886e-02 1.51317616e-02 1.34298167e+02] [-8.56311388e-02 9.96325946e-01 -1.38441815e-03 -2.53899306e+00] [-1.51947314e-02 8.34226651e-05 9.99884550e-01 -7.86775051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.33, Y:-2.54, Z:-0.79 [[ 9.96012196e-01 8.78629774e-02 1.54855622e-02 1.34330944e+02] [-8.78515243e-02 9.96132569e-01 -1.41962826e-03 -2.54181815e+00] [-1.55504056e-02 5.35368208e-05 9.99879084e-01 -7.87579390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:-2.55, Z:-0.79 [[ 9.95797958e-01 8.95279894e-02 1.92656603e-02 1.34361586e+02] [-8.97061102e-02 9.95931260e-01 8.58720518e-03 -2.54881619e+00] [-1.84184782e-02 -1.02793688e-02 9.99777522e-01 -7.88689888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:-2.54, Z:-0.79 [[ 9.95737791e-01 9.11907393e-02 1.38021617e-02 1.34394107e+02] [-9.10358592e-02 9.95781635e-01 -1.14632861e-02 -2.54277271e+00] [-1.47892847e-02 1.01579355e-02 9.99839034e-01 -7.90752003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:-2.55, Z:-0.79 [[ 9.95670214e-01 9.19976619e-02 1.33137336e-02 1.34425330e+02] [-9.19894990e-02 9.95759223e-01 -1.22551266e-03 -2.54967101e+00] [-1.33700174e-02 -4.51723490e-06 9.99910617e-01 -7.90910103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:-2.55, Z:-0.79 [[ 9.95653018e-01 9.24011156e-02 1.17090711e-02 1.34457900e+02] [-9.23948101e-02 9.95721866e-01 -1.07947595e-03 -2.55293196e+00] [-1.17587229e-02 -7.07391144e-06 9.99930864e-01 -7.92331735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.49, Y:-2.56, Z:-0.79 [[ 9.95729915e-01 9.18102502e-02 9.63401093e-03 1.34489892e+02] [-9.18059412e-02 9.95776520e-01 -8.89496797e-04 -2.55852807e+00] [-9.67498680e-03 1.23913012e-06 9.99953196e-01 -7.92659942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:-2.57, Z:-0.79 [[ 9.95732112e-01 9.08565159e-02 1.62066418e-02 1.34520546e+02] [-9.11305291e-02 9.95692899e-01 1.70551365e-02 -2.57108248e+00] [-1.45872678e-02 -1.84592669e-02 9.99723195e-01 -7.92360623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:-2.56, Z:-0.79 [[ 9.95818149e-01 9.08343591e-02 9.76387013e-03 1.34553598e+02] [-9.06318018e-02 9.95693547e-01 -1.94996574e-02 -2.55987165e+00] [-1.14930614e-02 1.85331956e-02 9.99762187e-01 -7.94455644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.59, Y:-2.57, Z:-0.79 [[ 9.95809194e-01 9.06054040e-02 1.24382620e-02 1.34585769e+02] [-9.05980581e-02 9.95886871e-01 -1.15394134e-03 -2.57171314e+00] [-1.24916552e-02 2.22230083e-05 9.99921976e-01 -7.92823297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:-2.58, Z:-0.79 [[ 9.95716753e-01 9.15805658e-02 1.26944010e-02 1.34618955e+02] [-9.15729637e-02 9.95797670e-01 -1.18004384e-03 -2.57557421e+00] [-1.27491240e-02 1.25255010e-05 9.99918727e-01 -7.93317466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:-2.58, Z:-0.79 [[ 9.95539658e-01 9.33770454e-02 1.34728430e-02 1.34650696e+02] [-9.33686035e-02 9.95630819e-01 -1.25560898e-03 -2.57913613e+00] [-1.35312227e-02 -7.93200467e-06 9.99908449e-01 -7.94218706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:-2.58, Z:-0.79 [[ 9.94918560e-01 9.94773803e-02 1.55341434e-02 1.34683283e+02] [-9.94668685e-02 9.95039818e-01 -1.44976401e-03 -2.58256969e+00] [-1.56013100e-02 -1.02735486e-04 9.99878287e-01 -7.94465492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:-2.59, Z:-0.79 [[ 9.94403481e-01 1.04447764e-01 1.58865039e-02 1.34715697e+02] [-1.04437355e-01 9.94530357e-01 -1.48574031e-03 -2.58519808e+00] [-1.59547927e-02 -1.81719111e-04 9.99872698e-01 -7.94247730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:-2.59, Z:-0.79 [[ 9.93797206e-01 1.09966026e-01 1.65706740e-02 1.34747133e+02] [-1.09955410e-01 9.93935308e-01 -1.55311494e-03 -2.58735943e+00] [-1.66409678e-02 -2.78553964e-04 9.99861491e-01 -7.94347591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:-2.59, Z:-0.79 [[ 9.93164181e-01 1.15467777e-01 1.70909999e-02 1.34779141e+02] [-1.15457244e-01 9.93311154e-01 -1.60506950e-03 -2.59010916e+00] [-1.71620146e-02 -3.79182201e-04 9.99852650e-01 -7.94303000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:-2.59, Z:-0.79 [[ 9.92622512e-01 1.20002069e-01 1.73220144e-02 1.34811702e+02] [-1.19991885e-01 9.92773535e-01 -1.62985885e-03 -2.59293180e+00] [-1.73924239e-02 -4.60666570e-04 9.99848634e-01 -7.94594259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:-2.59, Z:-0.80 [[ 9.91882177e-01 1.25964687e-01 1.73967070e-02 1.34844954e+02] [-1.25955272e-01 9.92034566e-01 -1.64016195e-03 -2.59362725e+00] [-1.74647372e-02 -5.64359559e-04 9.99847321e-01 -7.95428318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:-2.59, Z:-0.80 [[ 9.91618671e-01 1.28018547e-01 1.74259260e-02 1.34876499e+02] [-1.28009357e-01 9.91771594e-01 -1.64639475e-03 -2.59465547e+00] [-1.74933074e-02 -5.98085795e-04 9.99846802e-01 -7.96487670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.91, Y:-2.60, Z:-0.80 [[ 9.91451499e-01 1.29271282e-01 1.76878918e-02 1.34908461e+02] [-1.29261954e-01 9.91609068e-01 -1.67445318e-03 -2.59576352e+00] [-1.77559326e-02 -6.26232346e-04 9.99842155e-01 -7.97536745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:-2.60, Z:-0.80 [[ 9.91361619e-01 1.29874069e-01 1.82993411e-02 1.34941452e+02] [-1.29864125e-01 9.91530280e-01 -1.73571964e-03 -2.59757591e+00] [-1.83697758e-02 -6.55702096e-04 9.99831046e-01 -7.98019108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:-2.60, Z:-0.80 [[ 9.91333660e-01 1.29918199e-01 1.94636969e-02 1.34974189e+02] [-1.29906881e-01 9.91524472e-01 -1.85011807e-03 -2.60010749e+00] [-1.95390958e-02 -6.94383835e-04 9.99808853e-01 -7.98720588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:-2.60, Z:-0.80 [[ 9.91376186e-01 1.29424388e-01 2.05568750e-02 1.35007128e+02] [-1.29411571e-01 9.91589033e-01 -1.95818567e-03 -2.60321764e+00] [-2.06374088e-02 -7.18998843e-04 9.99786767e-01 -7.98971799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.215898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:135.04, Y:-2.61, Z:-0.80 [[ 9.91471377e-01 1.28644779e-01 2.08573522e-02 1.35039721e+02] [-1.28631327e-01 9.91690485e-01 -1.99090153e-03 -2.60639932e+00] [-2.09401568e-02 -7.08987014e-04 9.99780479e-01 -8.02507711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:-2.61, Z:-0.80 [[ 9.91601561e-01 1.27861969e-01 1.94335018e-02 1.35071291e+02] [-1.27850071e-01 9.91791765e-01 -1.85852431e-03 -2.61003387e+00] [-1.95116216e-02 -6.41658977e-04 9.99809424e-01 -8.00743706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:-2.61, Z:-0.80 [[ 9.91886925e-01 1.26138136e-01 1.57955313e-02 1.35104392e+02] [-1.26130021e-01 9.92012565e-01 -1.51285503e-03 -2.61454096e+00] [-1.58601943e-02 -4.91709578e-04 9.99874098e-01 -8.03009426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:-2.62, Z:-0.80 [[ 9.91876604e-01 1.26219310e-01 1.57952250e-02 1.35137718e+02] [-1.26211155e-01 9.92002241e-01 -1.51604646e-03 -2.61787339e+00] [-1.58602529e-02 -4.89802570e-04 9.99874098e-01 -8.03619836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:-2.62, Z:-0.80 [[ 9.92044294e-01 1.25026480e-01 1.47138776e-02 1.35169013e+02] [-1.25019261e-01 9.92153309e-01 -1.41305172e-03 -2.62178057e+00] [-1.47750912e-02 -4.37708206e-04 9.99890747e-01 -8.04682159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:-2.63, Z:-0.81 [[ 9.92197048e-01 1.23892907e-01 1.39844897e-02 1.35201278e+02] [-1.23886242e-01 9.92295515e-01 -1.34524965e-03 -2.62643297e+00] [-1.40434133e-02 -3.97733136e-04 9.99901307e-01 -8.05744605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:-2.63, Z:-0.81 [[ 9.92339268e-01 1.22877897e-01 1.27984285e-02 1.35233567e+02] [-1.22872203e-01 9.92421735e-01 -1.23328068e-03 -2.63146859e+00] [-1.28529815e-02 -3.48738250e-04 9.99917336e-01 -8.06688732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:-2.64, Z:-0.81 [[ 9.92380423e-01 1.22645255e-01 1.17999312e-02 1.35266563e+02] [-1.22640375e-01 9.92450523e-01 -1.13896277e-03 -2.63752812e+00] [-1.18505362e-02 -3.16863636e-04 9.99929730e-01 -8.07787164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:-2.64, Z:-0.81 [[ 9.92275475e-01 1.23561283e-01 1.10449626e-02 1.35297670e+02] [-1.23557042e-01 9.92336897e-01 -1.06813171e-03 -2.64364003e+00] [-1.10923036e-02 -3.04802010e-04 9.99938432e-01 -8.07592721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:-2.65, Z:-0.81 [[ 9.91754773e-01 1.27669459e-01 1.10896279e-02 1.35329888e+02] [-1.27665417e-01 9.91816710e-01 -1.07448390e-03 -2.65067563e+00] [-1.11360570e-02 -3.50137432e-04 9.99937931e-01 -8.07047867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:-2.65, Z:-0.81 [[ 9.91744375e-01 1.27750229e-01 1.10893547e-02 1.35363210e+02] [-1.27746161e-01 9.91806311e-01 -1.07729402e-03 -2.65404937e+00] [-1.11361166e-02 -3.48222213e-04 9.99937931e-01 -8.07658300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:-2.66, Z:-0.81 [[ 9.91321118e-01 1.30943666e-01 1.16703797e-02 1.35395754e+02] [-1.30939378e-01 9.91389728e-01 -1.13404821e-03 -2.65909746e+00] [-1.17183910e-02 -4.03906327e-04 9.99931256e-01 -8.07749292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:-2.67, Z:-0.81 [[ 9.90419869e-01 1.37428417e-01 1.34874957e-02 1.35427491e+02] [-1.37423242e-01 9.90511547e-01 -1.31414501e-03 -2.66679859e+00] [-1.35401211e-02 -5.51940064e-04 9.99908176e-01 -8.08217215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:-2.67, Z:-0.81 [[ 9.90010898e-01 1.40311839e-01 1.38206335e-02 1.35460360e+02] [-1.40306666e-01 9.90107177e-01 -1.34800075e-03 -2.67281851e+00] [-1.38730489e-02 -6.04591581e-04 9.99903582e-01 -8.08378794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:-2.68, Z:-0.81 [[ 9.89688245e-01 1.42508861e-01 1.44361245e-02 1.35491962e+02] [-1.42503407e-01 9.89793306e-01 -1.41108616e-03 -2.67918436e+00] [-1.44898717e-02 -6.60661538e-04 9.99894798e-01 -8.08906861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:-2.69, Z:-0.81 [[ 9.89474397e-01 1.43984353e-01 1.44541781e-02 1.35524013e+02] [-1.43979003e-01 9.89579731e-01 -1.41548701e-03 -2.68584803e+00] [-1.45073696e-02 -6.80509994e-04 9.99894531e-01 -8.09052239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.56, Y:-2.69, Z:-0.81 [[ 9.89340193e-01 1.44843684e-01 1.50429220e-02 1.35556521e+02] [-1.44837945e-01 9.89454290e-01 -1.47605848e-03 -2.69241503e+00] [-1.50980814e-02 -7.18461922e-04 9.99885759e-01 -8.09945670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:-2.71, Z:-0.81 [[ 9.88953311e-01 1.46888731e-01 1.98758647e-02 1.35587638e+02] [-1.47067089e-01 9.89095582e-01 7.82305363e-03 -2.70682297e+00] [-1.85100115e-02 -1.06597203e-02 9.99771849e-01 -8.09298641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:-2.71, Z:-0.81 [[ 9.88613500e-01 1.49685584e-01 1.54134155e-02 1.35618598e+02] [-1.49517263e-01 9.88691600e-01 -1.15545710e-02 -2.70574683e+00] [-1.69686672e-02 9.11843317e-03 9.99814442e-01 -8.12240841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:-2.72, Z:-0.81 [[ 9.88207047e-01 1.52321523e-01 1.56520247e-02 1.35649784e+02] [-1.52316132e-01 9.88330620e-01 -1.54295885e-03 -2.71627583e+00] [-1.57044011e-02 -8.59293044e-04 9.99876309e-01 -8.11308312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:-2.72, Z:-0.81 [[ 9.87723268e-01 1.55445788e-01 1.54710272e-02 1.35681178e+02] [-1.55440861e-01 9.87844018e-01 -1.52780340e-03 -2.72234830e+00] [-1.55204523e-02 -8.95782835e-04 9.99879149e-01 -8.12513756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:-2.73, Z:-0.81 [[ 9.87133509e-01 1.59071938e-01 1.62343460e-02 1.35713505e+02] [-1.59066953e-01 9.87266491e-01 -1.60610020e-03 -2.72894027e+00] [-1.62831113e-02 -9.96912635e-04 9.99866924e-01 -8.13128953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:-2.74, Z:-0.81 [[ 9.86593961e-01 1.62273752e-01 1.73085519e-02 1.35746467e+02] [-1.62268517e-01 9.86745147e-01 -1.71584469e-03 -2.73511817e+00] [-1.73575661e-02 -1.11579103e-03 9.99848724e-01 -8.13113761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:-2.74, Z:-0.81 [[ 9.85810371e-01 1.66802144e-01 1.88403182e-02 1.35777696e+02] [-1.66796693e-01 9.85989534e-01 -1.87144186e-03 -2.74225411e+00] [-1.88885170e-02 -1.29761597e-03 9.99820754e-01 -8.14105868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:-2.75, Z:-0.82 [[ 9.85538069e-01 1.68455914e-01 1.83662431e-02 1.35810333e+02] [-1.68450981e-01 9.85708340e-01 -1.82646150e-03 -2.74656172e+00] [-1.84114372e-02 -1.29376431e-03 9.99829658e-01 -8.15742643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:-2.75, Z:-0.82 [[ 9.85366312e-01 1.69525469e-01 1.77297934e-02 1.35841749e+02] [-1.69520985e-01 9.85524995e-01 -1.76647824e-03 -2.75053471e+00] [-1.77726176e-02 -1.26494389e-03 9.99841254e-01 -8.17647250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:-2.76, Z:-0.82 [[ 9.85252639e-01 1.70290059e-01 1.66893235e-02 1.35874485e+02] [-1.70286148e-01 9.85393248e-01 -1.66561582e-03 -2.75501131e+00] [-1.67291845e-02 -1.20090822e-03 9.99859336e-01 -8.18727031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:-2.76, Z:-0.82 [[ 9.85142354e-01 1.71071274e-01 1.51380871e-02 1.35907266e+02] [-1.71068111e-01 9.85258043e-01 -1.51322725e-03 -2.75957736e+00] [-1.51737918e-02 -1.09889970e-03 9.99884268e-01 -8.19019725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:-2.76, Z:-0.82 [[ 9.84964079e-01 1.72138688e-01 1.46299281e-02 1.35939823e+02] [-1.72135812e-01 9.85072137e-01 -1.46504657e-03 -2.76417234e+00] [-1.46637257e-02 -1.07531631e-03 9.99891904e-01 -8.19845369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:-2.77, Z:-0.82 [[ 9.84627250e-01 1.74099417e-01 1.40915460e-02 1.35973056e+02] [-1.74096913e-01 9.84727509e-01 -1.41363630e-03 -2.76834159e+00] [-1.41224463e-02 -1.06138984e-03 9.99899710e-01 -8.20058290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:-2.77, Z:-0.82 [[ 9.84372501e-01 1.75576668e-01 1.35503778e-02 1.36005297e+02] [-1.75574458e-01 9.84465213e-01 -1.36178368e-03 -2.77165335e+00] [-1.35789730e-02 -1.03859782e-03 9.99907262e-01 -8.20504139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.04, Y:-2.77, Z:-0.82 [[ 9.84130855e-01 1.76960744e-01 1.30902600e-02 1.36037822e+02] [-1.76958777e-01 9.84217382e-01 -1.31765578e-03 -2.77462708e+00] [-1.31168348e-02 -1.01969069e-03 9.99913451e-01 -8.21435074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:-2.78, Z:-0.82 [[ 9.83908165e-01 1.78202067e-01 1.29902263e-02 1.36069672e+02] [-1.78200202e-01 9.83993380e-01 -1.31027597e-03 -2.77825993e+00] [-1.30157905e-02 -1.02566971e-03 9.99914765e-01 -8.22164156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:-2.78, Z:-0.82 [[ 9.83821101e-01 1.78666129e-01 1.32081783e-02 1.36102780e+02] [-1.78664226e-01 9.83909201e-01 -1.33345931e-03 -2.78142427e+00] [-1.32338922e-02 -1.04794356e-03 9.99911879e-01 -8.22534158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:-2.79, Z:-0.82 [[ 9.83784752e-01 1.78770731e-01 1.44425211e-02 1.36134570e+02] [-1.78768424e-01 9.83890093e-01 -1.46112458e-03 -2.78532908e+00] [-1.44710598e-02 -1.14443465e-03 9.99894634e-01 -8.23305471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:-2.79, Z:-0.82 [[ 9.83894493e-01 1.78021150e-01 1.61275409e-02 1.36166841e+02] [-1.78018122e-01 9.84025851e-01 -1.63472758e-03 -2.78962642e+00] [-1.61609332e-02 -1.26259507e-03 9.99868606e-01 -8.23483445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:-2.79, Z:-0.82 [[ 9.84086288e-01 1.76847826e-01 1.72923261e-02 1.36198562e+02] [-1.76844105e-01 9.84237308e-01 -1.75628666e-03 -2.79424818e+00] [-1.73303480e-02 -1.32970831e-03 9.99848934e-01 -8.23664279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:-2.80, Z:-0.82 [[ 9.84410373e-01 1.74977016e-01 1.78678955e-02 1.36231374e+02] [-1.74972678e-01 9.84571611e-01 -1.81797327e-03 -2.79919892e+00] [-1.79103262e-02 -1.33676178e-03 9.99838704e-01 -8.24524272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:-2.81, Z:-0.83 [[ 9.85370650e-01 1.69565359e-01 1.70959496e-02 1.36263396e+02] [-1.69560523e-01 9.85518236e-01 -1.74259916e-03 -2.80503153e+00] [-1.71438546e-02 -1.18169208e-03 9.99852335e-01 -8.25326115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:-2.81, Z:-0.83 [[ 9.85800028e-01 1.67098263e-01 1.66275659e-02 1.36296275e+02] [-1.67093307e-01 9.85939627e-01 -1.69675494e-03 -2.80958502e+00] [-1.66773009e-02 -1.10569390e-03 9.99860313e-01 -8.26657073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:-2.82, Z:-0.83 [[ 9.86096429e-01 1.65211231e-01 1.78628926e-02 1.36327773e+02] [-1.65264135e-01 9.86248176e-01 1.51703319e-03 -2.81583997e+00] [-1.73666144e-02 -4.44803651e-03 9.99839295e-01 -8.27245211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:-2.82, Z:-0.83 [[ 9.86236537e-01 1.64492847e-01 1.67211226e-02 1.36360214e+02] [-1.64427672e-01 9.86375383e-01 -5.20996561e-03 -2.81794799e+00] [-1.73503058e-02 2.38884318e-03 9.99846618e-01 -8.28840590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:-2.82, Z:-0.83 [[ 9.86229325e-01 1.64400534e-01 1.80050669e-02 1.36392768e+02] [-1.64394145e-01 9.86393006e-01 -1.84448481e-03 -2.82422847e+00] [-1.80633064e-02 -1.14084257e-03 9.99836194e-01 -8.28037987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:-2.83, Z:-0.83 [[ 9.85932345e-01 1.65917900e-01 2.02153620e-02 1.36425962e+02] [-1.65910081e-01 9.86138702e-01 -2.07501067e-03 -2.82836021e+00] [-2.02794322e-02 -1.30811221e-03 9.99793495e-01 -8.27881815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:-2.83, Z:-0.83 [[ 9.85673899e-01 1.67450382e-01 2.01825176e-02 1.36457773e+02] [-1.67442831e-01 9.85879603e-01 -2.07546584e-03 -2.83107233e+00] [-2.02450700e-02 -1.33368538e-03 9.99794158e-01 -8.28001895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:-2.83, Z:-0.83 [[ 9.85459225e-01 1.68815746e-01 1.92706761e-02 1.36490245e+02] [-1.68809058e-01 9.85646773e-01 -1.98499250e-03 -2.83387479e+00] [-1.93291777e-02 -1.29693550e-03 9.99812333e-01 -8.28979426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.595898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:136.52, Y:-2.84, Z:-0.83 [[ 9.85359476e-01 1.69504308e-01 1.83028290e-02 1.36523525e+02] [-1.69498333e-01 9.85528664e-01 -1.88852173e-03 -2.83655591e+00] [-1.83580752e-02 -1.24142622e-03 9.99830706e-01 -8.32454339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:-2.84, Z:-0.83 [[ 9.85300023e-01 1.69946426e-01 1.73803780e-02 1.36555849e+02] [-1.69941051e-01 9.85452592e-01 -1.79652044e-03 -2.83922003e+00] [-1.74328508e-02 -1.18352807e-03 9.99847336e-01 -8.31890647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.59, Y:-2.84, Z:-0.83 [[ 9.85293198e-01 1.70029529e-01 1.69491164e-02 1.36587734e+02] [-1.70024379e-01 9.85438294e-01 -1.75492450e-03 -2.84232858e+00] [-1.70006974e-02 -1.15264783e-03 9.99854813e-01 -8.32932500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:-2.85, Z:-0.83 [[ 9.85457644e-01 1.69138045e-01 1.62958047e-02 1.36620982e+02] [-1.69133121e-01 9.85591767e-01 -1.68990853e-03 -2.84547877e+00] [-1.63468387e-02 -1.09082701e-03 9.99865786e-01 -8.33447743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:-2.85, Z:-0.83 [[ 9.85473408e-01 1.69095134e-01 1.57796529e-02 1.36652767e+02] [-1.69090466e-01 9.85599172e-01 -1.63920090e-03 -2.84821990e+00] [-1.58295937e-02 -1.05279996e-03 9.99874150e-01 -8.34047523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:-2.85, Z:-0.83 [[ 9.85393598e-01 1.69606592e-01 1.52663434e-02 1.36684461e+02] [-1.69602245e-01 9.85511317e-01 -1.58841374e-03 -2.85046192e+00] [-1.53145597e-02 -1.02399339e-03 9.99882201e-01 -8.34804560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:-2.85, Z:-0.84 [[ 9.85249533e-01 1.70459367e-01 1.50652568e-02 1.36717143e+02] [-1.70455195e-01 9.85364177e-01 -1.56996412e-03 -2.85246795e+00] [-1.51123795e-02 -1.02114487e-03 9.99885280e-01 -8.35674343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:-2.86, Z:-0.84 [[ 9.84993540e-01 1.71111552e-01 2.25513471e-02 1.36747442e+02] [-1.71539483e-01 9.85000996e-01 1.86344837e-02 -2.86263608e+00] [-1.90245239e-02 -2.22232925e-02 9.99572005e-01 -8.35043606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:-2.85, Z:-0.84 [[ 9.84878155e-01 1.72800469e-01 1.24506420e-02 1.36780560e+02] [-1.72495474e-01 9.84755152e-01 -2.24188007e-02 -2.84716808e+00] [-1.61348131e-02 1.99321077e-02 9.99671135e-01 -8.42064300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:-2.86, Z:-0.84 [[ 9.84775388e-01 1.73294563e-01 1.36539137e-02 1.36813093e+02] [-1.73291346e-01 9.84869571e-01 -1.42736311e-03 -2.85753587e+00] [-1.36946784e-02 -9.60473031e-04 9.99905762e-01 -8.40154584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:-2.86, Z:-0.84 [[ 9.84905795e-01 1.72594978e-01 1.30976310e-02 1.36844414e+02] [-1.72591926e-01 9.84992460e-01 -1.37155394e-03 -2.86078547e+00] [-1.31377911e-02 -9.09693928e-04 9.99913282e-01 -8.40535667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:-2.86, Z:-0.84 [[ 9.85106839e-01 1.71472669e-01 1.27137464e-02 1.36876833e+02] [-1.71469674e-01 9.85188496e-01 -1.33339233e-03 -2.86455258e+00] [-1.27540771e-02 -8.66488058e-04 9.99918288e-01 -8.41173464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:-2.87, Z:-0.84 [[ 9.85315427e-01 1.70261822e-01 1.28226784e-02 1.36908200e+02] [-1.70258638e-01 9.85398488e-01 -1.34757114e-03 -2.86878837e+00] [-1.28648878e-02 -8.55389129e-04 9.99916878e-01 -8.41414511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.985898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:136.94, Y:-2.87, Z:-0.84 [[ 9.85471914e-01 1.69292597e-01 1.36060115e-02 1.36940591e+02] [-1.69288900e-01 9.85565431e-01 -1.43133061e-03 -2.87282608e+00] [-1.36519283e-02 -8.92810609e-04 9.99906409e-01 -8.44044503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:-2.88, Z:-0.84 [[ 9.85180776e-01 1.70823067e-01 1.54375624e-02 1.36972874e+02] [-1.70818445e-01 9.85301178e-01 -1.62726153e-03 -2.87724938e+00] [-1.54886222e-02 -1.03387364e-03 9.99879510e-01 -8.42266149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:-2.88, Z:-0.84 [[ 9.84793240e-01 1.72929580e-01 1.66623713e-02 1.37005169e+02] [-1.72924440e-01 9.84933521e-01 -1.75969031e-03 -2.88085003e+00] [-1.67156306e-02 -1.14840011e-03 9.99859625e-01 -8.41956587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.075898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:137.04, Y:-2.88, Z:-0.84 [[ 9.84209363e-01 1.76110305e-01 1.78070270e-02 1.37037147e+02] [-1.76104887e-01 9.84369605e-01 -1.88425043e-03 -2.88431318e+00] [-1.78605320e-02 -1.28140755e-03 9.99839667e-01 -8.44179771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:-2.89, Z:-0.84 [[ 9.83487170e-01 1.80069573e-01 1.81090128e-02 1.37069325e+02] [-1.80064576e-01 9.83652918e-01 -1.91951271e-03 -2.88760443e+00] [-1.81586291e-02 -1.37297558e-03 9.99834176e-01 -8.42841562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.135898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:137.10, Y:-2.89, Z:-0.85 [[ 9.82802787e-01 1.83795154e-01 1.78332113e-02 1.37102024e+02] [-1.83790863e-01 9.82963547e-01 -1.89330815e-03 -2.89167369e+00] [-1.78773775e-02 -1.41683277e-03 9.99839183e-01 -8.45670779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:-2.90, Z:-0.85 [[ 9.82102233e-01 1.87582306e-01 1.69729888e-02 1.37134424e+02] [-1.87578932e-01 9.82247874e-01 -1.80485313e-03 -2.89626163e+00] [-1.70102406e-02 -1.41122480e-03 9.99854319e-01 -8.45397623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:-2.90, Z:-0.85 [[ 9.81503507e-01 1.90793220e-01 1.57738219e-02 1.37165920e+02] [-1.90790675e-01 9.81629307e-01 -1.67999143e-03 -2.90108122e+00] [-1.58045768e-02 -1.36058063e-03 9.99874174e-01 -8.46553680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:-2.90, Z:-0.85 [[ 9.81488693e-01 1.90869436e-01 1.57735234e-02 1.37199206e+02] [-1.90866856e-01 9.81614492e-01 -1.68278881e-03 -2.90475796e+00] [-1.58047121e-02 -1.35900463e-03 9.99874174e-01 -8.47150142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:-2.91, Z:-0.85 [[ 9.80958191e-01 1.93577853e-01 1.57684150e-02 1.37230780e+02] [-1.93575605e-01 9.81083917e-01 -1.68331076e-03 -2.90983105e+00] [-1.57959900e-02 -1.40112299e-03 9.99874254e-01 -8.48157565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:-2.91, Z:-0.85 [[ 9.79983976e-01 1.98364775e-01 1.68173551e-02 1.37262564e+02] [-1.98362865e-01 9.80127002e-01 -1.79829718e-03 -2.91375457e+00] [-1.68398626e-02 -1.57363632e-03 9.99856961e-01 -8.48235998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:-2.92, Z:-0.85 [[ 9.79536731e-01 2.00586804e-01 1.65144257e-02 1.37295932e+02] [-2.00585231e-01 9.79674659e-01 -1.76854738e-03 -2.91638752e+00] [-1.65335116e-02 -1.58019277e-03 9.99862063e-01 -8.49180961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:-2.92, Z:-0.85 [[ 9.79046985e-01 2.03046796e-01 1.54595926e-02 1.37328607e+02] [-2.03045684e-01 9.79167862e-01 -1.65805698e-03 -2.91882793e+00] [-1.54741994e-02 -1.51568786e-03 9.99879119e-01 -8.50377191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:-2.92, Z:-0.85 [[ 9.78513590e-01 2.05681541e-01 1.43616868e-02 1.37361922e+02] [-2.05680829e-01 9.78617912e-01 -1.54255862e-03 -2.92100054e+00] [-1.43718798e-02 -1.44450908e-03 9.99895676e-01 -8.52154983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:-2.92, Z:-0.85 [[ 9.77938253e-01 2.08460678e-01 1.34506480e-02 1.37393774e+02] [-2.08460281e-01 9.78029763e-01 -1.44706604e-03 -2.92301026e+00] [-1.34567905e-02 -1.38878464e-03 9.99908489e-01 -8.53092993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:-2.92, Z:-0.85 [[ 9.77378078e-01 2.11114410e-01 1.27592274e-02 1.37425446e+02] [-2.11114246e-01 9.77460426e-01 -1.37505221e-03 -2.92415790e+00] [-1.27619332e-02 -1.34970878e-03 9.99917652e-01 -8.53985079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.465898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.46, Y:-2.92, Z:-0.85 [[ 9.76272421e-01 2.16110140e-01 1.37319736e-02 1.37456799e+02] [-2.16168606e-01 9.76351716e-01 2.90872362e-03 -2.92225961e+00] [-1.27786313e-02 -5.80812824e-03 9.99901481e-01 -8.53113975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:-2.92, Z:-0.86 [[ 9.75897773e-01 2.17875178e-01 1.24074157e-02 1.37490464e+02] [-2.17819246e-01 9.75972423e-01 -5.71019782e-03 -2.91747224e+00] [-1.33534060e-02 2.86999540e-03 9.99906720e-01 -8.55392948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:-2.92, Z:-0.86 [[ 9.75594298e-01 2.19173848e-01 1.33637282e-02 1.37523831e+02] [-2.19174353e-01 9.75684639e-01 -1.44475224e-03 -2.91789313e+00] [-1.33554363e-02 -1.51949444e-03 9.99909658e-01 -8.55147351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.555898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:137.56, Y:-2.92, Z:-0.86 [[ 9.75482908e-01 2.19616457e-01 1.42023897e-02 1.37556992e+02] [-2.19617035e-01 9.75584949e-01 -1.53816914e-03 -2.91630347e+00] [-1.41934449e-02 -1.61862901e-03 9.99897958e-01 -8.57709157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:-2.91, Z:-0.86 [[ 9.75512056e-01 2.19470279e-01 1.44577296e-02 1.37590609e+02] [-2.19470824e-01 9.75617803e-01 -1.56849119e-03 -2.91495588e+00] [-1.44494555e-02 -1.64296776e-03 9.99894251e-01 -8.56435776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:-2.91, Z:-0.86 [[ 9.75795882e-01 2.18189493e-01 1.46881654e-02 1.37624238e+02] [-2.18189872e-01 9.75905032e-01 -1.59622176e-03 -2.91409517e+00] [-1.46825333e-02 -1.64722230e-03 9.99890849e-01 -8.56373161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:-2.91, Z:-0.86 [[ 9.76953160e-01 2.12902615e-01 1.53297100e-02 1.37656347e+02] [-2.12902337e-01 9.77072059e-01 -1.66901613e-03 -2.91112004e+00] [-1.53335692e-02 -1.63318051e-03 9.99881100e-01 -8.55393570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:-2.91, Z:-0.86 [[ 9.77775803e-01 2.09095482e-01 1.52826194e-02 1.37689871e+02] [-2.09094705e-01 9.77893975e-01 -1.66655135e-03 -2.91240356e+00] [-1.52932498e-02 -1.56600122e-03 9.99881825e-01 -8.55424344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.72, Y:-2.91, Z:-0.86 [[ 9.78639513e-01 2.05035387e-01 1.50064556e-02 1.37721502e+02] [-2.05034124e-01 9.78753453e-01 -1.63919013e-03 -2.91361924e+00] [-1.50237122e-02 -1.47265925e-03 9.99886053e-01 -8.55432528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:-2.92, Z:-0.86 [[ 9.79452190e-01 2.01135456e-01 1.47626535e-02 1.37754430e+02] [-2.01133753e-01 9.79562455e-01 -1.61528195e-03 -2.91555225e+00] [-1.47858316e-02 -1.38717647e-03 9.99889721e-01 -8.55629730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.79, Y:-2.92, Z:-0.86 [[ 9.80190733e-01 1.97465867e-01 1.52760787e-02 1.37787787e+02] [-1.97463558e-01 9.80308798e-01 -1.67434934e-03 -2.91761920e+00] [-1.53059012e-02 -1.37528713e-03 9.99881912e-01 -8.56749967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:-2.92, Z:-0.86 [[ 9.80834521e-01 1.94193394e-01 1.58924066e-02 1.37820627e+02] [-1.94190419e-01 9.80962301e-01 -1.74501311e-03 -2.91975343e+00] [-1.59287218e-02 -1.37458400e-03 9.99872185e-01 -8.57387984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.825898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:137.85, Y:-2.92, Z:-0.86 [[ 9.81874964e-01 1.88731389e-01 1.73786527e-02 1.37853829e+02] [-1.88726919e-01 9.82027747e-01 -1.91176685e-03 -2.91989370e+00] [-1.74271296e-02 -1.40270358e-03 9.99847152e-01 -8.60237744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:-2.92, Z:-0.86 [[ 9.82105779e-01 1.87586577e-01 1.67186970e-02 1.37885340e+02] [-1.87582224e-01 9.82247176e-01 -1.84220234e-03 -2.92229745e+00] [-1.67674654e-02 -1.32689280e-03 9.99858536e-01 -8.58059224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:-2.92, Z:-0.86 [[ 9.82330770e-01 1.86484795e-01 1.58012760e-02 1.37918384e+02] [-1.86480723e-01 9.82457073e-01 -1.74372869e-03 -2.92455087e+00] [-1.58492543e-02 -1.23371503e-03 9.99873632e-01 -8.59127673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:-2.93, Z:-0.86 [[ 9.82534119e-01 1.85494800e-01 1.47778324e-02 1.37950889e+02] [-1.85491093e-01 9.82644588e-01 -1.63314150e-03 -2.92723854e+00] [-1.48242962e-02 -1.13653903e-03 9.99889468e-01 -8.59794817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.98, Y:-2.93, Z:-0.86 [[ 9.82841789e-01 1.83884479e-01 1.44400622e-02 1.37983272e+02] [-1.83880726e-01 9.82947264e-01 -1.59856700e-03 -2.92985739e+00] [-1.44877713e-02 -1.08411068e-03 9.99894459e-01 -8.60010227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:-2.93, Z:-0.86 [[ 9.83231171e-01 1.81742836e-01 1.50334957e-02 1.38016627e+02] [-1.81738476e-01 9.83345487e-01 -1.66711582e-03 -2.93259340e+00] [-1.50861065e-02 -1.09300436e-03 9.99885601e-01 -8.60323865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.05, Y:-2.93, Z:-0.86 [[ 9.83837018e-01 1.78299460e-01 1.65536667e-02 1.38048649e+02] [-1.78293634e-01 9.83975609e-01 -1.83905632e-03 -2.93453003e+00] [-1.66163070e-02 -1.14208168e-03 9.99861287e-01 -8.60638259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:-2.94, Z:-0.86 [[ 9.83956750e-01 1.77645154e-01 1.64715711e-02 1.38081156e+02] [-1.77639248e-01 9.84093969e-01 -1.83271053e-03 -2.93801236e+00] [-1.65351459e-02 -1.12268960e-03 9.99862655e-01 -8.60838958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:-2.94, Z:-0.86 [[ 9.83913176e-01 1.77954926e-01 1.57132672e-02 1.38113667e+02] [-1.77949546e-01 9.84038054e-01 -1.75114399e-03 -2.94173442e+00] [-1.57740775e-02 -1.07319512e-03 9.99875006e-01 -8.60913776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:-2.96, Z:-0.86 [[ 9.83573509e-01 1.78698670e-01 2.54938715e-02 1.38143541e+02] [-1.79416670e-01 9.83334469e-01 2.93765314e-02 -2.95735879e+00] [-1.98194555e-02 -3.34680037e-02 9.99243255e-01 -8.59428394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:-2.93, Z:-0.86 [[ 9.83269367e-01 1.81943909e-01 8.81855257e-03 1.38178321e+02] [-1.81542501e-01 9.82775416e-01 -3.45659121e-02 -2.93202687e+00] [-1.49557138e-02 3.23866604e-02 9.99363513e-01 -8.64896270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:-2.95, Z:-0.86 [[ 9.82758833e-01 1.84503288e-01 1.19838744e-02 1.38209661e+02] [-1.84500614e-01 9.82831488e-01 -1.33790930e-03 -2.94752080e+00] [-1.20249778e-02 -8.96190002e-04 9.99927296e-01 -8.61860399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:-2.95, Z:-0.86 [[ 9.81601088e-01 1.90539190e-01 1.24145831e-02 1.38241281e+02] [-1.90536768e-01 9.81679078e-01 -1.38849764e-03 -2.94847696e+00] [-1.24516997e-02 -1.00248374e-03 9.99921972e-01 -8.62677980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:-2.95, Z:-0.86 [[ 9.81015772e-01 1.93489373e-01 1.30352683e-02 1.38274458e+02] [-1.93486930e-01 9.81101766e-01 -1.46033167e-03 -2.95232466e+00] [-1.30714834e-02 -1.08954564e-03 9.99913971e-01 -8.63455850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:-2.96, Z:-0.86 [[ 9.80511364e-01 1.95989325e-01 1.36253581e-02 1.38307294e+02] [-1.95986859e-01 9.80605330e-01 -1.52910564e-03 -2.95585113e+00] [-1.36607872e-02 -1.17108568e-03 9.99906001e-01 -8.63400788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:-2.96, Z:-0.86 [[ 9.80036056e-01 1.98347511e-01 1.36964681e-02 1.38338904e+02] [-1.98345212e-01 9.80131015e-01 -1.53966552e-03 -2.95887986e+00] [-1.37297220e-02 -1.20770113e-03 9.99905014e-01 -8.64254222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:-2.96, Z:-0.86 [[ 9.79637171e-01 2.00349364e-01 1.30822861e-02 1.38370850e+02] [-2.00347416e-01 9.79723810e-01 -1.47278226e-03 -2.96179410e+00] [-1.31120982e-02 -1.17820996e-03 9.99913339e-01 -8.64950981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:-2.96, Z:-0.87 [[ 9.79118817e-01 2.02915495e-01 1.23143800e-02 1.38403004e+02] [-2.02913947e-01 9.79195590e-01 -1.38813018e-03 -2.96465160e+00] [-1.23398597e-02 -1.13961507e-03 9.99923212e-01 -8.66682624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:-2.97, Z:-0.87 [[ 9.78900443e-01 2.03974133e-01 1.21850986e-02 1.38433863e+02] [-2.03972671e-01 9.78975616e-01 -1.37579265e-03 -2.96775615e+00] [-1.22095406e-02 -1.13866308e-03 9.99924812e-01 -8.67058622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:-2.97, Z:-0.87 [[ 9.78686554e-01 2.05007797e-01 1.20179673e-02 1.38466320e+02] [-2.05006443e-01 9.78759682e-01 -1.35768197e-03 -2.97085485e+00] [-1.20410372e-02 -1.13501563e-03 9.99926860e-01 -8.67880272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:-2.97, Z:-0.87 [[ 9.78563154e-01 2.05618903e-01 1.16198219e-02 1.38496933e+02] [-2.05617652e-01 9.78631520e-01 -1.31515027e-03 -2.97346833e+00] [-1.16419438e-02 -1.10228290e-03 9.99931623e-01 -8.68984481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:-2.98, Z:-0.87 [[ 9.78556773e-01 2.05677092e-01 1.11164237e-02 1.38528573e+02] [-2.05675958e-01 9.78619343e-01 -1.25748624e-03 -2.97623653e+00] [-1.11373833e-02 -1.05585941e-03 9.99937420e-01 -8.69911983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.485898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:138.56, Y:-2.98, Z:-0.87 [[ 9.78677569e-01 2.05084935e-01 1.14186333e-02 1.38559556e+02] [-2.05083675e-01 9.78743589e-01 -1.29368782e-03 -2.97890605e+00] [-1.14412300e-02 -1.07567203e-03 9.99933968e-01 -8.72957473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:-2.98, Z:-0.87 [[ 9.79009268e-01 2.03370423e-01 1.34656339e-02 1.38591673e+02] [-2.03368478e-01 9.79101081e-01 -1.52807006e-03 -2.98247689e+00] [-1.34949809e-02 -1.24249071e-03 9.99908167e-01 -8.71531814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:-2.99, Z:-0.87 [[ 9.79318207e-01 2.01802459e-01 1.45470419e-02 1.38623734e+02] [-2.01799981e-01 9.79425359e-01 -1.65330003e-03 -2.98601982e+00] [-1.45813818e-02 -1.31648595e-03 9.99892819e-01 -8.71542049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.575898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.66, Y:-2.99, Z:-0.87 [[ 9.79798369e-01 1.99417702e-01 1.50909214e-02 1.38656575e+02] [-1.99414714e-01 9.79913680e-01 -1.71777655e-03 -2.98869606e+00] [-1.51303554e-02 -1.32627711e-03 9.99884650e-01 -8.72862746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:-2.99, Z:-0.87 [[ 9.80200821e-01 1.97430290e-01 1.50874617e-02 1.38689439e+02] [-1.97427027e-01 9.80316077e-01 -1.72015288e-03 -2.99203643e+00] [-1.51300915e-02 -1.29257745e-03 9.99884698e-01 -8.71771058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.72, Y:-2.99, Z:-0.87 [[ 9.80742696e-01 1.94700693e-01 1.53429082e-02 1.38721451e+02] [-1.94696941e-01 9.80861882e-01 -1.75231582e-03 -2.99462560e+00] [-1.53904509e-02 -1.26864635e-03 9.99880755e-01 -8.73091921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:-3.00, Z:-0.87 [[ 9.81274685e-01 1.91974378e-01 1.56789751e-02 1.38754062e+02] [-1.91970084e-01 9.81399141e-01 -1.79255764e-03 -2.99727169e+00] [-1.57314578e-02 -1.25090273e-03 9.99875470e-01 -8.73245991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:-3.00, Z:-0.87 [[ 9.82290213e-01 1.86633446e-01 1.65497342e-02 1.38787371e+02] [-1.86627855e-01 9.82428853e-01 -1.89532469e-03 -2.99935114e+00] [-1.66126674e-02 -1.22688251e-03 9.99861247e-01 -8.74085197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:-3.00, Z:-0.87 [[ 9.82823663e-01 1.83833696e-01 1.62116964e-02 1.38820586e+02] [-1.83827904e-01 9.82956685e-01 -1.85954070e-03 -3.00221973e+00] [-1.62772415e-02 -1.15256155e-03 9.99866853e-01 -8.74056450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:-3.00, Z:-0.87 [[ 9.83392851e-01 1.80778911e-01 1.60463782e-02 1.38852929e+02] [-1.80772784e-01 9.83523158e-01 -1.84351752e-03 -3.00472494e+00] [-1.61152536e-02 -1.08784651e-03 9.99869549e-01 -8.74712617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:-3.01, Z:-0.87 [[ 9.84022584e-01 1.77324155e-01 1.59905847e-02 1.38885685e+02] [-1.77317572e-01 9.84151967e-01 -1.83985213e-03 -3.00708916e+00] [-1.60634156e-02 -1.02495561e-03 9.99870450e-01 -8.74611613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:-3.01, Z:-0.87 [[ 9.84618998e-01 1.73933254e-01 1.65121643e-02 1.38918631e+02] [-1.73925707e-01 9.84756938e-01 -1.90303373e-03 -3.00931770e+00] [-1.65914692e-02 -9.98126680e-04 9.99861854e-01 -8.74658684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:-3.01, Z:-0.87 [[ 9.85659663e-01 1.67691484e-01 1.88306861e-02 1.38951182e+02] [-1.67680459e-01 9.85839002e-01 -2.17414305e-03 -3.01008891e+00] [-1.89286101e-02 -1.01457298e-03 9.99820323e-01 -8.74967821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:-3.01, Z:-0.88 [[ 9.86148207e-01 1.64675353e-01 1.98429247e-02 1.38984258e+02] [-1.64662429e-01 9.86347312e-01 -2.29465510e-03 -3.01318340e+00] [-1.99498886e-02 -1.00451417e-03 9.99800477e-01 -8.75985587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:-3.02, Z:-0.88 [[ 9.86624443e-01 1.61834268e-01 1.95416955e-02 1.39017342e+02] [-1.61821107e-01 9.86817514e-01 -2.26339808e-03 -3.01683350e+00] [-1.96503828e-02 -9.29134941e-04 9.99806481e-01 -8.76532566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.935898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:139.05, Y:-3.02, Z:-0.88 [[ 9.87204442e-01 1.58460457e-01 1.78234051e-02 1.39050136e+02] [-1.58448905e-01 9.87365014e-01 -2.06741294e-03 -3.01917831e+00] [-1.79258098e-02 -7.83139790e-04 9.99839013e-01 -8.79052935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:-3.02, Z:-0.88 [[ 9.87596197e-01 1.56198562e-01 1.59925480e-02 1.39081659e+02] [-1.56188922e-01 9.87725453e-01 -1.85769937e-03 -3.02272739e+00] [-1.60864166e-02 -6.63202001e-04 9.99870385e-01 -8.77784819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:-3.03, Z:-0.88 [[ 9.88043473e-01 1.53492327e-01 1.44982831e-02 1.39114178e+02] [-1.53484081e-01 9.88149681e-01 -1.68635513e-03 -3.02604649e+00] [-1.45853164e-02 -5.59063473e-04 9.99893472e-01 -8.78276738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:-3.03, Z:-0.88 [[ 9.88872010e-01 1.48001461e-01 1.50902230e-02 1.39145948e+02] [-1.47991845e-01 9.88987019e-01 -1.75810986e-03 -3.03024217e+00] [-1.51842375e-02 -4.94684309e-04 9.99884590e-01 -8.77725755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.18, Y:-3.03, Z:-0.88 [[ 9.89192228e-01 1.45733579e-01 1.61387811e-02 1.39178842e+02] [-1.45722227e-01 9.89323751e-01 -1.88344377e-03 -3.03483762e+00] [-1.62409604e-02 -4.88691180e-04 9.99867987e-01 -8.78042920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:-3.04, Z:-0.88 [[ 9.89430164e-01 1.44062772e-01 1.65489380e-02 1.39210694e+02] [-1.44050549e-01 9.89568440e-01 -1.93450111e-03 -3.03959714e+00] [-1.66549964e-02 -4.69829860e-04 9.99861186e-01 -8.78386382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:-3.04, Z:-0.88 [[ 9.89418860e-01 1.44140430e-01 1.65486046e-02 1.39243947e+02] [-1.44128171e-01 9.89557132e-01 -1.93734872e-03 -3.04363053e+00] [-1.66550400e-02 -4.68270748e-04 9.99861186e-01 -8.78938545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:-3.05, Z:-0.88 [[ 9.89596189e-01 1.42991437e-01 1.59006998e-02 1.39276827e+02] [-1.42979952e-01 9.89723832e-01 -1.86266484e-03 -3.04872738e+00] [-1.60036467e-02 -4.30195272e-04 9.99871841e-01 -8.79806083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:-3.05, Z:-0.88 [[ 9.89741165e-01 1.42223633e-01 1.35964733e-02 1.39309806e+02] [-1.42215135e-01 9.89834487e-01 -1.59475198e-03 -3.05483342e+00] [-1.36850696e-02 -3.55232612e-04 9.99906292e-01 -8.80786775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:-3.06, Z:-0.88 [[ 9.89594107e-01 1.43313564e-01 1.28345197e-02 1.39342589e+02] [-1.43306055e-01 9.89677272e-01 -1.50762575e-03 -3.05936910e+00] [-1.29180957e-02 -3.47326826e-04 9.99916498e-01 -8.81101091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.235898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:139.37, Y:-3.06, Z:-0.88 [[ 9.89261080e-01 1.45621687e-01 1.25235636e-02 1.39374637e+02] [-1.45614692e-01 9.89340280e-01 -1.47353386e-03 -3.06360329e+00] [-1.26046444e-02 -3.65905151e-04 9.99920491e-01 -8.81697917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.265898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:139.41, Y:-3.07, Z:-0.88 [[ 9.88731380e-01 1.49199578e-01 1.22369708e-02 1.39407478e+02] [-1.49193146e-01 9.88807022e-01 -1.44196864e-03 -3.06704938e+00] [-1.23151438e-02 -3.99952535e-04 9.99924086e-01 -8.83608780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.295898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:139.44, Y:-3.07, Z:-0.88 [[ 9.87936775e-01 1.54412114e-01 1.17400305e-02 1.39440666e+02] [-1.54406537e-01 9.88006428e-01 -1.38547315e-03 -3.07072651e+00] [-1.18131595e-02 -4.43977582e-04 9.99930124e-01 -8.81469703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.325898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.47, Y:-3.07, Z:-0.88 [[ 9.87122837e-01 1.59546013e-01 1.15574142e-02 1.39472293e+02] [-1.59540932e-01 9.87190369e-01 -1.36617785e-03 -3.07305792e+00] [-1.16273362e-02 -4.95295275e-04 9.99932278e-01 -8.82033964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.355898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:139.50, Y:-3.07, Z:-0.88 [[ 9.85718659e-01 1.67902041e-01 1.29472295e-02 1.39504339e+02] [-1.67896341e-01 9.85803462e-01 -1.53370460e-03 -3.07276108e+00] [-1.30209358e-02 -6.61991213e-04 9.99915005e-01 -8.83359109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.385898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:139.54, Y:-3.07, Z:-0.88 [[ 9.85201510e-01 1.70867960e-01 1.34954024e-02 1.39535028e+02] [-1.70862045e-01 9.85293665e-01 -1.59860706e-03 -3.07474614e+00] [-1.35700852e-02 -7.30901963e-04 9.99907655e-01 -8.83760072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.415898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:139.57, Y:-3.08, Z:-0.88 [[ 9.84922756e-01 1.72419212e-01 1.40989545e-02 1.39566961e+02] [-1.72412883e-01 9.85023351e-01 -1.67234128e-03 -3.07734628e+00] [-1.41761431e-02 -7.83714404e-04 9.99899206e-01 -8.84637032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44589822700001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:139.60, Y:-3.08, Z:-0.89 [[ 9.84830774e-01 1.72888659e-01 1.47599851e-02 1.39598686e+02] [-1.72881737e-01 9.84941029e-01 -1.75333216e-03 -3.08039115e+00] [-1.48408462e-02 -8.24996392e-04 9.99889528e-01 -8.85395926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47589822700002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:139.63, Y:-3.08, Z:-0.89 [[ 9.84987205e-01 1.71963249e-01 1.51276606e-02 1.39630826e+02] [-1.71955830e-01 9.85103017e-01 -1.79956175e-03 -3.08360226e+00] [-1.52117626e-02 -8.28744137e-04 9.99883951e-01 -8.85999523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.505898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:139.66, Y:-3.09, Z:-0.89 [[ 9.85222547e-01 1.70583706e-01 1.54185923e-02 1.39662104e+02] [-1.70575787e-01 9.85342847e-01 -1.83696238e-03 -3.08746975e+00] [-1.55059555e-02 -8.20221765e-04 9.99879439e-01 -8.86529499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.535898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:139.70, Y:-3.09, Z:-0.89 [[ 9.85605175e-01 1.68366847e-01 1.53311345e-02 1.39695286e+02] [-1.68358715e-01 9.85724099e-01 -1.82879274e-03 -3.09063562e+00] [-1.54201768e-02 -7.78662513e-04 9.99880799e-01 -8.85920639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.565898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:139.73, Y:-3.09, Z:-0.89 [[ 9.85488405e-01 1.69114019e-01 1.45962942e-02 1.39727857e+02] [-1.69106691e-01 9.85596209e-01 -1.74379459e-03 -3.09297606e+00] [-1.46809524e-02 -7.49841666e-04 9.99891948e-01 -8.85958109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.595898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:139.76, Y:-3.09, Z:-0.89 [[ 9.85146418e-01 1.71154839e-01 1.38764888e-02 1.39759320e+02] [-1.71148380e-01 9.85243866e-01 -1.66047254e-03 -3.09467342e+00] [-1.39559234e-02 -7.39129996e-04 9.99902338e-01 -8.85955517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.625898227 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:139.79, Y:-3.10, Z:-0.89 [[ 9.84618220e-01 1.74147387e-01 1.41297244e-02 1.39789221e+02] [-1.74140959e-01 9.84719279e-01 -1.69345257e-03 -3.09541609e+00] [-1.42087224e-02 -7.93159507e-04 9.99898736e-01 -8.85953124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.655898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:139.82, Y:-3.10, Z:-0.89 [[ 9.84029244e-01 1.77411186e-01 1.45505371e-02 1.39819717e+02] [-1.77404728e-01 9.84136435e-01 -1.74369274e-03 -3.09597713e+00] [-1.46290643e-02 -8.65489430e-04 9.99892615e-01 -8.86454219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.685898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:139.85, Y:-3.10, Z:-0.89 [[ 9.83460279e-01 1.80514868e-01 1.48412502e-02 1.39848972e+02] [-1.80508501e-01 9.83571816e-01 -1.77854828e-03 -3.09660982e+00] [-1.49184898e-02 -9.29840236e-04 9.99888281e-01 -8.86826878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.715898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:139.88, Y:-3.10, Z:-0.89 [[ 9.82736594e-01 1.84371769e-01 1.53569955e-02 1.39878671e+02] [-1.84365424e-01 9.82856045e-01 -1.84018356e-03 -3.09570124e+00] [-1.54329938e-02 -1.02288326e-03 9.99880381e-01 -8.89572149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.745898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:139.91, Y:-3.10, Z:-0.89 [[ 9.82653543e-01 1.84830739e-01 1.51529875e-02 1.39908239e+02] [-1.84824620e-01 9.82769843e-01 -1.81539418e-03 -3.09763296e+00] [-1.52274398e-02 -1.01674165e-03 9.99883539e-01 -8.90129012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.775898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:139.94, Y:-3.10, Z:-0.89 [[ 9.82710674e-01 1.84546603e-01 1.49091339e-02 1.39938533e+02] [-1.84540653e-01 9.82823259e-01 -1.78580365e-03 -3.10019398e+00] [-1.49826076e-02 -9.96413004e-04 9.99887258e-01 -8.91263933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.805898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:139.97, Y:-3.10, Z:-0.89 [[ 9.82951637e-01 1.83301919e-01 1.43695941e-02 1.39967469e+02] [-1.83296259e-01 9.83056214e-01 -1.72115465e-03 -3.10277838e+00] [-1.44416098e-02 -9.42081068e-04 9.99895271e-01 -8.92316317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.835898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:140.00, Y:-3.11, Z:-0.89 [[ 9.83336774e-01 1.81291321e-01 1.34998099e-02 1.39998206e+02] [-1.81286135e-01 9.83429063e-01 -1.61715467e-03 -3.10602703e+00] [-1.35692815e-02 -8.57120708e-04 9.99907566e-01 -8.92991118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.865898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:140.03, Y:-3.11, Z:-0.89 [[ 9.84175924e-01 1.76791737e-01 1.19345244e-02 1.40027766e+02] [-1.76787353e-01 9.84248032e-01 -1.42970039e-03 -3.10906181e+00] [-1.19992914e-02 -7.02796277e-04 9.99927759e-01 -8.93526799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.895898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:140.06, Y:-3.11, Z:-0.89 [[ 9.84410387e-01 1.75508449e-01 1.15314815e-02 1.40057790e+02] [-1.75504271e-01 9.84477701e-01 -1.38122935e-03 -3.11203468e+00] [-1.15949038e-02 -6.64127734e-04 9.99932556e-01 -8.94040578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.925898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.09, Y:-3.11, Z:-0.89 [[ 9.84492828e-01 1.75041242e-01 1.15946231e-02 1.40087225e+02] [-1.75036984e-01 9.84560879e-01 -1.38890797e-03 -3.11464496e+00] [-1.16587285e-02 -6.62117922e-04 9.99931816e-01 -8.94706213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.955898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:140.12, Y:-3.12, Z:-0.90 [[ 9.84405062e-01 1.75490993e-01 1.22305134e-02 1.40116206e+02] [-1.75486293e-01 9.84480785e-01 -1.46481115e-03 -3.11677388e+00] [-1.22977666e-02 -7.04319956e-04 9.99924132e-01 -8.95242886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.985898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:140.15, Y:-3.12, Z:-0.90 [[ 9.84287859e-01 1.76114197e-01 1.26964935e-02 1.40145911e+02] [-1.76109190e-01 9.84369464e-01 -1.52009492e-03 -3.11905095e+00] [-1.27657508e-02 -7.39758212e-04 9.99918241e-01 -8.95368060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.015898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:140.17, Y:-3.12, Z:-0.90 [[ 9.84163927e-01 1.76783095e-01 1.30039563e-02 1.40174654e+02] [-1.76777905e-01 9.84249536e-01 -1.55662124e-03 -3.12126310e+00] [-1.30743223e-02 -7.66841687e-04 9.99914233e-01 -8.95931597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.045898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:140.20, Y:-3.12, Z:-0.90 [[ 9.84018965e-01 1.77614822e-01 1.26352937e-02 1.40203275e+02] [-1.77609996e-01 9.84099793e-01 -1.51204357e-03 -3.12155639e+00] [-1.27029513e-02 -7.56274926e-04 9.99919028e-01 -8.95477883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.075898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:140.23, Y:-3.12, Z:-0.90 [[ 9.83996575e-01 1.77738658e-01 1.26376415e-02 1.40232714e+02] [-1.77733846e-01 9.84077433e-01 -1.51185177e-03 -3.12329925e+00] [-1.27051323e-02 -7.58479668e-04 9.99918999e-01 -8.95513152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:-3.13, Z:-0.90 [[ 9.83975091e-01 1.77818262e-01 1.31790206e-02 1.40262826e+02] [-1.77813040e-01 9.84063025e-01 -1.57629006e-03 -3.12553359e+00] [-1.32492801e-02 -7.92371573e-04 9.99911910e-01 -8.95771072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.29, Y:-3.13, Z:-0.90 [[ 9.84002185e-01 1.77647271e-01 1.34590912e-02 1.40292501e+02] [-1.77641814e-01 9.84093896e-01 -1.60945673e-03 -3.12802997e+00] [-1.35309251e-02 -8.07188437e-04 9.99908127e-01 -8.95742187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.165898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:140.32, Y:-3.13, Z:-0.90 [[ 9.84113723e-01 1.76972949e-01 1.41688140e-02 1.40321338e+02] [-1.76966837e-01 9.84215357e-01 -1.69396035e-03 -3.13105321e+00] [-1.42449495e-02 -8.40360580e-04 9.99898182e-01 -8.96192628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19589822700001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:140.35, Y:-3.14, Z:-0.90 [[ 9.84132934e-01 1.76827389e-01 1.46438357e-02 1.40351114e+02] [-1.76820849e-01 9.84241497e-01 -1.75038640e-03 -3.13516491e+00] [-1.47225870e-02 -8.66722553e-04 9.99891241e-01 -8.97109744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22589822700002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:140.38, Y:-3.15, Z:-0.90 [[ 9.84074969e-01 1.76025912e-01 2.47251599e-02 1.40377028e+02] [-1.76616808e-01 9.83982777e-01 2.41743249e-02 -3.15072290e+00] [-2.00738239e-02 -2.81562269e-02 9.99401955e-01 -8.98589538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:-3.13, Z:-0.90 [[ 9.84268640e-01 1.76321206e-01 1.12283825e-02 1.40411273e+02] [-1.75942778e-01 9.83982527e-01 -2.86797117e-02 -3.13364051e+00] [-1.61053735e-02 2.62529880e-02 9.99525586e-01 -8.97773341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.285898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:140.44, Y:-3.15, Z:-0.90 [[ 9.84349353e-01 1.75611351e-01 1.47311081e-02 1.40438226e+02] [-1.75604600e-01 9.84459204e-01 -1.76068805e-03 -3.14854690e+00] [-1.48113717e-02 -8.53718191e-04 9.99889941e-01 -8.99219784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:-3.15, Z:-0.90 [[ 9.84109068e-01 1.76934255e-01 1.49536318e-02 1.40467313e+02] [-1.76927455e-01 9.84222273e-01 -1.78692798e-03 -3.15414548e+00] [-1.50338662e-02 -8.87175992e-04 9.99886591e-01 -8.97163343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.345898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.50, Y:-3.16, Z:-0.90 [[ 9.83321181e-01 1.81172616e-01 1.59980848e-02 1.40496922e+02] [-1.81165398e-01 9.83450784e-01 -1.91134279e-03 -3.15933508e+00] [-1.60796120e-02 -1.01883556e-03 9.99870196e-01 -8.97551862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:140.53, Y:-3.16, Z:-0.90 [[ 9.82753658e-01 1.84210990e-01 1.61727928e-02 1.40526405e+02] [-1.84204030e-01 9.82886129e-01 -1.93183560e-03 -3.16312534e+00] [-1.62518790e-02 -1.08057510e-03 9.99867346e-01 -8.98496461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.405898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:140.55, Y:-3.17, Z:-0.90 [[ 9.82198179e-01 1.87198076e-01 1.56082601e-02 1.40554820e+02] [-1.87191973e-01 9.82321582e-01 -1.86405749e-03 -3.16537013e+00] [-1.56812788e-02 -1.09086714e-03 9.99876446e-01 -8.99341544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.435898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:140.58, Y:-3.17, Z:-0.90 [[ 9.81535332e-01 1.90705817e-01 1.48216846e-02 1.40584904e+02] [-1.90700719e-01 9.81646629e-01 -1.76961715e-03 -3.16730884e+00] [-1.48871330e-02 -1.08956416e-03 9.99888587e-01 -9.00230808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.465898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:140.61, Y:-3.17, Z:-0.90 [[ 9.80942388e-01 1.93797618e-01 1.39468217e-02 1.40613376e+02] [-1.93793418e-01 9.81040947e-01 -1.66493021e-03 -3.16745675e+00] [-1.40050627e-02 -1.06960163e-03 9.99901352e-01 -9.02252395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.64, Y:-3.17, Z:-0.90 [[ 9.80385955e-01 1.96636066e-01 1.33280232e-02 1.40641713e+02] [-1.96632501e-01 9.80475971e-01 -1.59027425e-03 -3.16946485e+00] [-1.33805118e-02 -1.06164001e-03 9.99909913e-01 -9.01693637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.525898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:140.67, Y:-3.17, Z:-0.90 [[ 9.80004582e-01 1.98570655e-01 1.26773298e-02 1.40669436e+02] [-1.98567598e-01 9.80086028e-01 -1.51210872e-03 -3.16861886e+00] [-1.27251342e-02 -1.03543345e-03 9.99918496e-01 -9.02207444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.555898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:140.70, Y:-3.17, Z:-0.90 [[ 9.80280184e-01 1.97203633e-01 1.27078163e-02 1.40696920e+02] [-1.97200456e-01 9.80362017e-01 -1.51498285e-03 -3.16996095e+00] [-1.27570205e-02 -1.02087950e-03 9.99918105e-01 -9.03103577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:-3.17, Z:-0.90 [[ 9.80903167e-01 1.94112597e-01 1.22179193e-02 1.40725784e+02] [-1.94109431e-01 9.80978802e-01 -1.45586517e-03 -3.17149775e+00] [-1.22681216e-02 -9.43550592e-04 9.99924299e-01 -9.03740185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.615898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:140.75, Y:-3.17, Z:-0.91 [[ 9.81822742e-01 1.89447637e-01 1.15626852e-02 1.40753699e+02] [-1.89444484e-01 9.81890468e-01 -1.37734125e-03 -3.17286833e+00] [-1.16142245e-02 -8.38181977e-04 9.99932201e-01 -9.05656877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.78, Y:-3.18, Z:-0.90 [[ 9.82733729e-01 1.84682778e-01 1.12556793e-02 1.40781860e+02] [-1.84679485e-01 9.82797889e-01 -1.34022799e-03 -3.17652838e+00] [-1.13095749e-02 -7.61605803e-04 9.99935755e-01 -9.04854709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:-3.18, Z:-0.91 [[ 9.83683074e-01 1.79557295e-01 1.12600287e-02 1.40810359e+02] [-1.79553676e-01 9.83747266e-01 -1.33973559e-03 -3.18014939e+00] [-1.13175817e-02 -7.03904323e-04 9.99935706e-01 -9.05194581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.84, Y:-3.19, Z:-0.90 [[ 9.85393575e-01 1.69750293e-01 1.35772199e-02 1.40839406e+02] [-1.69744115e-01 9.85486849e-01 -1.61459202e-03 -3.18541508e+00] [-1.36542491e-02 -7.13644565e-04 9.99906522e-01 -9.04422958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:-3.19, Z:-0.90 [[ 9.86080274e-01 1.65624505e-01 1.46361289e-02 1.40867275e+02] [-1.65616877e-01 9.86188634e-01 -1.74016377e-03 -3.18988952e+00] [-1.47221977e-02 -7.08048793e-04 9.99891372e-01 -9.04383385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:-3.19, Z:-0.90 [[ 9.86688051e-01 1.61954503e-01 1.47454942e-02 1.40896651e+02] [-1.61946359e-01 9.86798006e-01 -1.75263104e-03 -3.19437663e+00] [-1.48346708e-02 -6.58678997e-04 9.99889743e-01 -9.03706168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:-3.20, Z:-0.90 [[ 9.87170407e-01 1.59054218e-01 1.40122455e-02 1.40925900e+02] [-1.59046577e-01 9.87269676e-01 -1.66514523e-03 -3.19915537e+00] [-1.40987134e-02 -5.84817584e-04 9.99900437e-01 -9.03800875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:-3.20, Z:-0.90 [[ 9.87495706e-01 1.57068842e-01 1.34762391e-02 1.40955609e+02] [-1.57061591e-01 9.87587511e-01 -1.60129918e-03 -3.20306226e+00] [-1.35604797e-02 -5.35323499e-04 9.99907909e-01 -9.03910962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:-3.21, Z:-0.90 [[ 9.87616452e-01 1.56246517e-01 1.41692866e-02 1.40985490e+02] [-1.56238420e-01 9.87717937e-01 -1.68345421e-03 -3.20659584e+00] [-1.42582924e-02 -5.51179875e-04 9.99898193e-01 -9.04211935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.885898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.02, Y:-3.21, Z:-0.90 [[ 9.87583893e-01 1.56086619e-01 1.77488390e-02 1.41015023e+02] [-1.56073889e-01 9.87743132e-01 -2.10872212e-03 -3.20946587e+00] [-1.78604371e-02 -6.87590319e-04 9.99840253e-01 -9.03834914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.915898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.05, Y:-3.21, Z:-0.90 [[ 9.87574122e-01 1.56069830e-01 1.84271905e-02 1.41045705e+02] [-1.56056108e-01 9.87745766e-01 -2.18911807e-03 -3.21237381e+00] [-1.85430347e-02 -7.13759286e-04 9.99827808e-01 -9.03668853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:-3.22, Z:-0.90 [[ 9.87641541e-01 1.55709028e-01 1.78573474e-02 1.41075434e+02] [-1.55696084e-01 9.87802728e-01 -2.12140167e-03 -3.21503696e+00] [-1.79698578e-02 -6.85134638e-04 9.99838294e-01 -9.04524846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:-3.22, Z:-0.91 [[ 9.87813753e-01 1.54716201e-01 1.69377032e-02 1.41105026e+02] [-1.54704413e-01 9.87958752e-01 -2.01196275e-03 -3.21725367e+00] [-1.70450354e-02 -6.32892962e-04 9.99854523e-01 -9.05368404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:-3.22, Z:-0.91 [[ 9.87815470e-01 1.54705237e-01 1.69377262e-02 1.41134982e+02] [-1.54693451e-01 9.87960469e-01 -2.01176939e-03 -3.22077235e+00] [-1.70450352e-02 -6.32898391e-04 9.99854523e-01 -9.05858720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:-3.22, Z:-0.91 [[ 9.88039274e-01 1.53311207e-01 1.65549761e-02 1.41165229e+02] [-1.53299755e-01 9.88177777e-01 -1.96613090e-03 -3.22270794e+00] [-1.66606894e-02 -5.95259231e-04 9.99861024e-01 -9.06654152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.065898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.20, Y:-3.22, Z:-0.91 [[ 9.88439728e-01 1.50667617e-01 1.69166645e-02 1.41195615e+02] [-1.50655272e-01 9.88584317e-01 -2.00908637e-03 -3.22267422e+00] [-1.70262535e-02 -5.62723905e-04 9.99854884e-01 -9.06811101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.095898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.22, Y:-3.22, Z:-0.91 [[ 9.88637634e-01 1.49356988e-01 1.69740566e-02 1.41224852e+02] [-1.49344366e-01 9.88783190e-01 -2.01591230e-03 -3.22387224e+00] [-1.70847524e-02 -5.41972958e-04 9.99853898e-01 -9.07324045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:-3.23, Z:-0.91 [[ 9.88840797e-01 1.48047887e-01 1.66042787e-02 1.41255463e+02] [-1.48035622e-01 9.88980063e-01 -1.97218207e-03 -3.22544876e+00] [-1.67132780e-02 -5.07850641e-04 9.99860194e-01 -9.07782844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:-3.23, Z:-0.91 [[ 9.89130832e-01 1.46106709e-01 1.65235415e-02 1.41285047e+02] [-1.46094292e-01 9.89268723e-01 -1.96258777e-03 -3.22742004e+00] [-1.66329700e-02 -4.72739025e-04 9.99861551e-01 -9.09031416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:-3.23, Z:-0.91 [[ 9.89448210e-01 1.43992608e-01 1.60738268e-02 1.41315461e+02] [-1.43980582e-01 9.89578672e-01 -1.90898069e-03 -3.23050025e+00] [-1.61811953e-02 -4.25481406e-04 9.99868985e-01 -9.10132642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:-3.23, Z:-0.91 [[ 9.89792410e-01 1.41683831e-01 1.53842971e-02 1.41345320e+02] [-1.41672536e-01 9.89911892e-01 -1.82708987e-03 -3.23361255e+00] [-1.54879678e-02 -3.71092694e-04 9.99879985e-01 -9.09928114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:-3.24, Z:-0.91 [[ 9.90136858e-01 1.39444725e-01 1.35709561e-02 1.41376041e+02] [-1.39435725e-01 9.90229812e-01 -1.61173151e-03 -3.23695715e+00] [-1.36631128e-02 -2.96441331e-04 9.99906611e-01 -9.09891680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:-3.24, Z:-0.91 [[ 9.90149384e-01 1.39405733e-01 1.30475995e-02 1.41405515e+02] [-1.39397410e-01 9.90235306e-01 -1.54961429e-03 -3.23994760e+00] [-1.31362187e-02 -2.84451940e-04 9.99913676e-01 -9.10424266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.305898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.44, Y:-3.24, Z:-0.91 [[ 9.90063054e-01 1.40037759e-01 1.28286821e-02 1.41435474e+02] [-1.40029768e-01 9.90146122e-01 -1.52349673e-03 -3.24264241e+00] [-1.29156169e-02 -2.88039548e-04 9.99916548e-01 -9.10462673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.335898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:141.46, Y:-3.24, Z:-0.91 [[ 9.89901695e-01 1.41077329e-01 1.38499894e-02 1.41463845e+02] [-1.41068121e-01 9.89998526e-01 -1.64444936e-03 -3.24459304e+00] [-1.39434636e-02 -3.25948766e-04 9.99902732e-01 -9.11860579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:-3.25, Z:-0.91 [[ 9.89608493e-01 1.43010571e-01 1.49334239e-02 1.41493486e+02] [-1.43000095e-01 9.89721088e-01 -1.77249759e-03 -3.24748809e+00] [-1.50334104e-02 -3.81402359e-04 9.99886919e-01 -9.10778745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:-3.25, Z:-0.91 [[ 9.89271021e-01 1.45222121e-01 1.59180186e-02 1.41523585e+02] [-1.45210511e-01 9.89398979e-01 -1.88895435e-03 -3.24932145e+00] [-1.60235893e-02 -4.42775808e-04 9.99871516e-01 -9.10617643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:-3.25, Z:-0.91 [[ 9.88447707e-01 1.50662539e-01 1.64902733e-02 1.41552832e+02] [-1.50650834e-01 9.88585098e-01 -1.95684958e-03 -3.24952257e+00] [-1.65968624e-02 -5.50029945e-04 9.99862111e-01 -9.11809176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:-3.25, Z:-0.91 [[ 9.88161549e-01 1.52593587e-01 1.58729216e-02 1.41581340e+02] [-1.52583000e-01 9.88288866e-01 -1.88302942e-03 -3.25106522e+00] [-1.59743699e-02 -5.61200736e-04 9.99872244e-01 -9.12355827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:-3.25, Z:-0.91 [[ 9.87946491e-01 1.54029999e-01 1.53782129e-02 1.41609796e+02] [-1.54020247e-01 9.88066009e-01 -1.82361005e-03 -3.25276582e+00] [-1.54755801e-02 -5.66927007e-04 9.99880085e-01 -9.12861992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.64, Y:-3.25, Z:-0.91 [[ 9.87845930e-01 1.54683295e-01 1.52806019e-02 1.41638071e+02] [-1.54673756e-01 9.87963941e-01 -1.81130002e-03 -3.25343502e+00] [-1.53768615e-02 -5.74222725e-04 9.99881604e-01 -9.13442056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:-3.25, Z:-0.91 [[ 9.87752404e-01 1.55290208e-01 1.51703698e-02 1.41667188e+02] [-1.55280892e-01 9.87868723e-01 -1.79729943e-03 -3.25399319e+00] [-1.52654368e-02 -5.80381718e-04 9.99883308e-01 -9.13407029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:-3.25, Z:-0.91 [[ 9.87657609e-01 1.55872180e-01 1.53723987e-02 1.41696648e+02] [-1.55862696e-01 9.87777053e-01 -1.82049490e-03 -3.25418097e+00] [-1.54682672e-02 -5.97957859e-04 9.99880180e-01 -9.13262519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.605898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.72, Y:-3.25, Z:-0.91 [[ 9.87478770e-01 1.56976980e-01 1.56175072e-02 1.41724908e+02] [-1.56967341e-01 9.87602064e-01 -1.84875110e-03 -3.25405114e+00] [-1.57140937e-02 -6.25836105e-04 9.99876330e-01 -9.13078720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.635898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.75, Y:-3.25, Z:-0.91 [[ 9.86813584e-01 1.61098909e-01 1.56873025e-02 1.41754190e+02] [-1.61089718e-01 9.86938021e-01 -1.85604860e-03 -3.25007785e+00] [-1.57814027e-02 -6.95489150e-04 9.99875224e-01 -9.12524468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:-3.25, Z:-0.91 [[ 9.86378466e-01 1.63741892e-01 1.56880633e-02 1.41783341e+02] [-1.63733045e-01 9.86502938e-01 -1.85540138e-03 -3.24902054e+00] [-1.57801275e-02 -7.38526410e-04 9.99875213e-01 -9.13208254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:-3.25, Z:-0.91 [[ 9.86004444e-01 1.66011930e-01 1.53387108e-02 1.41811632e+02] [-1.66003758e-01 9.86123453e-01 -1.81337776e-03 -3.24748520e+00] [-1.54269048e-02 -7.58285100e-04 9.99880711e-01 -9.14259714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:-3.25, Z:-0.92 [[ 9.85726415e-01 1.67704699e-01 1.47840987e-02 1.41839904e+02] [-1.67697309e-01 9.85836985e-01 -1.74698559e-03 -3.24644115e+00] [-1.48676890e-02 -7.57203738e-04 9.99889183e-01 -9.15431801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.755898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.87, Y:-3.25, Z:-0.92 [[ 9.85611093e-01 1.68416897e-01 1.43708631e-02 1.41866753e+02] [-1.68410004e-01 9.85715573e-01 -1.69716129e-03 -3.24562956e+00] [-1.44514141e-02 -7.47456119e-04 9.99895293e-01 -9.16265899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:-3.25, Z:-0.92 [[ 9.85630812e-01 1.68352741e-01 1.37570803e-02 1.41894917e+02] [-1.68346434e-01 9.85726556e-01 -1.62353797e-03 -3.24563699e+00] [-1.38340465e-02 -7.15746363e-04 9.99904049e-01 -9.16512714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:-3.24, Z:-0.92 [[ 9.86022231e-01 1.66073563e-01 1.34064211e-02 1.41922819e+02] [-1.66067375e-01 9.86113141e-01 -1.58127507e-03 -3.24253341e+00] [-1.34828560e-02 -6.67196800e-04 9.99908880e-01 -9.17995958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:-3.24, Z:-0.92 [[ 9.86245038e-01 1.64750469e-01 1.33419498e-02 1.41951138e+02] [-1.64744235e-01 9.86335067e-01 -1.57256001e-03 -3.24247105e+00] [-1.34187129e-02 -6.47079798e-04 9.99909756e-01 -9.18165140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:-3.24, Z:-0.92 [[ 9.86442729e-01 1.63559987e-01 1.33743382e-02 1.41979696e+02] [-1.63553626e-01 9.86533187e-01 -1.57542247e-03 -3.24314624e+00] [-1.34519045e-02 -6.33357460e-04 9.99909318e-01 -9.18465314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:-3.24, Z:-0.92 [[ 9.86687753e-01 1.62117909e-01 1.28476369e-02 1.42007330e+02] [-1.62111928e-01 9.86771217e-01 -1.51251419e-03 -3.24388837e+00] [-1.29228839e-02 -5.90375955e-04 9.99916322e-01 -9.19299759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:-3.25, Z:-0.92 [[ 9.86981948e-01 1.60392802e-01 1.18652517e-02 1.42034580e+02] [-1.60387583e-01 9.87053126e-01 -1.39625363e-03 -3.24568203e+00] [-1.19355828e-02 -5.24961918e-04 9.99928631e-01 -9.19780869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:-3.25, Z:-0.92 [[ 9.87326026e-01 1.58293223e-01 1.14268747e-02 1.42062557e+02] [-1.58288258e-01 9.87392031e-01 -1.34334844e-03 -3.24795453e+00] [-1.14954480e-02 -4.82417214e-04 9.99933809e-01 -9.21276125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:-3.25, Z:-0.92 [[ 9.87722935e-01 1.55817687e-01 1.11468623e-02 1.42089080e+02] [-1.55812812e-01 9.87785732e-01 -1.30984227e-03 -3.25010999e+00] [-1.12148081e-02 -4.43062700e-04 9.99937014e-01 -9.21621977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:-3.25, Z:-0.92 [[ 9.87978632e-01 1.54176129e-01 1.13112673e-02 1.42116469e+02] [-1.54171017e-01 9.88043286e-01 -1.32776265e-03 -3.25315730e+00] [-1.13807310e-02 -4.32068466e-04 9.99935144e-01 -9.22927144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.055898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.14, Y:-3.26, Z:-0.92 [[ 9.88183018e-01 1.52874114e-01 1.11278397e-02 1.42144669e+02] [-1.52869092e-01 9.88245585e-01 -1.30550284e-03 -3.25674010e+00] [-1.11966161e-02 -4.11027027e-04 9.99937231e-01 -9.23640572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:-3.26, Z:-0.92 [[ 9.88223190e-01 1.52657627e-01 1.05155425e-02 1.42172653e+02] [-1.52653137e-01 9.88279059e-01 -1.23303159e-03 -3.26158157e+00] [-1.05805221e-02 -3.86720139e-04 9.99943950e-01 -9.23647154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:-3.27, Z:-0.92 [[ 9.88062352e-01 1.53723128e-01 1.00989418e-02 1.42200863e+02] [-1.53719049e-01 9.88113887e-01 -1.18352588e-03 -3.26502937e+00] [-1.01608400e-02 -3.83002375e-04 9.99948304e-01 -9.22847009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.145898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.23, Y:-3.27, Z:-0.92 [[ 9.87798932e-01 1.55402220e-01 1.01695119e-02 1.42228271e+02] [-1.55398180e-01 9.87851197e-01 -1.19108599e-03 -3.26789357e+00] [-1.02310619e-02 -4.03770179e-04 9.99947580e-01 -9.22833537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:-3.27, Z:-0.92 [[ 9.87512415e-01 1.57195249e-01 1.04347352e-02 1.42255599e+02] [-1.57191103e-01 9.87567448e-01 -1.22141459e-03 -3.27089878e+00] [-1.04970053e-02 -4.34085459e-04 9.99944811e-01 -9.23348132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.205898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.28, Y:-3.27, Z:-0.92 [[ 9.87160864e-01 1.59337470e-01 1.11802611e-02 1.42282483e+02] [-1.59332857e-01 9.87224053e-01 -1.30786850e-03 -3.27450288e+00] [-1.12458151e-02 -4.90306343e-04 9.99936644e-01 -9.23760261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.235898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.31, Y:-3.28, Z:-0.92 [[ 9.86350760e-01 1.64180790e-01 1.25238400e-02 1.42308926e+02] [-1.64175406e-01 9.86430075e-01 -1.46385023e-03 -3.27976635e+00] [-1.25942285e-02 -6.12236728e-04 9.99920502e-01 -9.24595432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:-3.28, Z:-0.92 [[ 9.85934283e-01 1.66648134e-01 1.27274680e-02 1.42336730e+02] [-1.66642792e-01 9.86016212e-01 -1.48658365e-03 -3.28370629e+00] [-1.27972261e-02 -6.55267015e-04 9.99917897e-01 -9.24460369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:-3.29, Z:-0.92 [[ 9.85517923e-01 1.69090823e-01 1.27561002e-02 1.42364026e+02] [-1.69085671e-01 9.85600233e-01 -1.48906761e-03 -3.28709208e+00] [-1.28242030e-02 -6.89370939e-04 9.99917529e-01 -9.24892341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:-3.29, Z:-0.93 [[ 9.85149486e-01 1.71248989e-01 1.24207212e-02 1.42391396e+02] [-1.71244285e-01 9.85227535e-01 -1.44914115e-03 -3.29061266e+00] [-1.24854005e-02 -6.99356869e-04 9.99921810e-01 -9.25087299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.355898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:142.42, Y:-3.29, Z:-0.93 [[ 9.84627303e-01 1.74226813e-01 1.24133533e-02 1.42419610e+02] [-1.74222362e-01 9.84705273e-01 -1.44738090e-03 -3.29403630e+00] [-1.24756670e-02 -7.37552979e-04 9.99921904e-01 -9.27958393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:-3.30, Z:-0.93 [[ 9.84351729e-01 1.75731379e-01 1.30444262e-02 1.42446540e+02] [-1.75726608e-01 9.84437834e-01 -1.51998096e-03 -3.29763166e+00] [-1.31085350e-02 -7.96056893e-04 9.99913763e-01 -9.26925482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:-3.30, Z:-0.93 [[ 9.84053403e-01 1.77379451e-01 1.32450358e-02 1.42473964e+02] [-1.77374697e-01 9.84142184e-01 -1.54217003e-03 -3.30066573e+00] [-1.33085477e-02 -8.31756555e-04 9.99911091e-01 -9.26817605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:-3.30, Z:-0.93 [[ 9.83695552e-01 1.79315005e-01 1.37546650e-02 1.42500376e+02] [-1.79310080e-01 9.83791306e-01 -1.60058094e-03 -3.30336214e+00] [-1.38187280e-02 -8.91865718e-04 9.99904119e-01 -9.26917176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:-3.31, Z:-0.93 [[ 9.83343656e-01 1.81203632e-01 1.41597637e-02 1.42527173e+02] [-1.81198634e-01 9.83445142e-01 -1.64582355e-03 -3.30550736e+00] [-1.42235800e-02 -9.47319691e-04 9.99898391e-01 -9.27254818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:-3.31, Z:-0.93 [[ 9.82952124e-01 1.83298975e-01 1.43738198e-02 1.42555554e+02] [-1.83294065e-01 9.83056712e-01 -1.66951377e-03 -3.30743811e+00] [-1.44363002e-02 -9.93583758e-04 9.99895298e-01 -9.27835488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.535898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.58, Y:-3.31, Z:-0.93 [[ 9.82039680e-01 1.88102091e-01 1.46857082e-02 1.42583611e+02] [-1.88097515e-01 9.82148878e-01 -1.70467781e-03 -3.30755211e+00] [-1.47442052e-02 -1.08828396e-03 9.99890706e-01 -9.29860774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.565898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.61, Y:-3.31, Z:-0.93 [[ 9.82061567e-01 1.87987782e-01 1.46858194e-02 1.42611920e+02] [-1.87983207e-01 9.82170765e-01 -1.70371882e-03 -3.31068898e+00] [-1.47442608e-02 -1.08753066e-03 9.99890706e-01 -9.30323822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.595898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.64, Y:-3.31, Z:-0.93 [[ 9.81386500e-01 1.91510588e-01 1.42910079e-02 1.42639259e+02] [-1.91506650e-01 9.81489918e-01 -1.65630184e-03 -3.30997666e+00] [-1.43436796e-02 -1.11135079e-03 9.99896507e-01 -9.31198347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.67, Y:-3.31, Z:-0.93 [[ 9.81243790e-01 1.92340127e-01 1.28802222e-02 1.42667021e+02] [-1.92337021e-01 9.81327798e-01 -1.49114463e-03 -3.31063331e+00] [-1.29265270e-02 -1.01416715e-03 9.99915935e-01 -9.31381600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:-3.31, Z:-0.93 [[ 9.81293528e-01 1.92194611e-01 1.11464412e-02 1.42695276e+02] [-1.92192282e-01 9.81356440e-01 -1.28980985e-03 -3.31150823e+00] [-1.11865263e-02 -8.76577911e-04 9.99937045e-01 -9.32489164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.685898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.72, Y:-3.31, Z:-0.93 [[ 9.81436287e-01 1.91523054e-01 1.00863803e-02 1.42722543e+02] [-1.91521117e-01 9.81487800e-01 -1.16661927e-03 -3.31241372e+00] [-1.01230937e-02 -7.86792344e-04 9.99948451e-01 -9.32992737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.715898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:142.75, Y:-3.31, Z:-0.93 [[ 9.81679786e-01 1.90275603e-01 9.99960514e-03 1.42750198e+02] [-1.90273643e-01 9.81730414e-01 -1.15573124e-03 -3.31399387e+00] [-1.00368239e-02 -7.68103306e-04 9.99949335e-01 -9.33943754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.745898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:142.78, Y:-3.31, Z:-0.93 [[ 9.82044676e-01 1.88326127e-01 1.10237685e-02 1.42777598e+02] [-1.88323632e-01 9.82106200e-01 -1.27325682e-03 -3.31343080e+00] [-1.10662989e-02 -8.25641036e-04 9.99938426e-01 -9.33979452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.775898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:142.81, Y:-3.31, Z:-0.93 [[ 9.82045191e-01 1.88320834e-01 1.10682414e-02 1.42806014e+02] [-1.88318330e-01 9.82107212e-01 -1.27741203e-03 -3.31454538e+00] [-1.11107630e-02 -8.29876381e-04 9.99937929e-01 -9.34300811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.805898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.83, Y:-3.32, Z:-0.93 [[ 9.81976647e-01 1.88684614e-01 1.09535597e-02 1.42834408e+02] [-1.88682193e-01 9.82037389e-01 -1.26339721e-03 -3.31522737e+00] [-1.09951888e-02 -8.26115106e-04 9.99939210e-01 -9.34841239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:-3.32, Z:-0.94 [[ 9.81811783e-01 1.89547453e-01 1.08344645e-02 1.42861745e+02] [-1.89545141e-01 9.81871213e-01 -1.24920536e-03 -3.31629153e+00] [-1.08748325e-02 -8.27135566e-04 9.99940525e-01 -9.35448334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:-3.32, Z:-0.94 [[ 9.81616892e-01 1.90571090e-01 1.05326861e-02 1.42889603e+02] [-1.90568982e-01 9.81673058e-01 -1.21274608e-03 -3.31676586e+00] [-1.05707685e-02 -8.16751219e-04 9.99943794e-01 -9.35681630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.895898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:142.92, Y:-3.32, Z:-0.94 [[ 9.81366796e-01 1.91856183e-01 1.05078996e-02 1.42916978e+02] [-1.91854165e-01 9.81422701e-01 -1.20920444e-03 -3.31650272e+00] [-1.05446846e-02 -8.29311218e-04 9.99944059e-01 -9.37634943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:-3.31, Z:-0.94 [[ 9.80805602e-01 1.94634135e-01 1.17441212e-02 1.42946047e+02] [-1.94631820e-01 9.80875441e-01 -1.35078764e-03 -3.31232657e+00] [-1.17824295e-02 -9.60919607e-04 9.99930123e-01 -9.36041514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:-3.32, Z:-0.94 [[ 9.80828152e-01 1.94520449e-01 1.17444076e-02 1.42974355e+02] [-1.94518155e-01 9.80897991e-01 -1.34829232e-03 -3.31543062e+00] [-1.17823363e-02 -9.62057438e-04 9.99930123e-01 -9.36504684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:-3.31, Z:-0.94 [[ 9.80653915e-01 1.95332189e-01 1.27763477e-02 1.43002796e+02] [-1.95329561e-01 9.80736568e-01 -1.46534810e-03 -3.31364886e+00] [-1.28164611e-02 -1.05859904e-03 9.99917305e-01 -9.37188986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.015898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:143.03, Y:-3.31, Z:-0.94 [[ 9.80498248e-01 1.96062127e-01 1.35214039e-02 1.43030390e+02] [-1.96059295e-01 9.80590821e-01 -1.54773260e-03 -3.31155809e+00] [-1.35624163e-02 -1.13344782e-03 9.99907384e-01 -9.38676654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.045898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.06, Y:-3.31, Z:-0.94 [[ 9.80441902e-01 1.96289136e-01 1.42916663e-02 1.43058980e+02] [-1.96286011e-01 9.80545322e-01 -1.63483414e-03 -3.31035244e+00] [-1.43345267e-02 -1.20239427e-03 9.99896532e-01 -9.39136111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.075898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:143.09, Y:-3.31, Z:-0.94 [[ 9.80444314e-01 1.96255735e-01 1.45819387e-02 1.43086309e+02] [-1.96252522e-01 9.80551975e-01 -1.66499652e-03 -3.30928717e+00] [-1.46251139e-02 -1.22930588e-03 9.99892292e-01 -9.39962085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:-3.31, Z:-0.94 [[ 9.80481426e-01 1.96077912e-01 1.44784929e-02 1.43113229e+02] [-1.96074743e-01 9.80587562e-01 -1.65198161e-03 -3.30876727e+00] [-1.45213471e-02 -1.21912947e-03 9.99893816e-01 -9.38820039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.14, Y:-3.31, Z:-0.94 [[ 9.80486654e-01 1.96063518e-01 1.43184813e-02 1.43141324e+02] [-1.96060431e-01 9.80590456e-01 -1.63274217e-03 -3.30718099e+00] [-1.43606873e-02 -1.20640572e-03 9.99896152e-01 -9.38819490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:-3.30, Z:-0.94 [[ 9.80354606e-01 1.96684253e-01 1.48375083e-02 1.43169593e+02] [-1.96681053e-01 9.80466068e-01 -1.68901069e-03 -3.29845246e+00] [-1.48798753e-02 -1.26242735e-03 9.99888492e-01 -9.37422483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:-3.30, Z:-0.94 [[ 9.80303359e-01 1.96936439e-01 1.48782861e-02 1.43197861e+02] [-1.96933291e-01 9.80415432e-01 -1.69084409e-03 -3.29596238e+00] [-1.49198901e-02 -1.27248972e-03 9.99887883e-01 -9.38152955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.23, Y:-3.29, Z:-0.94 [[ 9.80282241e-01 1.97064659e-01 1.45687647e-02 1.43226064e+02] [-1.97061694e-01 9.80389696e-01 -1.65300861e-03 -3.29408191e+00] [-1.46088164e-02 -1.25053048e-03 9.99892504e-01 -9.38784847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:-3.29, Z:-0.94 [[ 9.80315640e-01 1.96930014e-01 1.41356499e-02 1.43254228e+02] [-1.96927244e-01 9.80416797e-01 -1.60132571e-03 -3.29272783e+00] [-1.41741776e-02 -1.21388994e-03 9.99898804e-01 -9.39924137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:-3.29, Z:-0.94 [[ 9.80523038e-01 1.95928025e-01 1.36668112e-02 1.43282879e+02] [-1.95925373e-01 9.80617590e-01 -1.54578562e-03 -3.29066428e+00] [-1.37047782e-02 -1.16199668e-03 9.99905410e-01 -9.40528317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:-3.29, Z:-0.94 [[ 9.80775612e-01 1.94666765e-01 1.35664952e-02 1.43310156e+02] [-1.94664070e-01 9.80868775e-01 -1.53166534e-03 -3.28850580e+00] [-1.36051159e-02 -1.13868916e-03 9.99906798e-01 -9.40911556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.34, Y:-3.28, Z:-0.94 [[ 9.81245835e-01 1.92411735e-01 1.15903589e-02 1.43339138e+02] [-1.92409614e-01 9.81313828e-01 -1.30836428e-03 -3.28207492e+00] [-1.16255241e-02 -9.46269488e-04 9.99931974e-01 -9.40452667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.37, Y:-3.28, Z:-0.94 [[ 9.81442968e-01 1.91475863e-01 1.03293041e-02 1.43366662e+02] [-1.91474152e-01 9.81496966e-01 -1.16360444e-03 -3.28146575e+00] [-1.03609828e-02 -8.35783347e-04 9.99945974e-01 -9.40751591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:-3.28, Z:-0.94 [[ 9.81658997e-01 1.90390152e-01 9.85924427e-03 1.43393719e+02] [-1.90388546e-01 9.81708190e-01 -1.10982022e-03 -3.28106459e+00] [-9.89019969e-03 -7.87622177e-04 9.99950781e-01 -9.41853064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.42, Y:-3.28, Z:-0.94 [[ 9.81866587e-01 1.89316519e-01 9.86208469e-03 1.43421606e+02] [-1.89314860e-01 9.81915807e-01 -1.10998227e-03 -3.28038812e+00] [-9.89387482e-03 -7.77184686e-04 9.99950752e-01 -9.42390488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.45, Y:-3.28, Z:-0.94 [[ 9.81988776e-01 1.88652470e-01 1.04061796e-02 1.43449285e+02] [-1.88650615e-01 9.82043573e-01 -1.16840903e-03 -3.27966170e+00] [-1.04397451e-02 -8.15767641e-04 9.99945172e-01 -9.42694826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.48, Y:-3.28, Z:-0.94 [[ 9.82083019e-01 1.88132923e-01 1.09063281e-02 1.43477565e+02] [-1.88130859e-01 9.82143208e-01 -1.22416835e-03 -3.27919265e+00] [-1.09418825e-02 -8.49581931e-04 9.99939775e-01 -9.43295329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.51, Y:-3.28, Z:-0.94 [[ 9.81998120e-01 1.88553187e-01 1.12866454e-02 1.43505991e+02] [-1.88551029e-01 9.82062580e-01 -1.26455246e-03 -3.27543823e+00] [-1.13226275e-02 -8.86320461e-04 9.99935504e-01 -9.43763192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:-3.27, Z:-0.94 [[ 9.81793845e-01 1.89597996e-01 1.15518820e-02 1.43533635e+02] [-1.89595841e-01 9.81861370e-01 -1.29143569e-03 -3.27472969e+00] [-1.15872003e-02 -9.22265167e-04 9.99932441e-01 -9.43954741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.585898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:143.56, Y:-3.27, Z:-0.95 [[ 9.81668788e-01 1.90232163e-01 1.17522592e-02 1.43562084e+02] [-1.90229984e-01 9.81738676e-01 -1.31329205e-03 -3.27263855e+00] [-1.17874778e-02 -9.46414272e-04 9.99930077e-01 -9.45595500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.59, Y:-3.27, Z:-0.94 [[ 9.81392762e-01 1.91607898e-01 1.24362700e-02 1.43588856e+02] [-1.91605605e-01 9.81471023e-01 -1.38674303e-03 -3.27167508e+00] [-1.24715496e-02 -1.02191947e-03 9.99921705e-01 -9.44474996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.62, Y:-3.27, Z:-0.94 [[ 9.81149055e-01 1.92820247e-01 1.29183428e-02 1.43615760e+02] [-1.92817892e-01 9.81233504e-01 -1.43936098e-03 -3.27059385e+00] [-1.29534487e-02 -1.07865995e-03 9.99915519e-01 -9.44912215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:-3.27, Z:-0.95 [[ 9.80492097e-01 1.96067831e-01 1.38799940e-02 1.43644020e+02] [-1.96065449e-01 9.80589594e-01 -1.54550018e-03 -3.26633017e+00] [-1.39136005e-02 -1.20603654e-03 9.99902474e-01 -9.45253382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:-3.26, Z:-0.95 [[ 9.80247750e-01 1.97276149e-01 1.40167943e-02 1.43672381e+02] [-1.97273881e-01 9.80347178e-01 -1.55801177e-03 -3.26488304e+00] [-1.40486833e-02 -1.23790988e-03 9.99900546e-01 -9.45985476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:-3.26, Z:-0.95 [[ 9.80151882e-01 1.97762213e-01 1.38706776e-02 1.43700326e+02] [-1.97760076e-01 9.80249245e-01 -1.53916963e-03 -3.26296028e+00] [-1.39011108e-02 -1.23444624e-03 9.99902613e-01 -9.46393227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.73, Y:-3.26, Z:-0.95 [[ 9.80268380e-01 1.97163834e-01 1.41536201e-02 1.43727735e+02] [-1.97161591e-01 9.80369752e-01 -1.56747289e-03 -3.26137449e+00] [-1.41848300e-02 -1.25400614e-03 9.99898604e-01 -9.47494841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.76, Y:-3.26, Z:-0.95 [[ 9.80551080e-01 1.95736759e-01 1.43770549e-02 1.43755319e+02] [-1.95734311e-01 9.80655673e-01 -1.59095350e-03 -3.26026617e+00] [-1.44103486e-02 -1.25407177e-03 9.99895379e-01 -9.47971455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.825898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:143.78, Y:-3.26, Z:-0.95 [[ 9.80976447e-01 1.93589678e-01 1.44307383e-02 1.43783689e+02] [-1.93586996e-01 9.81081815e-01 -1.59586189e-03 -3.25961979e+00] [-1.44666773e-02 -1.22810034e-03 9.99894598e-01 -9.50075211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:-3.26, Z:-0.95 [[ 9.81728802e-01 1.89787168e-01 1.37619216e-02 1.43812071e+02] [-1.89784392e-01 9.81824616e-01 -1.51939545e-03 -3.25848543e+00] [-1.38001551e-02 -1.12016365e-03 9.99904146e-01 -9.48871240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.84, Y:-3.26, Z:-0.95 [[ 9.82184968e-01 1.87494662e-01 1.25872777e-02 1.43839709e+02] [-1.87492179e-01 9.82265116e-01 -1.38753338e-03 -3.25853517e+00] [-1.26241989e-02 -9.97201699e-04 9.99919814e-01 -9.48826684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:-3.26, Z:-0.95 [[ 9.82564434e-01 1.85543235e-01 1.18676539e-02 1.43866983e+02] [-1.85540916e-01 9.82635672e-01 -1.30581563e-03 -3.25872788e+00] [-1.19038653e-02 -9.18887370e-04 9.99928724e-01 -9.50017396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:-3.26, Z:-0.95 [[ 9.83012503e-01 1.83136983e-01 1.21352222e-02 1.43894600e+02] [-1.83134392e-01 9.83086983e-01 -1.33385251e-03 -3.25891642e+00] [-1.21742567e-02 -9.11182845e-04 9.99925476e-01 -9.50883997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.92, Y:-3.26, Z:-0.95 [[ 9.83467653e-01 1.80594867e-01 1.32992089e-02 1.43921255e+02] [-1.80591567e-01 9.83557095e-01 -1.45861836e-03 -3.26002656e+00] [-1.33439502e-02 -9.67220998e-04 9.99910498e-01 -9.51602789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.95, Y:-3.26, Z:-0.95 [[ 9.84029913e-01 1.77364379e-01 1.50667901e-02 1.43948543e+02] [-1.77359788e-01 9.84144694e-01 -1.65103764e-03 -3.26180756e+00] [-1.51207368e-02 -1.04757228e-03 9.99885126e-01 -9.52076666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.98, Y:-3.27, Z:-0.95 [[ 9.85285931e-01 1.70210695e-01 1.54904167e-02 1.43975892e+02] [-1.70204980e-01 9.85407219e-01 -1.69619459e-03 -3.26617846e+00] [-1.55530789e-02 -9.65309406e-04 9.99878578e-01 -9.52574644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:-3.27, Z:-0.95 [[ 9.85934467e-01 1.66512021e-01 1.43865655e-02 1.44003289e+02] [-1.66506733e-01 9.86039063e-01 -1.57296911e-03 -3.27104275e+00] [-1.44476339e-02 -8.44615571e-04 9.99895271e-01 -9.53527172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.03, Y:-3.28, Z:-0.95 [[ 9.86521982e-01 1.63095121e-01 1.32045542e-02 1.44031113e+02] [-1.63090392e-01 9.86610078e-01 -1.44143405e-03 -3.27596215e+00] [-1.32628371e-02 -7.31529538e-04 9.99911777e-01 -9.54299049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:-3.28, Z:-0.96 [[ 9.86878639e-01 1.60966263e-01 1.26654447e-02 1.44057401e+02] [-1.60961770e-01 9.86959677e-01 -1.38003755e-03 -3.28132898e+00] [-1.27224227e-02 -6.76722828e-04 9.99918838e-01 -9.55179496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:-3.29, Z:-0.96 [[ 9.87158501e-01 1.59234467e-01 1.27467397e-02 1.44084469e+02] [-1.59229794e-01 9.87240573e-01 -1.38718386e-03 -3.28610938e+00] [-1.28049861e-02 -6.60290392e-04 9.99917795e-01 -9.55244669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:-3.29, Z:-0.96 [[ 9.87271426e-01 1.58537153e-01 1.26925792e-02 1.44111976e+02] [-1.58532480e-01 9.87352799e-01 -1.37983966e-03 -3.29405867e+00] [-1.27508094e-02 -6.49909792e-04 9.99918494e-01 -9.55486549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:-3.30, Z:-0.96 [[ 9.87197528e-01 1.59015314e-01 1.24567603e-02 1.44138023e+02] [-1.59010883e-01 9.87275905e-01 -1.35163201e-03 -3.29965863e+00] [-1.25131895e-02 -6.46432681e-04 9.99921498e-01 -9.56628186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:-3.31, Z:-0.96 [[ 9.87055877e-01 1.59914488e-01 1.21676437e-02 1.44165569e+02] [-1.59910345e-01 9.87130661e-01 -1.31897660e-03 -3.30604624e+00] [-1.22219776e-02 -6.43828487e-04 9.99925102e-01 -9.57459299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.19, Y:-3.31, Z:-0.96 [[ 9.86848606e-01 1.61209867e-01 1.18830744e-02 1.44192349e+02] [-1.61206039e-01 9.86919936e-01 -1.28557007e-03 -3.31292475e+00] [-1.19348896e-02 -6.46960321e-04 9.99928567e-01 -9.57706860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.22, Y:-3.32, Z:-0.96 [[ 9.86622909e-01 1.62575020e-01 1.20248663e-02 1.44219795e+02] [-1.62571219e-01 9.86695956e-01 -1.29949919e-03 -3.31989486e+00] [-1.20761531e-02 -6.72781502e-04 9.99926854e-01 -9.58272097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:-3.33, Z:-0.96 [[ 9.86303803e-01 1.64495348e-01 1.20867032e-02 1.44246790e+02] [-1.64491679e-01 9.86377609e-01 -1.30381918e-03 -3.32700319e+00] [-1.21365256e-02 -7.02200281e-04 9.99926103e-01 -9.58467130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:-3.34, Z:-0.96 [[ 9.85365226e-01 1.69983765e-01 1.26843181e-02 1.44273284e+02] [-1.69980216e-01 9.85446529e-01 -1.36529361e-03 -3.33539075e+00] [-1.27317950e-02 -8.10770270e-04 9.99918619e-01 -9.58348602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:-3.34, Z:-0.96 [[ 9.84762510e-01 1.73459239e-01 1.24374855e-02 1.44300643e+02] [-1.73456110e-01 9.84840691e-01 -1.33810574e-03 -3.33999773e+00] [-1.24810486e-02 -8.39641490e-04 9.99921756e-01 -9.58124658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.33, Y:-3.34, Z:-0.96 [[ 9.84089269e-01 1.77250765e-01 1.22669191e-02 1.44328422e+02] [-1.77248042e-01 9.84165330e-01 -1.31747249e-03 -3.34493634e+00] [-1.23061995e-02 -8.77776851e-04 9.99923891e-01 -9.58687364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:-3.35, Z:-0.96 [[ 9.83465139e-01 1.80670115e-01 1.24350354e-02 1.44354768e+02] [-1.80667625e-01 9.83543305e-01 -1.33258739e-03 -3.34909446e+00] [-1.24711546e-02 -9.36055076e-04 9.99921794e-01 -9.58792109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.38, Y:-3.35, Z:-0.96 [[ 9.82900110e-01 1.83703882e-01 1.26593129e-02 1.44382633e+02] [-1.83701561e-01 9.82981128e-01 -1.35588923e-03 -3.35342454e+00] [-1.26929477e-02 -9.92831854e-04 9.99918948e-01 -9.59585371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:-3.36, Z:-0.96 [[ 9.82429433e-01 1.86211464e-01 1.25578917e-02 1.44409423e+02] [-1.86209420e-01 9.82509161e-01 -1.34219105e-03 -3.35684924e+00] [-1.25881750e-02 -1.01978973e-03 9.99920246e-01 -9.59846336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.44, Y:-3.36, Z:-0.96 [[ 9.81843373e-01 1.89314272e-01 1.19873717e-02 1.44435559e+02] [-1.89312650e-01 9.81916026e-01 -1.28025187e-03 -3.36183557e+00] [-1.20129623e-02 -1.01235428e-03 9.99927329e-01 -9.61439830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:-3.37, Z:-0.96 [[ 9.81778542e-01 1.89660476e-01 1.18236333e-02 1.44462936e+02] [-1.89658929e-01 9.81849223e-01 -1.26226264e-03 -3.36631973e+00] [-1.18484265e-02 -1.00319526e-03 9.99929302e-01 -9.62613219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:-3.37, Z:-0.96 [[ 9.81772419e-01 1.89676089e-01 1.20788143e-02 1.44489773e+02] [-1.89674510e-01 9.81846182e-01 -1.28665715e-03 -3.37064640e+00] [-1.21035858e-02 -1.02783867e-03 9.99926221e-01 -9.62701689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:-3.37, Z:-0.96 [[ 9.81799174e-01 1.89499535e-01 1.26613001e-02 1.44517150e+02] [-1.89497795e-01 9.81880221e-01 -1.34794813e-03 -3.37397374e+00] [-1.26873157e-02 -1.07587409e-03 9.99918934e-01 -9.62608124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:-3.38, Z:-0.96 [[ 9.81710984e-01 1.89936133e-01 1.29541378e-02 1.44543954e+02] [-1.89934387e-01 9.81795821e-01 -1.37622585e-03 -3.37727042e+00] [-1.29797133e-02 -1.10938019e-03 9.99915145e-01 -9.61970821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:-3.38, Z:-0.96 [[ 9.81524520e-01 1.90914285e-01 1.27024636e-02 1.44571842e+02] [-1.90912696e-01 9.81606094e-01 -1.34882279e-03 -3.38021177e+00] [-1.27263252e-02 -1.10115893e-03 9.99918411e-01 -9.62452911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.60, Y:-3.38, Z:-0.96 [[ 9.80915541e-01 1.94025010e-01 1.26094374e-02 1.44598574e+02] [-1.94023733e-01 9.80995925e-01 -1.33619089e-03 -3.38270097e+00] [-1.26290612e-02 -1.13583971e-03 9.99919605e-01 -9.64034933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.63, Y:-3.38, Z:-0.96 [[ 9.80607183e-01 1.95597069e-01 1.23019801e-02 1.44626059e+02] [-1.95595983e-01 9.80683697e-01 -1.30305561e-03 -3.38490683e+00] [-1.23192252e-02 -1.12843219e-03 9.99923479e-01 -9.64260772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-3.39, Z:-0.96 [[ 9.80233359e-01 1.97496559e-01 1.17333361e-02 1.44653081e+02] [-1.97495737e-01 9.80302961e-01 -1.24022284e-03 -3.38704033e+00] [-1.17471639e-02 -1.10157606e-03 9.99930393e-01 -9.64514190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:-3.39, Z:-0.96 [[ 9.80267858e-01 1.97325249e-01 1.17333954e-02 1.44681390e+02] [-1.97324421e-01 9.80337460e-01 -1.23966201e-03 -3.38985794e+00] [-1.17473037e-02 -1.10008464e-03 9.99930393e-01 -9.64976905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:-3.39, Z:-0.97 [[ 9.79927073e-01 1.99040105e-01 1.12235899e-02 1.44707907e+02] [-1.99039485e-01 9.79990756e-01 -1.18347218e-03 -3.39133208e+00] [-1.12345728e-02 -1.07422113e-03 9.99936313e-01 -9.65005798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:-3.39, Z:-0.97 [[ 9.79649369e-01 2.00397296e-01 1.13153428e-02 1.44736061e+02] [-2.00396760e-01 9.79714099e-01 -1.19273389e-03 -3.39288696e+00] [-1.13248215e-02 -1.09909703e-03 9.99935268e-01 -9.65137319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:-3.39, Z:-0.96 [[ 9.79402008e-01 2.01560566e-01 1.20434870e-02 1.44762746e+02] [-2.01560077e-01 9.79475334e-01 -1.26699501e-03 -3.39361894e+00] [-1.20516747e-02 -1.18658871e-03 9.99926672e-01 -9.64833321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:-3.39, Z:-0.96 [[ 9.78856796e-01 2.04099374e-01 1.35210203e-02 1.44790854e+02] [-2.04099037e-01 9.78949216e-01 -1.41950264e-03 -3.39152508e+00] [-1.35261119e-02 -1.37013742e-03 9.99907579e-01 -9.64699358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:-3.39, Z:-0.97 [[ 9.78751016e-01 2.04602878e-01 1.35687494e-02 1.44819027e+02] [-2.04602622e-01 9.78844086e-01 -1.42193397e-03 -3.39142745e+00] [-1.35726219e-02 -1.38448239e-03 9.99906929e-01 -9.65195150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.995898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:144.85, Y:-3.39, Z:-0.97 [[ 9.78765205e-01 2.04516350e-01 1.38468977e-02 1.44845650e+02] [-2.04516113e-01 9.78862126e-01 -1.44827445e-03 -3.39131749e+00] [-1.38503996e-02 -1.41439306e-03 9.99903078e-01 -9.67915984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:-3.39, Z:-0.97 [[ 9.78973500e-01 2.03529291e-01 1.36643373e-02 1.44873666e+02] [-2.03528987e-01 9.79067880e-01 -1.42759857e-03 -3.39287821e+00] [-1.36688719e-02 -1.38350757e-03 9.99905619e-01 -9.67097957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:-3.39, Z:-0.97 [[ 9.79295300e-01 2.01968734e-01 1.37602869e-02 1.44900534e+02] [-2.01968312e-01 9.79391006e-01 -1.43475050e-03 -3.39446933e+00] [-1.37664760e-02 -1.37409750e-03 9.99904293e-01 -9.67925373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:-3.40, Z:-0.97 [[ 9.79824664e-01 1.99402488e-01 1.35009256e-02 1.44927976e+02] [-1.99401851e-01 9.79916794e-01 -1.40692504e-03 -3.39650059e+00] [-1.35103281e-02 -1.31356971e-03 9.99907869e-01 -9.68106074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:-3.40, Z:-0.97 [[ 9.81023403e-01 1.93432036e-01 1.33090581e-02 1.44955274e+02] [-1.93430909e-01 9.81112923e-01 -1.38410199e-03 -3.39925541e+00] [-1.33254186e-02 -1.21654677e-03 9.99910473e-01 -9.69178049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:-3.40, Z:-0.97 [[ 9.81574311e-01 1.90613173e-01 1.33600211e-02 1.44981815e+02] [-1.90611792e-01 9.81664513e-01 -1.38840740e-03 -3.40236976e+00] [-1.33797074e-02 -1.18375253e-03 9.99909787e-01 -9.68934687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.175898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:145.01, Y:-3.41, Z:-0.97 [[ 9.82019409e-01 1.88310347e-01 1.33076606e-02 1.45009772e+02] [-1.88308788e-01 9.82108900e-01 -1.38143684e-03 -3.40530792e+00] [-1.33297108e-02 -1.14935165e-03 9.99910495e-01 -9.70404485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:-3.41, Z:-0.97 [[ 9.82300721e-01 1.86850351e-01 1.31240141e-02 1.45036272e+02] [-1.86848743e-01 9.82387754e-01 -1.35947574e-03 -3.40922133e+00] [-1.31468893e-02 -1.11679155e-03 9.99912952e-01 -9.68822382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.06, Y:-3.41, Z:-0.97 [[ 9.82483856e-01 1.85927856e-01 1.25022331e-02 1.45064507e+02] [-1.85926331e-01 9.82562835e-01 -1.29444226e-03 -3.41245596e+00] [-1.25249025e-02 -1.05272571e-03 9.99921006e-01 -9.69385640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.09, Y:-3.42, Z:-0.97 [[ 9.82544781e-01 1.85626617e-01 1.21865869e-02 1.45091353e+02] [-1.85625177e-01 9.82619819e-01 -1.25906048e-03 -3.41576987e+00] [-1.22084969e-02 -1.02505404e-03 9.99924948e-01 -9.70485579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:-3.42, Z:-0.97 [[ 9.82701732e-01 1.84788976e-01 1.22612924e-02 1.45118655e+02] [-1.84787462e-01 9.82777691e-01 -1.26616450e-03 -3.42082451e+00] [-1.22840979e-02 -1.02147106e-03 9.99924026e-01 -9.71581525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:-3.42, Z:-0.97 [[ 9.82904450e-01 1.83692844e-01 1.24812447e-02 1.45145946e+02] [-1.83691217e-01 9.82983154e-01 -1.28644410e-03 -3.42448449e+00] [-1.25051639e-02 -1.02824340e-03 9.99921279e-01 -9.71080029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:-3.43, Z:-0.97 [[ 9.83105563e-01 1.82585518e-01 1.28833753e-02 1.45172585e+02] [-1.82583726e-01 9.83189416e-01 -1.32512133e-03 -3.42782227e+00] [-1.29087462e-02 -1.04956051e-03 9.99916128e-01 -9.70643763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:-3.43, Z:-0.97 [[ 9.83209694e-01 1.82006671e-01 1.31251794e-02 1.45199926e+02] [-1.82004780e-01 9.83296721e-01 -1.34842488e-03 -3.43075150e+00] [-1.31513682e-02 -1.06306098e-03 9.99912952e-01 -9.70810368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:-3.43, Z:-0.97 [[ 9.83241222e-01 1.81833511e-01 1.31633337e-02 1.45226441e+02] [-1.81831632e-01 9.83328753e-01 -1.34949787e-03 -3.43338576e+00] [-1.31892684e-02 -1.06662851e-03 9.99912449e-01 -9.70970793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:-3.44, Z:-0.97 [[ 9.83162675e-01 1.82285615e-01 1.27714049e-02 1.45253808e+02] [-1.82283892e-01 9.83245071e-01 -1.30867234e-03 -3.43601513e+00] [-1.27959731e-02 -1.04138359e-03 9.99917586e-01 -9.71225632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:-3.44, Z:-0.97 [[ 9.82727329e-01 1.84651085e-01 1.22871382e-02 1.45280546e+02] [-1.84649705e-01 9.82803596e-01 -1.25653466e-03 -3.43698972e+00] [-1.23078641e-02 -1.03398550e-03 9.99923721e-01 -9.71208463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:-3.44, Z:-0.97 [[ 9.82437161e-01 1.86187170e-01 1.23110552e-02 1.45308439e+02] [-1.86185922e-01 9.82513726e-01 -1.25755877e-03 -3.43781694e+00] [-1.23299220e-02 -1.05667270e-03 9.99923425e-01 -9.71963575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:-3.44, Z:-0.97 [[ 9.82161528e-01 1.87638598e-01 1.22674234e-02 1.45335377e+02] [-1.87637504e-01 9.82237549e-01 -1.25036074e-03 -3.43887040e+00] [-1.22841399e-02 -1.07377250e-03 9.99923971e-01 -9.72166330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:-3.44, Z:-0.97 [[ 9.82047737e-01 1.88218220e-01 1.24957269e-02 1.45363717e+02] [-1.88217140e-01 9.82126615e-01 -1.27297718e-03 -3.44053240e+00] [-1.25119834e-02 -1.10178562e-03 9.99921115e-01 -9.73363678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:-3.44, Z:-0.97 [[ 9.82071695e-01 1.88080514e-01 1.26848649e-02 1.45390774e+02] [-1.88079423e-01 9.82152976e-01 -1.28956201e-03 -3.44320051e+00] [-1.27010193e-02 -1.11931972e-03 9.99918712e-01 -9.74404570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-3.45, Z:-0.98 [[ 9.82618082e-01 1.85213396e-01 1.25580104e-02 1.45418523e+02] [-1.85212112e-01 9.82697739e-01 -1.27526249e-03 -3.44823138e+00] [-1.25769241e-02 -1.07279965e-03 9.99920332e-01 -9.75787839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:-3.45, Z:-0.98 [[ 9.82930940e-01 1.83551835e-01 1.24696290e-02 1.45445521e+02] [-1.83550469e-01 9.83009475e-01 -1.26371654e-03 -3.45243179e+00] [-1.24897209e-02 -1.04666016e-03 9.99921453e-01 -9.77324053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.47, Y:-3.46, Z:-0.98 [[ 9.83202270e-01 1.82113122e-01 1.21699660e-02 1.45472860e+02] [-1.82111727e-01 9.83277072e-01 -1.23208197e-03 -3.45637791e+00] [-1.21908269e-02 -1.00490774e-03 9.99925184e-01 -9.77696848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:-3.46, Z:-0.98 [[ 9.83283928e-01 1.81690628e-01 1.18841182e-02 1.45500116e+02] [-1.81689293e-01 9.83355255e-01 -1.20091884e-03 -3.45998513e+00] [-1.19045058e-02 -9.78372841e-04 9.99928660e-01 -9.77991166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:-3.46, Z:-0.98 [[ 9.83274161e-01 1.81721369e-01 1.22175007e-02 1.45528147e+02] [-1.81719991e-01 9.83349544e-01 -1.23214810e-03 -3.46265246e+00] [-1.22379814e-02 -1.00862473e-03 9.99924604e-01 -9.78390176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.775898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:145.56, Y:-3.46, Z:-0.98 [[ 9.83206377e-01 1.82084459e-01 1.22666505e-02 1.45555565e+02] [-1.82083127e-01 9.83282365e-01 -1.23473485e-03 -3.46461549e+00] [-1.22864071e-02 -1.01955090e-03 9.99923999e-01 -9.79453198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:-3.47, Z:-0.98 [[ 9.83037729e-01 1.82987860e-01 1.23396648e-02 1.45582196e+02] [-1.82986618e-01 9.83114623e-01 -1.23924554e-03 -3.46762978e+00] [-1.23580718e-02 -1.03976841e-03 9.99923096e-01 -9.78016098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:-3.47, Z:-0.98 [[ 9.82753914e-01 1.84543881e-01 1.17601396e-02 1.45610014e+02] [-1.84542869e-01 9.82823756e-01 -1.18055944e-03 -3.47034408e+00] [-1.17760096e-02 -1.01005049e-03 9.99930150e-01 -9.78440504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:-3.47, Z:-0.98 [[ 9.82098953e-01 1.88119940e-01 9.61953909e-03 1.45637684e+02] [-1.88119444e-01 9.82145684e-01 -9.64471361e-04 -3.47455249e+00] [-9.62922509e-03 -8.62416033e-04 9.99953266e-01 -9.79935685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:-3.48, Z:-0.98 [[ 9.81901582e-01 1.89157469e-01 9.41992773e-03 1.45664102e+02] [-1.89157064e-01 9.81946392e-01 -9.41990733e-04 -3.47864960e+00] [-9.42804863e-03 -8.56903685e-04 9.99955188e-01 -9.80781930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:-3.48, Z:-0.98 [[ 9.81925405e-01 1.88981786e-01 1.04107788e-02 1.45691659e+02] [-1.88981286e-01 9.81980137e-01 -1.04069996e-03 -3.48276021e+00] [-1.04198513e-02 -9.45552636e-04 9.99945265e-01 -9.80799158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:-3.49, Z:-0.98 [[ 9.82098050e-01 1.87982604e-01 1.20813933e-02 1.45718465e+02] [-1.87981896e-01 9.82171755e-01 -1.20441065e-03 -3.48758224e+00] [-1.20924115e-02 -1.08823386e-03 9.99926292e-01 -9.81299807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:-3.49, Z:-0.98 [[ 9.82388460e-01 1.86388236e-01 1.31277746e-02 1.45746089e+02] [-1.86387270e-01 9.82475483e-01 -1.30783175e-03 -3.49253201e+00] [-1.31414812e-02 -1.16205125e-03 9.99912972e-01 -9.81454152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:-3.50, Z:-0.98 [[ 9.82710838e-01 1.84679481e-01 1.31490721e-02 1.45772751e+02] [-1.84678398e-01 9.82798138e-01 -1.30712195e-03 -3.49743692e+00] [-1.31642822e-02 -1.14382667e-03 9.99912693e-01 -9.81872470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.80, Y:-3.50, Z:-0.98 [[ 9.83089520e-01 1.82684324e-01 1.27056491e-02 1.45800572e+02] [-1.82683155e-01 9.83171029e-01 -1.26241306e-03 -3.50432724e+00] [-1.27224492e-02 -1.08004300e-03 9.99918483e-01 -9.82790204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:-3.51, Z:-0.98 [[ 9.83235617e-01 1.81815450e-01 1.38153095e-02 1.45828396e+02] [-1.81814023e-01 9.83331981e-01 -1.36974541e-03 -3.50887221e+00] [-1.38340765e-02 -1.16503452e-03 9.99903626e-01 -9.83306851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:-3.51, Z:-0.98 [[ 9.83384517e-01 1.80900857e-01 1.51582466e-02 1.45854939e+02] [-1.80899082e-01 9.83500520e-01 -1.49954080e-03 -3.51353564e+00] [-1.51794116e-02 -1.26748769e-03 9.99883983e-01 -9.83405946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.88, Y:-3.52, Z:-0.98 [[ 9.83573408e-01 1.79759988e-01 1.64224937e-02 1.45882691e+02] [-1.79757772e-01 9.83709565e-01 -1.62308770e-03 -3.51819914e+00] [-1.64467304e-02 -1.35564498e-03 9.99863824e-01 -9.83402973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:-3.52, Z:-0.98 [[ 9.83805870e-01 1.78410458e-01 1.71964834e-02 1.45909736e+02] [-1.78407880e-01 9.83955157e-01 -1.69628167e-03 -3.52292351e+00] [-1.72232029e-02 -1.39917628e-03 9.99850691e-01 -9.83575108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:-3.53, Z:-0.98 [[ 9.84105595e-01 1.76749725e-01 1.71962945e-02 1.45937302e+02] [-1.76746922e-01 9.84254872e-01 -1.69473274e-03 -3.52794804e+00] [-1.72250802e-02 -1.37159615e-03 9.99850697e-01 -9.84745021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:-3.54, Z:-0.99 [[ 9.85012567e-01 1.71831699e-01 1.49703240e-02 1.45964901e+02] [-1.71829047e-01 9.85125682e-01 -1.47290258e-03 -3.53597719e+00] [-1.50007420e-02 -1.12150896e-03 9.99886854e-01 -9.86937238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:-3.54, Z:-0.99 [[ 9.85547693e-01 1.68855680e-01 1.35463425e-02 1.45991292e+02] [-1.68853262e-01 9.85640303e-01 -1.33027569e-03 -3.54123506e+00] [-1.35764458e-02 -9.76293991e-04 9.99907359e-01 -9.87228179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:-3.55, Z:-0.99 [[ 9.86051215e-01 1.65898760e-01 1.34388537e-02 1.46018995e+02] [-1.65996158e-01 9.86105101e-01 6.48116964e-03 -3.55013472e+00] [-1.21769042e-02 -8.62156327e-03 9.99888690e-01 -9.85992071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:-3.55, Z:-0.99 [[ 9.86374612e-01 1.64052755e-01 1.23214620e-02 1.46046139e+02] [-1.63949436e-01 9.86427869e-01 -8.98012814e-03 -3.54897188e+00] [-1.36274483e-02 6.83767366e-03 9.99883763e-01 -9.86506089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.345898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:146.07, Y:-3.56, Z:-0.99 [[ 9.86533674e-01 1.63025511e-01 1.31906016e-02 1.46072214e+02] [-1.63022763e-01 9.86621464e-01 -1.29052955e-03 -3.55646444e+00] [-1.32245199e-02 -8.77217461e-04 9.99912167e-01 -9.89527270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.375898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:146.10, Y:-3.56, Z:-0.99 [[ 9.86296017e-01 1.64526838e-01 1.22917243e-02 1.46098375e+02] [-1.64524579e-01 9.86372252e-01 -1.20165124e-03 -3.56260593e+00] [-1.23219196e-02 -8.37106932e-04 9.99923732e-01 -9.89360416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:-3.57, Z:-0.99 [[ 9.86084293e-01 1.65872730e-01 1.11356990e-02 1.46126038e+02] [-1.65870964e-01 9.86146865e-01 -1.08840630e-03 -3.56650637e+00] [-1.11619715e-02 -7.73828767e-04 9.99937404e-01 -9.88483070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.15, Y:-3.57, Z:-0.99 [[ 9.85821754e-01 1.67478101e-01 1.03225076e-02 1.46153366e+02] [-1.67476697e-01 9.85875521e-01 -1.00649860e-03 -3.56943753e+00] [-1.03452741e-02 -7.36551264e-04 9.99946215e-01 -9.88544910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:-3.57, Z:-0.99 [[ 9.85592162e-01 1.68822636e-01 1.03444221e-02 1.46180849e+02] [-1.68821302e-01 9.85646159e-01 -1.00836330e-03 -3.57186799e+00] [-1.03661745e-02 -7.52523842e-04 9.99945987e-01 -9.89150393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.21, Y:-3.58, Z:-0.99 [[ 9.85480781e-01 1.69399950e-01 1.14580718e-02 1.46208728e+02] [-1.69398380e-01 9.85547029e-01 -1.11443982e-03 -3.57506680e+00] [-1.14812547e-02 -8.42719786e-04 9.99933733e-01 -9.89169185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:-3.58, Z:-0.99 [[ 9.85633173e-01 1.68483102e-01 1.18613715e-02 1.46236627e+02] [-1.68481382e-01 9.85704164e-01 -1.15132545e-03 -3.57922138e+00] [-1.18857822e-02 -8.63635711e-04 9.99928989e-01 -9.90369765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:-3.58, Z:-0.99 [[ 9.85909731e-01 1.66869337e-01 1.16887731e-02 1.46264268e+02] [-1.66867578e-01 9.85978666e-01 -1.13242538e-03 -3.58404410e+00] [-1.17138479e-02 -8.34008049e-04 9.99931043e-01 -9.90636446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:-3.59, Z:-0.99 [[ 9.86227600e-01 1.64983048e-01 1.16496868e-02 1.46290552e+02] [-1.64981202e-01 9.86296069e-01 -1.12596104e-03 -3.58874784e+00] [-1.16758048e-02 -8.11525474e-04 9.99931506e-01 -9.91355525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:-3.59, Z:-0.99 [[ 9.86537221e-01 1.63089322e-01 1.20907185e-02 1.46317588e+02] [-1.63087202e-01 9.86610967e-01 -1.16772075e-03 -3.59346268e+00] [-1.21192783e-02 -8.19841469e-04 9.99926223e-01 -9.91924494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:-3.60, Z:-0.99 [[ 9.86793132e-01 1.61517784e-01 1.23012421e-02 1.46345567e+02] [-1.61515485e-01 9.86869464e-01 -1.18670856e-03 -3.59819447e+00] [-1.23313947e-02 -8.15805216e-04 9.99923633e-01 -9.91937275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.37, Y:-3.61, Z:-0.99 [[ 9.86921245e-01 1.60701535e-01 1.27071635e-02 1.46372875e+02] [-1.60699045e-01 9.87002695e-01 -1.22339675e-03 -3.60548587e+00] [-1.27386064e-02 -8.34632800e-04 9.99918512e-01 -9.92644126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:-3.61, Z:-0.99 [[ 9.86782800e-01 1.61572263e-01 1.24140490e-02 1.46400746e+02] [-1.61569990e-01 9.86860535e-01 -1.19244805e-03 -3.61066987e+00] [-1.24436016e-02 -8.29050545e-04 9.99922232e-01 -9.92959839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.43, Y:-3.62, Z:-0.99 [[ 9.86497333e-01 1.63343164e-01 1.19173004e-02 1.46427676e+02] [-1.63341207e-01 9.86568975e-01 -1.14397539e-03 -3.61577239e+00] [-1.19440994e-02 -8.18057559e-04 9.99928332e-01 -9.93576910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.46, Y:-3.62, Z:-0.99 [[ 9.86525687e-01 1.63171827e-01 1.19173563e-02 1.46456023e+02] [-1.63169865e-01 9.86597328e-01 -1.14339305e-03 -3.61830668e+00] [-1.19442015e-02 -8.16566808e-04 9.99928332e-01 -9.94039446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.48, Y:-3.62, Z:-0.99 [[ 9.86224628e-01 1.65036137e-01 1.11380938e-02 1.46483723e+02] [-1.65034559e-01 9.86287208e-01 -1.06691669e-03 -3.62262713e+00] [-1.11614393e-02 -7.85950896e-04 9.99937400e-01 -9.94068901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.51, Y:-3.63, Z:-0.99 [[ 9.85858313e-01 1.67223517e-01 1.09399329e-02 1.46511197e+02] [-1.67222151e-01 9.85918687e-01 -1.04594978e-03 -3.62696163e+00] [-1.09607917e-02 -7.98240827e-04 9.99939610e-01 -9.94145048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:-3.63, Z:-0.99 [[ 9.85530819e-01 1.69118046e-01 1.13177206e-02 1.46538688e+02] [-1.69116733e-01 9.85595437e-01 -1.07985971e-03 -3.63154693e+00] [-1.13373175e-02 -8.49780904e-04 9.99935369e-01 -9.94086562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:-3.64, Z:-0.99 [[ 9.85275684e-01 1.70542874e-01 1.21224925e-02 1.46565714e+02] [-1.70541511e-01 9.85349817e-01 -1.15373146e-03 -3.63642666e+00] [-1.21416564e-02 -9.30644628e-04 9.99925854e-01 -9.94444712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:-3.64, Z:-0.99 [[ 9.85088502e-01 1.71563686e-01 1.29052311e-02 1.46592949e+02] [-1.71562238e-01 9.85172519e-01 -1.22743644e-03 -3.64105137e+00] [-1.29244625e-02 -1.00491680e-03 9.99915971e-01 -9.94663812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:-3.65, Z:-0.99 [[ 9.84836386e-01 1.73001043e-01 1.29588611e-02 1.46620064e+02] [-1.72999738e-01 9.84921102e-01 -1.23013154e-03 -3.64618191e+00] [-1.29762698e-02 -1.03040126e-03 9.99915274e-01 -9.94691925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.65, Y:-3.65, Z:-0.99 [[ 9.84648862e-01 1.74095007e-01 1.25517903e-02 1.46647749e+02] [-1.74093900e-01 9.84728338e-01 -1.18924134e-03 -3.64937349e+00] [-1.25671445e-02 -1.01420498e-03 9.99920516e-01 -9.94492483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:-3.65, Z:-1.00 [[ 9.84472381e-01 1.75086352e-01 1.26055673e-02 1.46676044e+02] [-1.75085345e-01 9.84552538e-01 -1.19196516e-03 -3.65219446e+00] [-1.26195401e-02 -1.03359333e-03 9.99919836e-01 -9.95045814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:-3.66, Z:-1.00 [[ 9.84338106e-01 1.75856691e-01 1.23659533e-02 1.46704034e+02] [-1.75855811e-01 9.84415244e-01 -1.16706617e-03 -3.65505540e+00] [-1.23784693e-02 -1.02583704e-03 9.99922858e-01 -9.95460896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:-3.66, Z:-1.00 [[ 9.84357509e-01 1.75756660e-01 1.22430183e-02 1.46731913e+02] [-1.75755817e-01 9.84433118e-01 -1.15319404e-03 -3.65789809e+00] [-1.22551142e-02 -1.01662647e-03 9.99924386e-01 -9.96192896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:-3.66, Z:-1.00 [[ 9.84426851e-01 1.75355323e-01 1.24211481e-02 1.46758284e+02] [-1.75354459e-01 9.84504673e-01 -1.16712937e-03 -3.66113481e+00] [-1.24333407e-02 -1.02915022e-03 9.99922173e-01 -9.97201653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:-3.67, Z:-1.00 [[ 9.84642395e-01 1.74030892e-01 1.38781352e-02 1.46785995e+02] [-1.74029698e-01 9.84739543e-01 -1.30292596e-03 -3.66633514e+00] [-1.38930978e-02 -1.13229153e-03 9.99902845e-01 -9.98100114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:-3.67, Z:-1.00 [[ 9.84793224e-01 1.73158567e-01 1.40860710e-02 1.46813877e+02] [-1.73157288e-01 9.84893300e-01 -1.31968177e-03 -3.66963126e+00] [-1.41017911e-02 -1.13949218e-03 9.99899916e-01 -9.98389788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:-3.67, Z:-1.00 [[ 9.84937551e-01 1.72372236e-01 1.36320201e-02 1.46841514e+02] [-1.72370975e-01 9.85031278e-01 -1.27622442e-03 -3.67282864e+00] [-1.36479518e-02 -1.09276325e-03 9.99906265e-01 -9.98944867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:-3.68, Z:-1.00 [[ 9.85099701e-01 1.71494213e-01 1.29736072e-02 1.46867953e+02] [-1.71493006e-01 9.85184590e-01 -1.21377229e-03 -3.67595673e+00] [-1.29895528e-02 -1.02919618e-03 9.99915103e-01 -9.99713922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:-3.68, Z:-1.00 [[ 9.85338326e-01 1.70161289e-01 1.23903148e-02 1.46895896e+02] [-1.70160096e-01 9.85415750e-01 -1.15821201e-03 -3.67987003e+00] [-1.24066942e-02 -9.67106465e-04 9.99922566e-01 -1.00060138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:-3.68, Z:-1.00 [[ 9.85544763e-01 1.68948899e-01 1.25614471e-02 1.46924052e+02] [-1.68947586e-01 9.85624338e-01 -1.17332457e-03 -3.68420442e+00] [-1.25790999e-02 -9.65862284e-04 9.99920414e-01 -1.00120366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:-3.69, Z:-1.00 [[ 9.85964874e-01 1.66429935e-01 1.32039429e-02 1.46950249e+02] [-1.66428270e-01 9.86052794e-01 -1.23252995e-03 -3.69103680e+00] [-1.32249146e-02 -9.82278134e-04 9.99912065e-01 -1.00313507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:-3.70, Z:-1.00 [[ 9.86106051e-01 1.65629051e-01 1.27229557e-02 1.46977918e+02] [-1.65627460e-01 9.86187679e-01 -1.18590303e-03 -3.69573087e+00] [-1.27436421e-02 -9.37844679e-04 9.99918357e-01 -1.00384501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:-3.70, Z:-1.01 [[ 9.86206432e-01 1.65109456e-01 1.16507519e-02 1.47005474e+02] [-1.65108095e-01 9.86274880e-01 -1.08522255e-03 -3.70006601e+00] [-1.16700244e-02 -8.53379987e-04 9.99931539e-01 -1.00519993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:-3.70, Z:-1.01 [[ 9.86242677e-01 1.64966373e-01 1.05583296e-02 1.47032401e+02] [-1.64965254e-01 9.86298889e-01 -9.82878040e-04 -3.70428245e+00] [-1.05758106e-02 -7.72401250e-04 9.99943776e-01 -1.00665583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:-3.71, Z:-1.01 [[ 9.86287090e-01 1.64746205e-01 9.82156184e-03 1.47059875e+02] [-1.64745234e-01 9.86335731e-01 -9.13464116e-04 -3.70850933e+00] [-9.83784712e-03 -7.17117636e-04 9.99951350e-01 -1.00738599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:-3.71, Z:-1.01 [[ 9.86382869e-01 1.64156710e-01 1.00702878e-02 1.47087345e+02] [-1.64155665e-01 9.86434003e-01 -9.35920823e-04 -3.71457598e+00] [-1.00873120e-02 -7.29918526e-04 9.99948855e-01 -1.00685616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.485898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:147.11, Y:-3.72, Z:-1.01 [[ 9.86560093e-01 1.63050777e-01 1.06596145e-02 1.47114036e+02] [-1.63049550e-01 9.86617385e-01 -9.89917175e-04 -3.71776167e+00] [-1.06783678e-02 -7.61432570e-04 9.99942695e-01 -1.00871139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.515898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.14, Y:-3.72, Z:-1.01 [[ 9.86759346e-01 1.61829384e-01 1.08279051e-02 1.47141460e+02] [-1.61828055e-01 9.86818459e-01 -1.00455419e-03 -3.72201520e+00] [-1.08477430e-02 -7.61005582e-04 9.99940872e-01 -1.00748832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:-3.73, Z:-1.01 [[ 9.86973708e-01 1.60505271e-01 1.09980334e-02 1.47168618e+02] [-1.60503827e-01 9.87034691e-01 -1.01957855e-03 -3.72619608e+00] [-1.10190882e-02 -7.58929226e-04 9.99939000e-01 -1.00677136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:-3.73, Z:-1.01 [[ 9.87133669e-01 1.59493582e-01 1.13541590e-02 1.47195140e+02] [-1.59491987e-01 9.87198663e-01 -1.05159417e-03 -3.73041076e+00] [-1.13765331e-02 -7.72833380e-04 9.99934986e-01 -1.00771432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:-3.73, Z:-1.01 [[ 9.87270230e-01 1.58662101e-01 1.11278901e-02 1.47223227e+02] [-1.58660528e-01 9.87332658e-01 -1.02966536e-03 -3.73431219e+00] [-1.11502982e-02 -7.48998960e-04 9.99937553e-01 -1.00802007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:-3.74, Z:-1.01 [[ 9.87471678e-01 1.57410916e-01 1.10222183e-02 1.47250237e+02] [-1.57409303e-01 9.87532922e-01 -1.01918585e-03 -3.73863799e+00] [-1.10452344e-02 -7.28582528e-04 9.99938734e-01 -1.00857256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:-3.74, Z:-1.01 [[ 9.87574328e-01 1.56752504e-01 1.12071188e-02 1.47278106e+02] [-1.56750805e-01 9.87637643e-01 -1.03529163e-03 -3.74171211e+00] [-1.12308569e-02 -7.34297456e-04 9.99936662e-01 -1.00890371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:-3.74, Z:-1.01 [[ 9.87694539e-01 1.55979502e-01 1.13970443e-02 1.47305563e+02] [-1.55977702e-01 9.87760016e-01 -1.05204133e-03 -3.74474228e+00] [-1.14216415e-02 -7.38589305e-04 9.99934498e-01 -1.00885655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:-3.75, Z:-1.01 [[ 9.87812434e-01 1.55214336e-01 1.16234944e-02 1.47332946e+02] [-1.55212422e-01 9.87880537e-01 -1.07210182e-03 -3.74829980e+00] [-1.16490294e-02 -7.45075203e-04 9.99931870e-01 -1.00937201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:-3.75, Z:-1.01 [[ 9.87983135e-01 1.54135913e-01 1.14649672e-02 1.47359829e+02] [-1.54133985e-01 9.88049390e-01 -1.05690646e-03 -3.75194496e+00] [-1.14908611e-02 -7.22935332e-04 9.99933717e-01 -1.00951205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:-3.76, Z:-1.01 [[ 9.88174450e-01 1.52906971e-01 1.14330165e-02 1.47387932e+02] [-1.52904991e-01 9.88240333e-01 -1.05226436e-03 -3.75614116e+00] [-1.14594666e-02 -7.08344519e-04 9.99934087e-01 -1.01033762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:-3.76, Z:-1.01 [[ 9.88529868e-01 1.50465583e-01 1.29926216e-02 1.47415458e+02] [-1.50462830e-01 9.88614945e-01 -1.19471585e-03 -3.76149757e+00] [-1.30244635e-02 -7.73894315e-04 9.99914879e-01 -1.00990631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.44, Y:-3.76, Z:-1.01 [[ 9.88650095e-01 1.49612678e-01 1.36761402e-02 1.47442025e+02] [-1.49609560e-01 9.88744356e-01 -1.25659967e-03 -3.76492587e+00] [-1.37102096e-02 -8.03743922e-04 9.99905688e-01 -1.01016664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:-3.77, Z:-1.01 [[ 9.88725953e-01 1.49123740e-01 1.35314485e-02 1.47470287e+02] [-1.49120663e-01 9.88818227e-01 -1.24168744e-03 -3.76788127e+00] [-1.35653080e-02 -7.90129975e-04 9.99907675e-01 -1.01099927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:-3.77, Z:-1.01 [[ 9.88692796e-01 1.49430928e-01 1.25281052e-02 1.47497874e+02] [-1.49428325e-01 9.88771893e-01 -1.14882730e-03 -3.77100365e+00] [-1.25591086e-02 -7.36216492e-04 9.99920860e-01 -1.01166180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:-3.77, Z:-1.01 [[ 9.88564726e-01 1.50369324e-01 1.13511992e-02 1.47525235e+02] [-1.50367257e-01 9.88629661e-01 -1.04023115e-03 -3.77380614e+00] [-1.13785510e-02 -6.78512856e-04 9.99935032e-01 -1.01249727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:-3.78, Z:-1.01 [[ 9.88183748e-01 1.52972231e-01 9.61130717e-03 1.47552822e+02] [-1.52970877e-01 9.88230305e-01 -8.80275006e-04 -3.77736227e+00] [-9.63284265e-03 -6.00376628e-04 9.99953423e-01 -1.01291773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:-3.78, Z:-1.01 [[ 9.88041248e-01 1.53927360e-01 8.99224709e-03 1.47580171e+02] [-1.53926218e-01 9.88082002e-01 -8.23081650e-04 -3.77995126e+00] [-9.01177229e-03 -5.70903965e-04 9.99959230e-01 -1.01286361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:-3.78, Z:-1.01 [[ 9.87842887e-01 1.55167533e-01 9.45866598e-03 1.47607137e+02] [-1.55166335e-01 9.87887980e-01 -8.64867854e-04 -3.78229107e+00] [-9.47830184e-03 -6.13312976e-04 9.99954892e-01 -1.01334964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:-3.78, Z:-1.01 [[ 9.87613530e-01 1.56554171e-01 1.05027307e-02 1.47635447e+02] [-1.56552782e-01 9.87669128e-01 -9.59290506e-04 -3.78447468e+00] [-1.05234038e-02 -6.96823428e-04 9.99944385e-01 -1.01359837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:-3.79, Z:-1.01 [[ 9.87284375e-01 1.58525803e-01 1.17954235e-02 1.47663618e+02] [-1.58524203e-01 9.87354505e-01 -1.07641219e-03 -3.78587671e+00] [-1.18169037e-02 -8.07135175e-04 9.99929852e-01 -1.01383398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:-3.79, Z:-1.01 [[ 9.86905915e-01 1.60813728e-01 1.24763355e-02 1.47690911e+02] [-1.60812132e-01 9.86984379e-01 -1.13765621e-03 -3.78655841e+00] [-1.24968990e-02 -8.83586470e-04 9.99921520e-01 -1.01452188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.72, Y:-3.78, Z:-1.02 [[ 9.86312418e-01 1.64543796e-01 1.06373264e-02 1.47719156e+02] [-1.64542858e-01 9.86369458e-01 -9.69236823e-04 -3.78433696e+00] [-1.06518158e-02 -7.94325783e-04 9.99942952e-01 -1.01531157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:-3.78, Z:-1.02 [[ 9.86226462e-01 1.65122518e-01 9.58747531e-03 1.47745884e+02] [-1.65121788e-01 9.86272798e-01 -8.73095137e-04 -3.78454867e+00] [-9.60003377e-03 -7.22031542e-04 9.99953658e-01 -1.01630188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.205898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.77, Y:-3.78, Z:-1.02 [[ 9.86388605e-01 1.64156543e-01 9.49468941e-03 1.47772560e+02] [-1.64155790e-01 9.86434048e-01 -8.63888624e-04 -3.78490329e+00] [-9.50769788e-03 -7.06478344e-04 9.99954551e-01 -1.01756910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:-3.79, Z:-1.02 [[ 9.86802816e-01 1.61591517e-01 1.04107260e-02 1.47800919e+02] [-1.61590480e-01 9.86857447e-01 -9.46212451e-04 -3.78669722e+00] [-1.04268024e-02 -7.48549100e-04 9.99945359e-01 -1.01763987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:-3.79, Z:-1.02 [[ 9.87381559e-01 1.57963980e-01 1.11820250e-02 1.47827893e+02] [-1.57962562e-01 9.87444580e-01 -1.01551318e-03 -3.78923095e+00] [-1.12020445e-02 -7.63642322e-04 9.99936964e-01 -1.01829471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:-3.79, Z:-1.02 [[ 9.88073236e-01 1.53590806e-01 1.10065586e-02 1.47855434e+02] [-1.53589171e-01 9.88134287e-01 -9.98657616e-04 -3.79233594e+00] [-1.10293425e-02 -7.03741348e-04 9.99938927e-01 -1.01829251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:-3.80, Z:-1.02 [[ 9.89306865e-01 1.45565113e-01 9.09535830e-03 1.47883018e+02] [-1.45563662e-01 9.89348543e-01 -8.24812429e-04 -3.79594647e+00] [-9.11854339e-03 -5.07961064e-04 9.99958296e-01 -1.01967546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:-3.80, Z:-1.02 [[ 9.89788513e-01 1.42291414e-01 8.47658452e-03 1.47910503e+02] [-1.42290036e-01 9.89824709e-01 -7.68538011e-04 -3.79854622e+00] [-8.49968917e-03 -4.45443418e-04 9.99963778e-01 -1.02041971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:-3.80, Z:-1.02 [[ 9.90152278e-01 1.39728585e-01 8.62487772e-03 1.47936887e+02] [-1.39727070e-01 9.90189748e-01 -7.80862540e-04 -3.80094141e+00] [-8.64937431e-03 -4.31956073e-04 9.99962500e-01 -1.02109229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:-3.80, Z:-1.02 [[ 9.90311254e-01 1.38582725e-01 8.85708810e-03 1.47964500e+02] [-1.38581093e-01 9.90350766e-01 -8.00627833e-04 -3.80339746e+00] [-8.88257717e-03 -4.34554199e-04 9.99960455e-01 -1.02054081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.99, Y:-3.81, Z:-1.02 [[ 9.90251495e-01 1.38962697e-01 9.55752275e-03 1.47992764e+02] [-1.38960823e-01 9.90297503e-01 -8.63179000e-04 -3.80594645e+00] [-9.58474060e-03 -4.73356929e-04 9.99953953e-01 -1.02050640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:-3.81, Z:-1.02 [[ 9.90093035e-01 1.40087136e-01 9.55906723e-03 1.48021070e+02] [-1.40085319e-01 9.90139061e-01 -8.62640553e-04 -3.80892504e+00] [-9.58565069e-03 -4.84990580e-04 9.99953939e-01 -1.01984125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:-3.81, Z:-1.02 [[ 9.89829382e-01 1.41842454e-01 1.08863172e-02 1.48049237e+02] [-1.41840214e-01 9.89889080e-01 -9.81475976e-04 -3.81346091e+00] [-1.09154615e-02 -5.72623798e-04 9.99940261e-01 -1.02016569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:-3.82, Z:-1.02 [[ 9.89750770e-01 1.42279991e-01 1.22400006e-02 1.48075840e+02] [-1.42277205e-01 9.89826238e-01 -1.10252796e-03 -3.81696177e+00] [-1.22723414e-02 -6.50245191e-04 9.99924481e-01 -1.02050391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:-3.82, Z:-1.02 [[ 9.89711185e-01 1.42475811e-01 1.31306668e-02 1.48103819e+02] [-1.42472638e-01 9.89798036e-01 -1.18150612e-03 -3.82021576e+00] [-1.31650442e-02 -7.01410915e-04 9.99913091e-01 -1.02082108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:-3.82, Z:-1.02 [[ 9.89690949e-01 1.42561106e-01 1.37170214e-02 1.48131677e+02] [-1.42557666e-01 9.89785730e-01 -1.23325500e-03 -3.82371295e+00] [-1.37527263e-02 -7.34925258e-04 9.99905157e-01 -1.02124976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:-3.83, Z:-1.02 [[ 9.89699177e-01 1.42503963e-01 1.37171095e-02 1.48160062e+02] [-1.42500531e-01 9.89793958e-01 -1.23227485e-03 -3.82613491e+00] [-1.37527161e-02 -7.35113972e-04 9.99905157e-01 -1.02171267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:-3.83, Z:-1.02 [[ 9.89473199e-01 1.44122627e-01 1.30941178e-02 1.48186949e+02] [-1.44119650e-01 9.89559571e-01 -1.17565981e-03 -3.83138429e+00] [-1.31268487e-02 -7.23835792e-04 9.99913577e-01 -1.02174694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:-3.84, Z:-1.02 [[ 9.89292171e-01 1.45416478e-01 1.24518191e-02 1.48214652e+02] [-1.45413900e-01 9.89370280e-01 -1.11700034e-03 -3.83500481e+00] [-1.24818900e-02 -7.05627889e-04 9.99921849e-01 -1.02166699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:-3.84, Z:-1.02 [[ 9.89091768e-01 1.46802355e-01 1.21054844e-02 1.48242004e+02] [-1.46800031e-01 9.89165594e-01 -1.08512722e-03 -3.83846483e+00] [-1.21336280e-02 -7.03795095e-04 9.99926137e-01 -1.02230408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.745898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:148.27, Y:-3.84, Z:-1.02 [[ 9.88816652e-01 1.48645771e-01 1.20856795e-02 1.48269761e+02] [-1.48643602e-01 9.88890240e-01 -1.08253277e-03 -3.84181962e+00] [-1.21123244e-02 -7.26032510e-04 9.99926380e-01 -1.02435519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:-3.85, Z:-1.02 [[ 9.88520782e-01 1.50541951e-01 1.27978101e-02 1.48296388e+02] [-1.50539689e-01 9.88603303e-01 -1.14538904e-03 -3.84570378e+00] [-1.28243864e-02 -7.94337485e-04 9.99917449e-01 -1.02360578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:-3.85, Z:-1.02 [[ 9.88222443e-01 1.52476650e-01 1.29334804e-02 1.48324331e+02] [-1.52474520e-01 9.88306725e-01 -1.15641890e-03 -3.84929820e+00] [-1.29585725e-02 -8.29227102e-04 9.99915690e-01 -1.02406225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:-3.85, Z:-1.02 [[ 9.87521911e-01 1.57017477e-01 1.20825221e-02 1.48352478e+02] [-1.57015965e-01 9.87595475e-01 -1.07961337e-03 -3.85303657e+00] [-1.21021623e-02 -8.31006998e-04 9.99926421e-01 -1.02430866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:-3.86, Z:-1.02 [[ 9.87100162e-01 1.59706089e-01 1.12799117e-02 1.48379554e+02] [-1.59704953e-01 9.87164279e-01 -1.00720491e-03 -3.85560575e+00] [-1.12959827e-02 -8.07245642e-04 9.99935873e-01 -1.02478394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:-3.86, Z:-1.03 [[ 9.86637529e-01 1.62592534e-01 1.04907279e-02 1.48406360e+02] [-1.62591722e-01 9.86692990e-01 -9.35934716e-04 -3.85798024e+00] [-1.05033037e-02 -7.82277199e-04 9.99944533e-01 -1.02526907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.925898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:148.43, Y:-3.86, Z:-1.03 [[ 9.86164776e-01 1.65470969e-01 9.91932056e-03 1.48434677e+02] [-1.65470396e-01 9.86214361e-01 -8.84139055e-04 -3.86018818e+00] [-9.92887574e-03 -7.69447111e-04 9.99950411e-01 -1.02758240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.46, Y:-3.86, Z:-1.03 [[ 9.85727289e-01 1.68050473e-01 1.00374712e-02 1.48461565e+02] [-1.68050026e-01 9.85778063e-01 -8.93994838e-04 -3.86288020e+00] [-1.00449552e-02 -8.05562190e-04 9.99949224e-01 -1.02640570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.49, Y:-3.86, Z:-1.03 [[ 9.85451037e-01 1.69634912e-01 1.04999737e-02 1.48489128e+02] [-1.69634523e-01 9.85506599e-01 -9.34154552e-04 -3.86483124e+00] [-1.05062586e-02 -8.60594460e-04 9.99944437e-01 -1.02656211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:-3.87, Z:-1.03 [[ 9.85192795e-01 1.71051169e-01 1.16899184e-02 1.48515737e+02] [-1.71050797e-01 9.85261663e-01 -1.03910745e-03 -3.86751165e+00] [-1.16953690e-02 -9.75848682e-04 9.99931131e-01 -1.02755189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:-3.87, Z:-1.03 [[ 9.85217390e-01 1.70950817e-01 1.10685491e-02 1.48542887e+02] [-1.70950486e-01 9.85279131e-01 -9.83013279e-04 -3.87048901e+00] [-1.10736573e-02 -9.23692068e-04 9.99938259e-01 -1.02805091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.57, Y:-3.87, Z:-1.03 [[ 9.85206621e-01 1.71041602e-01 1.06153313e-02 1.48570435e+02] [-1.71041312e-01 9.85263408e-01 -9.41913017e-04 -3.87359309e+00] [-1.06200038e-02 -8.87681252e-04 9.99943212e-01 -1.02843943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:-3.88, Z:-1.02 [[ 9.85117426e-01 1.71625364e-01 9.40166378e-03 1.48598269e+02] [-1.71764429e-01 9.84994543e-01 1.68145938e-02 -3.88396191e+00] [-6.37477674e-03 -1.81792208e-02 9.99814422e-01 -1.02128152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:-3.87, Z:-1.03 [[ 9.84896885e-01 1.72878779e-01 9.54224487e-03 1.48626716e+02] [-1.72683838e-01 9.84804537e-01 -1.84476425e-02 -3.87016939e+00] [-1.25864519e-02 1.65212341e-02 9.99784292e-01 -1.02838611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:-3.88, Z:-1.03 [[ 9.84549370e-01 1.74717891e-01 1.16702971e-02 1.48653576e+02] [-1.74717828e-01 9.84618004e-01 -1.03287471e-03 -3.87760728e+00] [-1.16712464e-02 -1.02209282e-03 9.99931366e-01 -1.02899394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.68, Y:-3.87, Z:-1.03 [[ 9.83404831e-01 1.81056393e-01 1.15551428e-02 1.48680593e+02] [-1.81056776e-01 9.83472115e-01 -1.02171345e-03 -3.87317663e+00] [-1.15491485e-02 -1.08737896e-03 9.99932715e-01 -1.02795145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:-3.87, Z:-1.03 [[ 9.82828975e-01 1.84211811e-01 1.06402466e-02 1.48708461e+02] [-1.84212327e-01 9.82886023e-01 -9.40008938e-04 -3.87156370e+00] [-1.06313104e-02 -1.03619656e-03 9.99942949e-01 -1.02861498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.255898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.74, Y:-3.87, Z:-1.03 [[ 9.82277025e-01 1.87150532e-01 1.03210940e-02 1.48737020e+02] [-1.87151185e-01 9.82330700e-01 -9.11124391e-04 -3.86965184e+00] [-1.03092449e-02 -1.03662841e-03 9.99946321e-01 -1.03123060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:-3.87, Z:-1.03 [[ 9.81940455e-01 1.88899842e-01 1.04782193e-02 1.48764612e+02] [-1.88900620e-01 9.81995775e-01 -9.24313188e-04 -3.86729154e+00] [-1.04641697e-02 -1.07172162e-03 9.99944675e-01 -1.03056940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:-3.86, Z:-1.03 [[ 9.81794500e-01 1.89625102e-01 1.10399242e-02 1.48792706e+02] [-1.89626017e-01 9.81855909e-01 -9.73423517e-04 -3.86471036e+00] [-1.10242003e-02 -1.13775500e-03 9.99938584e-01 -1.03094909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.345898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.82, Y:-3.86, Z:-1.03 [[ 9.81818076e-01 1.89459483e-01 1.17630891e-02 1.48820761e+02] [-1.89460538e-01 9.81887791e-01 -1.03482957e-03 -3.86203744e+00] [-1.17460918e-02 -1.21262680e-03 9.99930277e-01 -1.03281336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.85, Y:-3.86, Z:-1.03 [[ 9.82544660e-01 1.85679168e-01 1.13682748e-02 1.48849650e+02] [-1.85679925e-01 9.82609775e-01 -9.98074990e-04 -3.85511347e+00] [-1.13558997e-02 -1.13020716e-03 9.99934881e-01 -1.03156261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.88, Y:-3.85, Z:-1.03 [[ 9.83195875e-01 1.82184490e-01 1.16052970e-02 1.48876469e+02] [-1.82185067e-01 9.83263733e-01 -1.01636501e-03 -3.85299263e+00] [-1.15962336e-02 -1.11502592e-03 9.99932140e-01 -1.03261232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-3.85, Z:-1.03 [[ 9.84030147e-01 1.77623864e-01 1.15945476e-02 1.48904128e+02] [-1.77624132e-01 9.84097880e-01 -1.01495199e-03 -3.85195844e+00] [-1.15904494e-02 -1.06072809e-03 9.99932266e-01 -1.03316485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:-3.85, Z:-1.03 [[ 9.84952711e-01 1.72433262e-01 1.16157909e-02 1.48931053e+02] [-1.72433203e-01 9.85020691e-01 -1.01417459e-03 -3.85175980e+00] [-1.16166719e-02 -1.00403402e-03 9.99932020e-01 -1.03335752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:-3.85, Z:-1.03 [[ 9.86901941e-01 1.60872617e-01 1.20232729e-02 1.48958969e+02] [-1.60871707e-01 9.86974768e-01 -1.04910468e-03 -3.85116895e+00] [-1.20354392e-02 -8.98840984e-04 9.99927167e-01 -1.03447635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.99, Y:-3.85, Z:-1.04 [[ 9.87821517e-01 1.55104202e-01 1.23019094e-02 1.48986471e+02] [-1.55102830e-01 9.87897750e-01 -1.07128424e-03 -3.85255880e+00] [-1.23191893e-02 -8.49823343e-04 9.99923755e-01 -1.03515475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.01, Y:-3.85, Z:-1.04 [[ 9.88666178e-01 1.49587442e-01 1.27587709e-02 1.49013854e+02] [-1.49585544e-01 9.88748166e-01 -1.10833815e-03 -3.85430047e+00] [-1.27810048e-02 -8.12751245e-04 9.99917989e-01 -1.03533366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.585898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:149.04, Y:-3.86, Z:-1.04 [[ 9.89383687e-01 1.44701971e-01 1.34632315e-02 1.49042181e+02] [-1.44699423e-01 9.89474968e-01 -1.16829157e-03 -3.85639246e+00] [-1.34905847e-02 -7.92233218e-04 9.99908684e-01 -1.03825545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:-3.86, Z:-1.04 [[ 9.90021376e-01 1.40302817e-01 1.31451149e-02 1.49070108e+02] [-1.40300013e-01 9.90108382e-01 -1.13980059e-03 -3.85991860e+00] [-1.31750057e-02 -7.15832848e-04 9.99912950e-01 -1.03541427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.10, Y:-3.87, Z:-1.04 [[ 9.90881650e-01 1.34214886e-01 1.18287533e-02 1.49097028e+02] [-1.34212191e-01 9.90952086e-01 -1.02498870e-03 -3.86546891e+00] [-1.18592965e-02 -5.71920390e-04 9.99929513e-01 -1.03624628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.675898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.12, Y:-3.87, Z:-1.04 [[ 9.91100155e-01 1.32673609e-01 1.08718285e-02 1.49123388e+02] [-1.32671248e-01 9.91159651e-01 -9.41274160e-04 -3.87021736e+00] [-1.09006000e-02 -5.09482096e-04 9.99940457e-01 -1.03915814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:-3.88, Z:-1.04 [[ 9.91256814e-01 1.31559327e-01 1.01030329e-02 1.49150553e+02] [-1.31557239e-01 9.91308191e-01 -8.73929816e-04 -3.87614926e+00] [-1.01301929e-02 -4.62838232e-04 9.99948581e-01 -1.03781648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:-3.88, Z:-1.04 [[ 9.91346661e-01 1.30857782e-01 1.03941387e-02 1.49177477e+02] [-1.30855540e-01 9.91401039e-01 -8.98399690e-04 -3.88192652e+00] [-1.04223225e-02 -4.69505104e-04 9.99945576e-01 -1.03865478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:-3.89, Z:-1.04 [[ 9.91331331e-01 1.30928632e-01 1.09491951e-02 1.49203714e+02] [-1.30926159e-01 9.91391672e-01 -9.45385854e-04 -3.88767045e+00] [-1.09787189e-02 -4.96345441e-04 9.99939609e-01 -1.03910436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.795898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:149.23, Y:-3.89, Z:-1.04 [[ 9.91285554e-01 1.31238005e-01 1.13813813e-02 1.49231737e+02] [-1.31235366e-01 9.91350753e-01 -9.81688791e-04 -3.89375100e+00] [-1.14117757e-02 -5.20505814e-04 9.99934748e-01 -1.04174233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:-3.91, Z:-1.04 [[ 9.91197229e-01 1.31879778e-01 1.16523611e-02 1.49258427e+02] [-1.31877065e-01 9.91265570e-01 -1.00423265e-03 -3.90648758e+00] [-1.16830223e-02 -5.41286567e-04 9.99931605e-01 -1.03903616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:-3.91, Z:-1.04 [[ 9.91162206e-01 1.32088680e-01 1.22499696e-02 1.49284711e+02] [-1.32085709e-01 9.91237738e-01 -1.05482476e-03 -3.91466306e+00] [-1.22819626e-02 -5.72543480e-04 9.99924410e-01 -1.04018842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.885898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:149.31, Y:-3.92, Z:-1.04 [[ 9.91094435e-01 1.32549459e-01 1.27460795e-02 1.49311512e+02] [-1.32546296e-01 9.91176209e-01 -1.09632062e-03 -3.92310120e+00] [-1.27789274e-02 -6.02888358e-04 9.99918164e-01 -1.04349470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:-3.93, Z:-1.04 [[ 9.91078251e-01 1.32707221e-01 1.23569610e-02 1.49338458e+02] [-1.32704269e-01 9.91155108e-01 -1.06213924e-03 -3.93226766e+00] [-1.23886186e-02 -5.87158383e-04 9.99923086e-01 -1.04173953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94589822700001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:149.37, Y:-3.94, Z:-1.04 [[ 9.90974131e-01 1.33457268e-01 1.26265396e-02 1.49365431e+02] [-1.33454256e-01 9.91054381e-01 -1.08454517e-03 -3.94081122e+00] [-1.26583278e-02 -6.10309253e-04 9.99919694e-01 -1.04481216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:-3.95, Z:-1.04 [[ 9.90808235e-01 1.34695464e-01 1.24969396e-02 1.49393356e+02] [-1.34692623e-01 9.90886849e-01 -1.07262885e-03 -3.95036490e+00] [-1.25275314e-02 -6.20476080e-04 9.99921335e-01 -1.04246469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.005898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.42, Y:-3.96, Z:-1.04 [[ 9.90098859e-01 1.39756347e-01 1.31305952e-02 1.49420424e+02] [-1.39753661e-01 9.90185662e-01 -1.12639398e-03 -3.96469328e+00] [-1.31591478e-02 -7.19807358e-04 9.99913156e-01 -1.04436556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.45, Y:-3.97, Z:-1.04 [[ 9.89630908e-01 1.43011042e-01 1.33606995e-02 1.49447506e+02] [-1.43008567e-01 9.89720788e-01 -1.14534887e-03 -3.97234842e+00] [-1.33871596e-02 -7.77221851e-04 9.99910086e-01 -1.04295656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.48, Y:-3.98, Z:-1.04 [[ 9.89129728e-01 1.46490035e-01 1.27691772e-02 1.49476082e+02] [-1.46488074e-01 9.89211832e-01 -1.09381718e-03 -3.97908977e+00] [-1.27916545e-02 -7.88605089e-04 9.99917872e-01 -1.04352049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.50, Y:-3.99, Z:-1.05 [[ 9.88622630e-01 1.49891490e-01 1.25633380e-02 1.49504620e+02] [-1.49889872e-01 9.88702114e-01 -1.07562229e-03 -3.98596041e+00] [-1.25826254e-02 -8.19732590e-04 9.99920500e-01 -1.04516600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:-3.99, Z:-1.05 [[ 9.88137932e-01 1.53081906e-01 1.22212115e-02 1.49532758e+02] [-1.53080625e-01 9.88213149e-01 -1.04580174e-03 -3.99277711e+00] [-1.22372553e-02 -8.37434331e-04 9.99924771e-01 -1.04625528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:-4.00, Z:-1.05 [[ 9.87229962e-01 1.58824428e-01 1.23208858e-02 1.49560304e+02] [-1.58823576e-01 9.87306417e-01 -1.05378246e-03 -4.00269032e+00] [-1.23318560e-02 -9.16521529e-04 9.99923540e-01 -1.04756962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:-4.01, Z:-1.05 [[ 9.86827076e-01 1.61313355e-01 1.22606113e-02 1.49588619e+02] [-1.61312713e-01 9.86902787e-01 -1.04785040e-03 -4.00776268e+00] [-1.22690637e-02 -9.43745318e-04 9.99924287e-01 -1.04733251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.62, Y:-4.01, Z:-1.05 [[ 9.86409990e-01 1.63877548e-01 1.18101750e-02 1.49616687e+02] [-1.63877140e-01 9.86480241e-01 -1.00886003e-03 -4.01216413e+00] [-1.18158338e-02 -9.40268086e-04 9.99929749e-01 -1.04717691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:-4.02, Z:-1.05 [[ 9.86014598e-01 1.66285227e-01 1.11550784e-02 1.49645338e+02] [-1.66285021e-01 9.86077271e-01 -9.52446397e-04 -4.01581741e+00] [-1.11581470e-02 -9.15796387e-04 9.99937327e-01 -1.04720132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:-4.02, Z:-1.05 [[ 9.85618615e-01 1.68656333e-01 1.05350902e-02 1.49673754e+02] [-1.68656288e-01 9.85674514e-01 -8.99049183e-04 -4.01906511e+00] [-1.05358002e-02 -8.90689594e-04 9.99944100e-01 -1.04785678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:-4.02, Z:-1.05 [[ 9.85246255e-01 1.70830258e-01 1.03363542e-02 1.49701614e+02] [-1.70830338e-01 9.85300065e-01 -8.81679313e-04 -4.02187890e+00] [-1.03350280e-02 -8.97091645e-04 9.99946190e-01 -1.04881919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:-4.02, Z:-1.05 [[ 9.84541516e-01 1.74838491e-01 1.04645221e-02 1.49730752e+02] [-1.74838805e-01 9.84596667e-01 -8.91908005e-04 -4.02491737e+00] [-1.04592734e-02 -9.51484083e-04 9.99944848e-01 -1.05027140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:-4.03, Z:-1.05 [[ 9.84248918e-01 1.76479720e-01 1.04391915e-02 1.49758241e+02] [-1.76480129e-01 9.84303801e-01 -8.89332202e-04 -4.02763542e+00] [-1.04322850e-02 -9.66985599e-04 9.99945115e-01 -1.05016226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:-4.03, Z:-1.05 [[ 9.84053991e-01 1.77568637e-01 1.03499719e-02 1.49787423e+02] [-1.77569105e-01 9.84107939e-01 -8.81074424e-04 -4.03051791e+00] [-1.03419407e-02 -9.70810452e-04 9.99946049e-01 -1.04996880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:-4.03, Z:-1.05 [[ 9.84022172e-01 1.77676290e-01 1.14674164e-02 1.49815879e+02] [-1.77676879e-01 9.84088398e-01 -9.75600022e-04 -4.03474936e+00] [-1.14582924e-02 -1.07748270e-03 9.99933771e-01 -1.05086165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.84, Y:-4.04, Z:-1.05 [[ 9.84111615e-01 1.77129630e-01 1.22239144e-02 1.49844682e+02] [-1.77130265e-01 9.84186867e-01 -1.03934937e-03 -4.03809238e+00] [-1.22147156e-02 -1.14238941e-03 9.99924745e-01 -1.05149137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.87, Y:-4.04, Z:-1.05 [[ 9.84307229e-01 1.75950327e-01 1.34447926e-02 1.49872390e+02] [-1.75950994e-01 9.84398264e-01 -1.14249463e-03 -4.04096064e+00] [-1.34360528e-02 -1.24105890e-03 9.99908962e-01 -1.05228703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:-4.04, Z:-1.05 [[ 9.84485453e-01 1.74893348e-01 1.41672063e-02 1.49901465e+02] [-1.74893993e-01 9.84586535e-01 -1.20299896e-03 -4.04436929e+00] [-1.41592370e-02 -1.29342429e-03 9.99898916e-01 -1.05221173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:-4.05, Z:-1.05 [[ 9.84743495e-01 1.73412147e-01 1.44387310e-02 1.49929127e+02] [-1.73412669e-01 9.84848488e-01 -1.22540247e-03 -4.04741350e+00] [-1.44324620e-02 -1.29715176e-03 9.99895005e-01 -1.05213102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:-4.05, Z:-1.05 [[ 9.84755793e-01 1.73342290e-01 1.44387977e-02 1.49958354e+02] [-1.73342816e-01 9.84860786e-01 -1.22461522e-03 -4.04979753e+00] [-1.44324833e-02 -1.29691492e-03 9.99895005e-01 -1.05260683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:-4.05, Z:-1.05 [[ 9.85002563e-01 1.71939592e-01 1.43780013e-02 1.49986278e+02] [-1.71939980e-01 9.85106674e-01 -1.21841761e-03 -4.05321424e+00] [-1.43733593e-02 -1.27200879e-03 9.99895889e-01 -1.05313804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:-4.06, Z:-1.05 [[ 9.85510559e-01 1.69021566e-01 1.41650272e-02 1.50014797e+02] [-1.69021656e-01 9.85611608e-01 -1.19949018e-03 -4.05913135e+00] [-1.41639550e-02 -1.21208612e-03 9.99898952e-01 -1.05449034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:-4.06, Z:-1.06 [[ 9.85810434e-01 1.67212615e-01 1.47556491e-02 1.50043506e+02] [-1.67212521e-01 9.85920085e-01 -1.24881004e-03 -4.06422331e+00] [-1.47567076e-02 -1.23623932e-03 9.99890350e-01 -1.05514427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:-4.07, Z:-1.06 [[ 9.86153351e-01 1.65118187e-01 1.54127340e-02 1.50072259e+02] [-1.65117843e-01 9.86272984e-01 -1.30364359e-03 -4.06946986e+00] [-1.54164184e-02 -1.25932488e-03 9.99880367e-01 -1.05546487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:-4.08, Z:-1.06 [[ 9.86512599e-01 1.62866886e-01 1.63483894e-02 1.50100156e+02] [-1.62866202e-01 9.86647196e-01 -1.38216620e-03 -4.07560851e+00] [-1.63552017e-02 -1.29907573e-03 9.99865401e-01 -1.05595495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:-4.08, Z:-1.06 [[ 9.86886841e-01 1.60551114e-01 1.66643939e-02 1.50129744e+02] [-1.60550084e-01 9.87026690e-01 -1.40832046e-03 -4.08244429e+00] [-1.66743090e-02 -1.28561692e-03 9.99860148e-01 -1.05662438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:-4.09, Z:-1.06 [[ 9.87226459e-01 1.58467532e-01 1.64912164e-02 1.50160184e+02] [-1.58466235e-01 9.87363413e-01 -1.39368510e-03 -4.08925483e+00] [-1.65036776e-02 -1.23741817e-03 9.99863039e-01 -1.05706168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:-4.10, Z:-1.06 [[ 9.87610644e-01 1.56179537e-01 1.52698236e-02 1.50191137e+02] [-1.56178153e-01 9.87728059e-01 -1.29044363e-03 -4.09877648e+00] [-1.52839741e-02 -1.11035698e-03 9.99882577e-01 -1.05856135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:-4.10, Z:-1.06 [[ 9.87629891e-01 1.56126613e-01 1.45492021e-02 1.50222001e+02] [-1.56125346e-01 9.87736485e-01 -1.22986056e-03 -4.10442042e+00] [-1.45627917e-02 -1.05685216e-03 9.99893398e-01 -1.05949148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.875898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:150.25, Y:-4.11, Z:-1.06 [[ 9.87534525e-01 1.56748703e-01 1.43319730e-02 1.50251840e+02] [-1.56747534e-01 9.87637961e-01 -1.21177428e-03 -4.10926586e+00] [-1.43447446e-02 -1.04983248e-03 9.99896558e-01 -1.06174647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:-4.12, Z:-1.06 [[ 9.87323458e-01 1.58082364e-01 1.42251753e-02 1.50281774e+02] [-1.58081339e-01 9.87425360e-01 -1.20360326e-03 -4.11540897e+00] [-1.42365673e-02 -1.06038903e-03 9.99898093e-01 -1.06052432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:-4.12, Z:-1.06 [[ 9.87083396e-01 1.59627005e-01 1.36231174e-02 1.50311295e+02] [-1.59626208e-01 9.87176856e-01 -1.15286585e-03 -4.12077817e+00] [-1.36324547e-02 -1.03663182e-03 9.99906536e-01 -1.06073856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:-4.13, Z:-1.06 [[ 9.86853565e-01 1.61096192e-01 1.29637293e-02 1.50341869e+02] [-1.61095598e-01 9.86938197e-01 -1.09689621e-03 -4.12563028e+00] [-1.29711054e-02 -1.00592378e-03 9.99915366e-01 -1.06113533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.37, Y:-4.13, Z:-1.06 [[ 9.86356092e-01 1.64194250e-01 1.19124898e-02 1.50371784e+02] [-1.64193973e-01 9.86427556e-01 -1.00794799e-03 -4.13068170e+00] [-1.19163074e-02 -9.61763376e-04 9.99928536e-01 -1.06230333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:-4.13, Z:-1.06 [[ 9.86087127e-01 1.65831989e-01 1.14860963e-02 1.50402175e+02] [-1.65831842e-01 9.86153566e-01 -9.71815279e-04 -4.13329450e+00] [-1.14882129e-02 -9.46465972e-04 9.99933560e-01 -1.06259664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:-4.14, Z:-1.06 [[ 9.85770935e-01 1.67757620e-01 1.06322849e-02 1.50431562e+02] [-1.67757603e-01 9.85827864e-01 -8.99813017e-04 -4.13552835e+00] [-1.06325532e-02 -8.96637108e-04 9.99943071e-01 -1.06249720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.085898227 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:150.46, Y:-4.14, Z:-1.06 [[ 9.85435611e-01 1.69730535e-01 1.04019924e-02 1.50460724e+02] [-1.69730628e-01 9.85490101e-01 -8.80274470e-04 -4.13651717e+00] [-1.04004700e-02 -8.98082898e-04 9.99945510e-01 -1.06453026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:-4.14, Z:-1.06 [[ 9.85044671e-01 1.71983585e-01 1.04232128e-02 1.50490650e+02] [-1.71983807e-01 9.85099382e-01 -8.81832070e-04 -4.13894088e+00] [-1.04195612e-02 -9.23979838e-04 9.99945288e-01 -1.06363707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:-4.14, Z:-1.06 [[ 9.84732579e-01 1.73736417e-01 1.08353489e-02 1.50520301e+02] [-1.73736764e-01 9.84791702e-01 -9.16438409e-04 -4.13973591e+00] [-1.08297804e-02 -9.80051704e-04 9.99940876e-01 -1.06453712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:-4.15, Z:-1.06 [[ 9.84148151e-01 1.77057553e-01 1.01508360e-02 1.50549924e+02] [-1.77192722e-01 9.84069759e-01 1.44723471e-02 -4.14530801e+00] [-7.42669234e-03 -1.60415879e-02 9.99843744e-01 -1.05542068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.58, Y:-4.13, Z:-1.07 [[ 9.83869285e-01 1.78549837e-01 1.10084872e-02 1.50580090e+02] [-1.78360811e-01 9.83830670e-01 -1.62675958e-02 -4.13392535e+00] [-1.37350639e-02 1.40417051e-02 9.99807071e-01 -1.06607021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:-4.14, Z:-1.07 [[ 9.83794962e-01 1.78878652e-01 1.22433692e-02 1.50609442e+02] [-1.78879488e-01 9.83870447e-01 -1.03572860e-03 -4.14196727e+00] [-1.22311589e-02 -1.17114303e-03 9.99924511e-01 -1.06568382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.64, Y:-4.14, Z:-1.07 [[ 9.83764971e-01 1.79046961e-01 1.21928942e-02 1.50638058e+02] [-1.79047805e-01 9.83839835e-01 -1.03122076e-03 -4.14448526e+00] [-1.21804919e-02 -1.16863207e-03 9.99925132e-01 -1.06675073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.67, Y:-4.15, Z:-1.07 [[ 9.84055212e-01 1.77308404e-01 1.40381323e-02 1.50667386e+02] [-1.77309356e-01 9.84154451e-01 -1.18668024e-03 -4.14799576e+00] [-1.40260987e-02 -1.32133332e-03 9.99900756e-01 -1.06762713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.325898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.70, Y:-4.15, Z:-1.07 [[ 9.84338469e-01 1.75600708e-01 1.55618181e-02 1.50697418e+02] [-1.75601674e-01 9.84460422e-01 -1.31507513e-03 -4.15054822e+00] [-1.55509222e-02 -1.43820226e-03 9.99878043e-01 -1.06917078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:-4.15, Z:-1.07 [[ 9.84544616e-01 1.74299711e-01 1.70736737e-02 1.50728544e+02] [-1.74300679e-01 9.84691419e-01 -1.44285764e-03 -4.15453426e+00] [-1.70637896e-02 -1.55539519e-03 9.99853193e-01 -1.06822665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:-4.16, Z:-1.07 [[ 9.84693231e-01 1.73406267e-01 1.75927991e-02 1.50759078e+02] [-1.73407146e-01 9.84849100e-01 -1.48713756e-03 -4.15752860e+00] [-1.75841313e-02 -1.58634280e-03 9.99844129e-01 -1.06782811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:-4.16, Z:-1.07 [[ 9.84711764e-01 1.73284101e-01 1.77584614e-02 1.50788009e+02] [-1.73284974e-01 9.84870582e-01 -1.50131527e-03 -4.16000306e+00] [-1.77499403e-02 -1.59891172e-03 9.99841179e-01 -1.06851336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:-4.16, Z:-1.07 [[ 9.84335722e-01 1.75435555e-01 1.74800891e-02 1.50818131e+02] [-1.75436740e-01 9.84489597e-01 -1.47760090e-03 -4.16124664e+00] [-1.74681896e-02 -1.61219450e-03 9.99846120e-01 -1.06951979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:-4.16, Z:-1.07 [[ 9.84095687e-01 1.76775762e-01 1.74931302e-02 1.50847702e+02] [-1.76777160e-01 9.84249790e-01 -1.47868823e-03 -4.16241138e+00] [-1.74790059e-02 -1.63721515e-03 9.99845890e-01 -1.06993108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:-4.16, Z:-1.07 [[ 9.83917106e-01 1.77731485e-01 1.78507046e-02 1.50877596e+02] [-1.77733099e-01 9.84077573e-01 -1.50870473e-03 -4.16327868e+00] [-1.78346224e-02 -1.68822067e-03 9.99839525e-01 -1.07012649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:-4.16, Z:-1.07 [[ 9.83910959e-01 1.77764658e-01 1.78592111e-02 1.50908168e+02] [-1.77766283e-01 9.84071578e-01 -1.50924241e-03 -4.16432635e+00] [-1.78430320e-02 -1.68980542e-03 9.99839372e-01 -1.07088218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:-4.17, Z:-1.07 [[ 9.84043608e-01 1.77138370e-01 1.67384630e-02 1.50937700e+02] [-1.77139707e-01 9.84184700e-01 -1.41453683e-03 -4.16574493e+00] [-1.67243080e-02 -1.57308050e-03 9.99858902e-01 -1.07170751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:-4.17, Z:-1.07 [[ 9.84280466e-01 1.75955351e-01 1.52209706e-02 1.50967667e+02] [-1.75956313e-01 9.84397136e-01 -1.28646693e-03 -4.16762818e+00] [-1.52098406e-02 -1.41198160e-03 9.99883327e-01 -1.07321158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.625898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.00, Y:-4.17, Z:-1.08 [[ 9.85011716e-01 1.71915511e-01 1.40348288e-02 1.50997372e+02] [-1.71915922e-01 9.85110912e-01 -1.18623982e-03 -4.16838721e+00] [-1.40297960e-02 -1.24435040e-03 9.99900803e-01 -1.07588890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.03, Y:-4.17, Z:-1.07 [[ 9.85252200e-01 1.70522332e-01 1.41504943e-02 1.51027697e+02] [-1.70522610e-01 9.85353038e-01 -1.19582768e-03 -4.17163885e+00] [-1.41471479e-02 -1.23478737e-03 9.99899162e-01 -1.07481826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:-4.17, Z:-1.08 [[ 9.85532520e-01 1.68859670e-01 1.45624101e-02 1.51058242e+02] [-1.68859784e-01 9.85639315e-01 -1.23063779e-03 -4.17430510e+00] [-1.45610891e-02 -1.24617186e-03 9.99893205e-01 -1.07525768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:-4.18, Z:-1.08 [[ 9.85723830e-01 1.67703891e-01 1.49644738e-02 1.51088264e+02] [-1.67703879e-01 9.85836604e-01 -1.26461532e-03 -4.17656271e+00] [-1.49646069e-02 -1.26303885e-03 9.99887226e-01 -1.07587735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:-4.18, Z:-1.08 [[ 9.85921911e-01 1.66590621e-01 1.43370183e-02 1.51117926e+02] [-1.66590493e-01 9.86025425e-01 -1.21161170e-03 -4.17674840e+00] [-1.43385077e-02 -1.19385643e-03 9.99896486e-01 -1.07671952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:-4.18, Z:-1.08 [[ 9.85987071e-01 1.66267071e-01 1.35925531e-02 1.51147184e+02] [-1.66266927e-01 9.86080113e-01 -1.14858053e-03 -4.17731662e+00] [-1.35943174e-02 -1.12750649e-03 9.99906957e-01 -1.07739083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:-4.18, Z:-1.08 [[ 9.86024030e-01 1.66120514e-01 1.26723289e-02 1.51175605e+02] [-1.66120379e-01 9.86104900e-01 -1.07059579e-03 -4.17862795e+00] [-1.26740935e-02 -1.04949890e-03 9.99919130e-01 -1.07826452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:-4.18, Z:-1.08 [[ 9.86163537e-01 1.65329449e-01 1.21512026e-02 1.51205672e+02] [-1.65329271e-01 9.86237892e-01 -1.02613134e-03 -4.18060096e+00] [-1.21536261e-02 -9.97016148e-04 9.99925645e-01 -1.07869245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:-4.18, Z:-1.08 [[ 9.86374936e-01 1.64048525e-01 1.23517831e-02 1.51235313e+02] [-1.64048245e-01 9.86451766e-01 -1.04278340e-03 -4.18289086e+00] [-1.23555053e-02 -9.97712921e-04 9.99923170e-01 -1.07942308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:-4.19, Z:-1.08 [[ 9.86602012e-01 1.62660731e-01 1.25681017e-02 1.51263633e+02] [-1.62660333e-01 9.86681555e-01 -1.06074969e-03 -4.18563881e+00] [-1.25732565e-02 -9.97793828e-04 9.99920456e-01 -1.07936624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:-4.19, Z:-1.08 [[ 9.87190575e-01 1.59023237e-01 1.28987809e-02 1.51293800e+02] [-1.59022513e-01 9.87274357e-01 -1.08827184e-03 -4.19001029e+00] [-1.29076961e-02 -9.76864849e-04 9.99916215e-01 -1.07960661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:-4.19, Z:-1.08 [[ 9.87428383e-01 1.57540393e-01 1.28923524e-02 1.51322961e+02] [-1.57539544e-01 9.87512080e-01 -1.08776678e-03 -4.19384870e+00] [-1.29027209e-02 -9.56963522e-04 9.99916299e-01 -1.07968559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:-4.20, Z:-1.08 [[ 9.87546071e-01 1.56752529e-01 1.34685410e-02 1.51352697e+02] [-1.56751532e-01 9.87637416e-01 -1.13622044e-03 -4.19780896e+00] [-1.34801405e-02 -9.89144408e-04 9.99908650e-01 -1.07977829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:-4.20, Z:-1.08 [[ 9.87495744e-01 1.56970844e-01 1.45708293e-02 1.51382877e+02] [-1.56969704e-01 9.87602654e-01 -1.22899735e-03 -4.20179712e+00] [-1.45831064e-02 -1.07354911e-03 9.99893085e-01 -1.07934506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:-4.21, Z:-1.08 [[ 9.87238167e-01 1.58438613e-01 1.60626381e-02 1.51412281e+02] [-1.58437417e-01 9.87368092e-01 -1.35503083e-03 -4.20515020e+00] [-1.60744256e-02 -1.20718474e-03 9.99870069e-01 -1.07881599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:-4.21, Z:-1.08 [[ 9.86187910e-01 1.64501357e-01 1.93056667e-02 1.51440681e+02] [-1.64500790e-01 9.86375607e-01 -1.62828666e-03 -4.20739363e+00] [-1.93104941e-02 -1.57000082e-03 9.99812302e-01 -1.07817969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:-4.21, Z:-1.08 [[ 9.85583228e-01 1.68044623e-01 1.96648165e-02 1.51470704e+02] [-1.68044747e-01 9.85777974e-01 -1.65796574e-03 -4.20909578e+00] [-1.96637552e-02 -1.67050589e-03 9.99805254e-01 -1.07862958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:-4.21, Z:-1.08 [[ 9.85040185e-01 1.71184005e-01 1.97957323e-02 1.51500902e+02] [-1.71184766e-01 9.85237530e-01 -1.66865256e-03 -4.21087520e+00] [-1.97891450e-02 -1.74503798e-03 9.99802653e-01 -1.07953886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:-4.21, Z:-1.08 [[ 9.84644089e-01 1.73458058e-01 1.97058605e-02 1.51530947e+02] [-1.73459264e-01 9.84839644e-01 -1.66107695e-03 -4.21169955e+00] [-1.96952399e-02 -1.78259447e-03 9.99804441e-01 -1.08056589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:-4.21, Z:-1.08 [[ 9.84408098e-01 1.74838331e-01 1.92939222e-02 1.51560959e+02] [-1.74839751e-01 9.84595560e-01 -1.62631670e-03 -4.21245407e+00] [-1.92810526e-02 -1.77238522e-03 9.99812532e-01 -1.08170592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.59, Y:-4.21, Z:-1.08 [[ 9.84501350e-01 1.74481494e-01 1.77002824e-02 1.51590663e+02] [-1.74482635e-01 9.84659121e-01 -1.49177683e-03 -4.21223849e+00] [-1.76890320e-02 -1.61973562e-03 9.99842225e-01 -1.08268935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:-4.21, Z:-1.08 [[ 9.84767873e-01 1.73057499e-01 1.68326578e-02 1.51619730e+02] [-1.73058330e-01 9.84910556e-01 -1.41829293e-03 -4.21383719e+00] [-1.68241085e-02 -1.51634233e-03 9.99857315e-01 -1.08331774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:-4.22, Z:-1.08 [[ 9.85044064e-01 1.71548492e-01 1.61030107e-02 1.51648155e+02] [-1.71549056e-01 9.85174645e-01 -1.35663884e-03 -4.21541219e+00] [-1.60970072e-02 -1.42610724e-03 9.99869418e-01 -1.08409548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:-4.22, Z:-1.09 [[ 9.85315057e-01 1.70058831e-01 1.53046371e-02 1.51677388e+02] [-1.70059167e-01 9.85433010e-01 -1.28905164e-03 -4.21728061e+00] [-1.53009092e-02 -1.33257184e-03 9.99882046e-01 -1.08525143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:-4.22, Z:-1.09 [[ 9.85637177e-01 1.68231132e-01 1.47526699e-02 1.51706602e+02] [-1.68231245e-01 9.85746775e-01 -1.24223889e-03 -4.21899380e+00] [-1.47513801e-02 -1.25746320e-03 9.99890402e-01 -1.08654540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:-4.22, Z:-1.09 [[ 9.85678393e-01 1.67976690e-01 1.48975441e-02 1.51736564e+02] [-1.67976782e-01 9.85790154e-01 -1.25409340e-03 -4.22119751e+00] [-1.48965107e-02 -1.26630874e-03 9.99888239e-01 -1.08696459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:-4.22, Z:-1.09 [[ 9.85655602e-01 1.68130618e-01 1.46673124e-02 1.51765446e+02] [-1.68130729e-01 9.85763934e-01 -1.23438292e-03 -4.22346300e+00] [-1.46660451e-02 -1.24934948e-03 9.99891667e-01 -1.08773012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:-4.23, Z:-1.09 [[ 9.85657498e-01 1.68119496e-01 1.46673419e-02 1.51795505e+02] [-1.68119611e-01 9.85765831e-01 -1.23403194e-03 -4.22595428e+00] [-1.46660293e-02 -1.24953498e-03 9.99891667e-01 -1.08822022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:-4.23, Z:-1.09 [[ 9.85647641e-01 1.68257987e-01 1.37105304e-02 1.51824615e+02] [-1.68258102e-01 9.85742299e-01 -1.15341560e-03 -4.22792242e+00] [-1.37091211e-02 -1.17004645e-03 9.99905341e-01 -1.08854617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:-4.23, Z:-1.09 [[ 9.85645121e-01 1.68383071e-01 1.22815293e-02 1.51854677e+02] [-1.68383176e-01 9.85721076e-01 -1.03295721e-03 -4.22903432e+00] [-1.22800948e-02 -1.04987368e-03 9.99924046e-01 -1.08939609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.525898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:151.88, Y:-4.23, Z:-1.09 [[ 9.85649801e-01 1.68460134e-01 1.07542064e-02 1.51882131e+02] [-1.68460219e-01 9.85708038e-01 -9.04485411e-04 -4.22889746e+00] [-1.07528774e-02 -9.20150103e-04 9.99941763e-01 -1.09170342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:-4.23, Z:-1.09 [[ 9.85352083e-01 1.70235494e-01 1.00572409e-02 1.51911353e+02] [-1.70235666e-01 9.85403016e-01 -8.45288110e-04 -4.22864329e+00] [-1.00543335e-02 -8.79194703e-04 9.99949067e-01 -1.09114391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:-4.23, Z:-1.09 [[ 9.85248467e-01 1.70792289e-01 1.07448701e-02 1.51939944e+02] [-1.70792523e-01 9.85306602e-01 -9.02535633e-04 -4.22890261e+00] [-1.07411375e-02 -9.45921623e-04 9.99941865e-01 -1.09155750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:-4.23, Z:-1.09 [[ 9.85230374e-01 1.70843886e-01 1.15532396e-02 1.51968007e+02] [-1.70844168e-01 9.85297584e-01 -9.69895426e-04 -4.22905212e+00] [-1.15490798e-02 -1.01823318e-03 9.99932789e-01 -1.09189616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:-4.23, Z:-1.09 [[ 9.85346471e-01 1.70065464e-01 1.30410950e-02 1.51996248e+02] [-1.70065766e-01 9.85432108e-01 -1.09392763e-03 -4.22818332e+00] [-1.30371531e-02 -1.13994608e-03 9.99914363e-01 -1.09166804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:-4.23, Z:-1.09 [[ 9.85552003e-01 1.68825481e-01 1.36090340e-02 1.52025219e+02] [-1.68825704e-01 9.85645261e-01 -1.14072179e-03 -4.22920192e+00] [-1.36062628e-02 -1.17331410e-03 9.99906742e-01 -1.09135580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:-4.23, Z:-1.09 [[ 9.85826913e-01 1.67198736e-01 1.37796834e-02 1.52052896e+02] [-1.67198815e-01 9.85922524e-01 -1.15442101e-03 -4.23033690e+00] [-1.37787180e-02 -1.16588745e-03 9.99904389e-01 -1.09158377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:-4.23, Z:-1.09 [[ 9.86228696e-01 1.64836103e-01 1.34914405e-02 1.52081920e+02] [-1.64835972e-01 9.86320347e-01 -1.12941681e-03 -4.23171047e+00] [-1.34930509e-02 -1.11001143e-03 9.99908349e-01 -1.09227865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.11, Y:-4.23, Z:-1.09 [[ 9.86607424e-01 1.62550817e-01 1.35285803e-02 1.52110187e+02] [-1.62550479e-01 9.86699580e-01 -1.13194473e-03 -4.23259894e+00] [-1.35326431e-02 -1.08229214e-03 9.99907844e-01 -1.09400295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:-4.23, Z:-1.09 [[ 9.86858781e-01 1.60964136e-01 1.41524665e-02 1.52139152e+02] [-1.60963618e-01 9.86959631e-01 -1.18319399e-03 -4.23443672e+00] [-1.41583649e-02 -1.11038682e-03 9.99899149e-01 -1.09413407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:-4.23, Z:-1.09 [[ 9.87166685e-01 1.58834736e-01 1.65366920e-02 1.52167409e+02] [-1.58833745e-01 9.87304377e-01 -1.38163496e-03 -4.23455931e+00] [-1.65462001e-02 -1.26268074e-03 9.99862305e-01 -1.09348968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:-4.24, Z:-1.09 [[ 9.87196421e-01 1.58562073e-01 1.73578606e-02 1.52196208e+02] [-1.58560958e-01 9.87348126e-01 -1.44922036e-03 -4.23551029e+00] [-1.73680425e-02 -1.32161386e-03 9.99848291e-01 -1.09324285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:-4.24, Z:-1.09 [[ 9.87157888e-01 1.58775700e-01 1.75949215e-02 1.52224022e+02] [-1.58774603e-01 9.87313765e-01 -1.46818591e-03 -4.23591403e+00] [-1.76048204e-02 -1.34429537e-03 9.99844119e-01 -1.09342573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:-4.24, Z:-1.09 [[ 9.87094575e-01 1.59204474e-01 1.72694947e-02 1.52252908e+02] [-1.59203498e-01 9.87244738e-01 -1.44008149e-03 -4.23650203e+00] [-1.72784852e-02 -1.32786735e-03 9.99849834e-01 -1.09343865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:-4.24, Z:-1.09 [[ 9.86984917e-01 1.59858562e-01 1.74932236e-02 1.52280379e+02] [-1.59857678e-01 9.87138996e-01 -1.45791924e-03 -4.23710388e+00] [-1.75013041e-02 -1.35748181e-03 9.99845919e-01 -1.09367963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:-4.24, Z:-1.09 [[ 9.86779766e-01 1.61048757e-01 1.81381073e-02 1.52307972e+02] [-1.61048025e-01 9.86945415e-01 -1.51060946e-03 -4.23764983e+00] [-1.81446036e-02 -1.43046751e-03 9.99834350e-01 -1.09353789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:-4.23, Z:-1.09 [[ 9.86316929e-01 1.63797404e-01 1.86902509e-02 1.52337197e+02] [-1.63797137e-01 9.86492817e-01 -1.55556012e-03 -4.23499536e+00] [-1.86925950e-02 -1.52713431e-03 9.99824112e-01 -1.09395397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:-4.23, Z:-1.10 [[ 9.86121111e-01 1.65006588e-01 1.83842371e-02 1.52366369e+02] [-1.65006553e-01 9.86291285e-01 -1.52928871e-03 -4.23447353e+00] [-1.83845555e-02 -1.52545571e-03 9.99829826e-01 -1.09500987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:-4.24, Z:-1.09 [[ 9.85985989e-01 1.66071435e-01 1.58716308e-02 1.52394173e+02] [-1.66324311e-01 9.85937800e-01 1.62135360e-02 -4.24183870e+00] [-1.29558355e-02 -1.86261574e-02 9.99742573e-01 -1.08661296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:-4.23, Z:-1.10 [[ 9.85849792e-01 1.66989886e-01 1.46480697e-02 1.52422354e+02] [-1.66707587e-01 9.85828057e-01 -1.87516143e-02 -4.22561472e+00] [-1.75718080e-02 1.60443307e-02 9.99716865e-01 -1.09637654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:-4.23, Z:-1.10 [[ 9.85771207e-01 1.67586451e-01 1.30348853e-02 1.52450086e+02] [-1.67586681e-01 9.85856751e-01 -1.08238422e-03 -4.22781805e+00] [-1.30319226e-02 -1.11748996e-03 9.99914456e-01 -1.09788266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:-4.23, Z:-1.10 [[ 9.85724777e-01 1.67942684e-01 1.19129263e-02 1.52478660e+02] [-1.67942911e-01 9.85796227e-01 -9.88549628e-04 -4.22643330e+00] [-1.19097375e-02 -1.02625366e-03 9.99928550e-01 -1.09805201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:-4.23, Z:-1.10 [[ 9.85681146e-01 1.68220856e-01 1.15940906e-02 1.52505591e+02] [-1.68221096e-01 9.85748821e-01 -9.61478188e-04 -4.22534217e+00] [-1.15906019e-02 -1.00265971e-03 9.99932324e-01 -1.09816149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:-4.22, Z:-1.10 [[ 9.85670183e-01 1.68278166e-01 1.16939641e-02 1.52534211e+02] [-1.68278431e-01 9.85739028e-01 -9.68395368e-04 -4.22424423e+00] [-1.16901566e-02 -1.01332348e-03 9.99931154e-01 -1.09850364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:-4.22, Z:-1.10 [[ 9.85589808e-01 1.68735096e-01 1.18826601e-02 1.52561229e+02] [-1.68735411e-01 9.85660892e-01 -9.83309791e-04 -4.22309706e+00] [-1.18781923e-02 -1.03588543e-03 9.99928915e-01 -1.09863294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-4.22, Z:-1.10 [[ 9.85580297e-01 1.68757493e-01 1.23445136e-02 1.52589030e+02] [-1.68757853e-01 9.85657013e-01 -1.02000736e-03 -4.22135074e+00] [-1.23395903e-02 -1.07793446e-03 9.99923283e-01 -1.09949935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:-4.22, Z:-1.10 [[ 9.85596125e-01 1.68668796e-01 1.22928837e-02 1.52616621e+02] [-1.68669157e-01 9.85672200e-01 -1.01491664e-03 -4.21681305e+00] [-1.22879385e-02 -1.07313242e-03 9.99923925e-01 -1.10023104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:-4.22, Z:-1.10 [[ 9.85684488e-01 1.68196611e-01 1.16614522e-02 1.52644040e+02] [-1.68196913e-01 9.85752947e-01 -9.61858105e-04 -4.21655378e+00] [-1.16570922e-02 -1.01333165e-03 9.99931540e-01 -1.10131755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:-4.22, Z:-1.10 [[ 9.85744367e-01 1.67888132e-01 1.10281002e-02 1.52672043e+02] [-1.67888392e-01 9.85805590e-01 -9.08801861e-04 -4.21674495e+00] [-1.10241399e-02 -9.55643704e-04 9.99938776e-01 -1.10145300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.395898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:152.70, Y:-4.22, Z:-1.10 [[ 9.85741173e-01 1.67892681e-01 1.12422167e-02 1.52699627e+02] [-1.67892960e-01 9.85804797e-01 -9.25714960e-04 -4.21569006e+00] [-1.12380519e-02 -9.74973694e-04 9.99936376e-01 -1.10250361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.425898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:152.73, Y:-4.21, Z:-1.10 [[ 9.85565918e-01 1.68878609e-01 1.18252480e-02 1.52726546e+02] [-1.68878998e-01 9.85636311e-01 -9.72893976e-04 -4.21458641e+00] [-1.18196948e-02 -1.03818488e-03 9.99929606e-01 -1.10247467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:-4.21, Z:-1.10 [[ 9.85246793e-01 1.70723161e-01 1.19314669e-02 1.52754501e+02] [-1.70723710e-01 9.85318453e-01 -9.79994234e-04 -4.21347849e+00] [-1.19236022e-02 -1.07144811e-03 9.99928337e-01 -1.10130966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:-4.21, Z:-1.10 [[ 9.84811742e-01 1.73232312e-01 1.16790338e-02 1.52782732e+02] [-1.73233022e-01 9.84880400e-01 -9.58479528e-04 -4.20672953e+00] [-1.16684911e-02 -1.07927242e-03 9.99931338e-01 -1.10302734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:-4.21, Z:-1.10 [[ 9.84729187e-01 1.73675564e-01 1.20510077e-02 1.52810811e+02] [-1.73676364e-01 9.84802287e-01 -9.88156032e-04 -4.20532250e+00] [-1.20394785e-02 -1.11990911e-03 9.99926896e-01 -1.10367440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:-4.20, Z:-1.10 [[ 9.84743879e-01 1.73560849e-01 1.24949535e-02 1.52839323e+02] [-1.73561711e-01 9.84822463e-01 -1.02366690e-03 -4.20419843e+00] [-1.24829794e-02 -1.16059579e-03 9.99921411e-01 -1.10361426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:-4.20, Z:-1.10 [[ 9.85116552e-01 1.71307151e-01 1.41152025e-02 1.52866476e+02] [-1.71308038e-01 9.85216840e-01 -1.15527262e-03 -4.20091695e+00] [-1.41044416e-02 -1.27996945e-03 9.99899708e-01 -1.10243009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:-4.20, Z:-1.10 [[ 9.85528884e-01 1.68913829e-01 1.41752085e-02 1.52893138e+02] [-1.68914494e-01 9.85630027e-01 -1.15900184e-03 -4.20096762e+00] [-1.41672825e-02 -1.25216837e-03 9.99898855e-01 -1.10275464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.635898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:152.92, Y:-4.20, Z:-1.10 [[ 9.86128664e-01 1.65394886e-01 1.39567242e-02 1.52921552e+02] [-1.65395196e-01 9.86226713e-01 -1.13998416e-03 -4.20092430e+00] [-1.39530418e-02 -1.18420408e-03 9.99901950e-01 -1.10491269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:-4.20, Z:-1.10 [[ 9.86724748e-01 1.61794650e-01 1.40272217e-02 1.52948154e+02] [-1.61794615e-01 9.86823790e-01 -1.14484768e-03 -4.20263670e+00] [-1.40276263e-02 -1.13987940e-03 9.99900958e-01 -1.10467176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:-4.20, Z:-1.11 [[ 9.87311894e-01 1.58120329e-01 1.46008728e-02 1.52975314e+02] [-1.58119920e-01 9.87419199e-01 -1.18973594e-03 -4.20411889e+00] [-1.46053036e-02 -1.13404840e-03 9.99892694e-01 -1.10519485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:-4.21, Z:-1.10 [[ 9.88298679e-01 1.51656776e-01 1.63077555e-02 1.53003530e+02] [-1.51655415e-01 9.88432534e-01 -1.32731617e-03 -4.20620479e+00] [-1.63204126e-02 -1.16137462e-03 9.99866139e-01 -1.10465180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:-4.21, Z:-1.10 [[ 9.88625950e-01 1.49498767e-01 1.63966407e-02 1.53029964e+02] [-1.49497111e-01 9.88761263e-01 -1.33357312e-03 -4.20817187e+00] [-1.64117307e-02 -1.13284543e-03 9.99864677e-01 -1.10420382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:-4.21, Z:-1.10 [[ 9.88891213e-01 1.47806006e-01 1.57338220e-02 1.53057872e+02] [-1.47804288e-01 9.89015803e-01 -1.27841298e-03 -4.21027913e+00] [-1.57499557e-02 -1.06131500e-03 9.99875398e-01 -1.10450607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:-4.21, Z:-1.11 [[ 9.89113993e-01 1.46408881e-01 1.47630962e-02 1.53085987e+02] [-1.46407228e-01 9.89223679e-01 -1.19856158e-03 -4.21282438e+00] [-1.47794844e-02 -9.75909954e-04 9.99890301e-01 -1.10524608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:-4.22, Z:-1.11 [[ 9.89298842e-01 1.45189926e-01 1.44113242e-02 1.53112928e+02] [-1.45188236e-01 9.89403360e-01 -1.16900861e-03 -4.21514883e+00] [-1.44283409e-02 -9.35855879e-04 9.99895468e-01 -1.10612439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:-4.22, Z:-1.11 [[ 9.89457156e-01 1.44113292e-01 1.43490597e-02 1.53139986e+02] [-1.44111521e-01 9.89560770e-01 -1.16275912e-03 -4.21696235e+00] [-1.43668356e-02 -9.17364481e-04 9.99896371e-01 -1.10710684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:-4.22, Z:-1.11 [[ 9.89687631e-01 1.42561997e-01 1.39452475e-02 1.53167579e+02] [-1.42560187e-01 9.89785491e-01 -1.12888836e-03 -4.21810394e+00] [-1.39637402e-02 -8.70790249e-04 9.99902123e-01 -1.10786700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:-4.22, Z:-1.11 [[ 9.89742726e-01 1.42214523e-01 1.35781546e-02 1.53194073e+02] [-1.42212787e-01 9.89835500e-01 -1.09826853e-03 -4.21939377e+00] [-1.35963292e-02 -8.43983915e-04 9.99907209e-01 -1.10887138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:-4.22, Z:-1.11 [[ 9.89715129e-01 1.42479612e-01 1.27876002e-02 1.53220626e+02] [-1.42478106e-01 9.89797414e-01 -1.03334004e-03 -4.22097996e+00] [-1.28043635e-02 -7.99240795e-04 9.99917701e-01 -1.10940812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:-4.22, Z:-1.11 [[ 9.89636783e-01 1.43082304e-01 1.21033504e-02 1.53248860e+02] [-1.43081011e-01 9.89710498e-01 -9.77107544e-04 -4.22239962e+00] [-1.21186198e-02 -7.64778051e-04 9.99926274e-01 -1.11038102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.025898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:153.28, Y:-4.22, Z:-1.11 [[ 9.89340826e-01 1.45151939e-01 1.16466429e-02 1.53277174e+02] [-1.45150893e-01 9.89409084e-01 -9.39474092e-04 -4.22106950e+00] [-1.16596608e-02 -7.61060555e-04 9.99931734e-01 -1.11304547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:-4.22, Z:-1.11 [[ 9.89150163e-01 1.46418771e-01 1.19791131e-02 1.53304562e+02] [-1.46417768e-01 9.89222374e-01 -9.65425496e-04 -4.22191721e+00] [-1.19913631e-02 -7.99004215e-04 9.99927782e-01 -1.11079418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:-4.22, Z:-1.11 [[ 9.88934304e-01 1.47834590e-01 1.24046894e-02 1.53332598e+02] [-1.47833636e-01 9.89011738e-01 -9.98841849e-04 -4.22232994e+00] [-1.24160468e-02 -8.46041374e-04 9.99922560e-01 -1.11176406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:-4.22, Z:-1.11 [[ 9.88705448e-01 1.49361397e-01 1.23575774e-02 1.53359676e+02] [-1.49360578e-01 9.88782296e-01 -9.94361461e-04 -4.22235482e+00] [-1.23674730e-02 -8.62604310e-04 9.99923148e-01 -1.11239607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:-4.22, Z:-1.11 [[ 9.88463927e-01 1.50969400e-01 1.21369476e-02 1.53386566e+02] [-1.50968750e-01 9.88538055e-01 -9.74971417e-04 -4.22233069e+00] [-1.21450255e-02 -8.68575743e-04 9.99925869e-01 -1.11300842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:-4.22, Z:-1.11 [[ 9.88280853e-01 1.52165707e-01 1.21058826e-02 1.53414291e+02] [-1.52165162e-01 9.88354602e-01 -9.71463697e-04 -4.22211590e+00] [-1.21127283e-02 -8.82014625e-04 9.99926249e-01 -1.11400219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:-4.22, Z:-1.11 [[ 9.88164305e-01 1.52908003e-01 1.22657278e-02 1.53442721e+02] [-1.52907511e-01 9.88240014e-01 -9.83454120e-04 -4.22028752e+00] [-1.22718610e-02 -9.03707652e-04 9.99924290e-01 -1.11431705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:-4.22, Z:-1.12 [[ 9.88260167e-01 1.52173680e-01 1.36019542e-02 1.53469242e+02] [-1.52173020e-01 9.88353269e-01 -1.08953613e-03 -4.22107760e+00] [-1.36093347e-02 -9.93105304e-04 9.99906896e-01 -1.11508537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:-4.22, Z:-1.12 [[ 9.88447881e-01 1.50888632e-01 1.42620918e-02 1.53496368e+02] [-1.50887791e-01 9.88550238e-01 -1.14117736e-03 -4.22247796e+00] [-1.42709849e-02 -1.02398119e-03 9.99897640e-01 -1.11519195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.295898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.52, Y:-4.22, Z:-1.12 [[ 9.88696220e-01 1.49237149e-01 1.44242023e-02 1.53524603e+02] [-1.49236131e-01 9.88800914e-01 -1.15299676e-03 -4.22428250e+00] [-1.44347344e-02 -1.01264861e-03 9.99895301e-01 -1.11782381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:-4.23, Z:-1.12 [[ 9.88941572e-01 1.47750029e-01 1.28255619e-02 1.53552832e+02] [-1.47749109e-01 9.89024343e-01 -1.02445518e-03 -4.22706558e+00] [-1.28361562e-02 -8.81839029e-04 9.99917224e-01 -1.11594585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:-4.23, Z:-1.12 [[ 9.88971174e-01 1.47757874e-01 1.01797439e-02 1.53580527e+02] [-1.47757300e-01 9.89023316e-01 -8.12623316e-04 -4.22809447e+00] [-1.01880755e-02 -7.00470433e-04 9.99947855e-01 -1.11622244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:-4.23, Z:-1.12 [[ 9.88980132e-01 1.47697902e-01 1.01798083e-02 1.53608932e+02] [-1.47697333e-01 9.89032274e-01 -8.11815628e-04 -4.23023547e+00] [-1.01880624e-02 -7.00661002e-04 9.99947855e-01 -1.11668557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:-4.23, Z:-1.12 [[ 9.88789309e-01 1.48948859e-01 1.04852490e-02 1.53637355e+02] [-1.48948332e-01 9.88844627e-01 -8.35573733e-04 -4.23113122e+00] [-1.04927399e-02 -7.35553972e-04 9.99944679e-01 -1.11690406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44589822700001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:153.66, Y:-4.23, Z:-1.12 [[ 9.88492492e-01 1.50803912e-01 1.18648055e-02 1.53664328e+02] [-1.50803381e-01 9.88563325e-01 -9.44536343e-04 -4.23128333e+00] [-1.18715513e-02 -8.55585694e-04 9.99929165e-01 -1.11872229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47589822700002 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:153.69, Y:-4.23, Z:-1.12 [[ 9.88163000e-01 1.52795552e-01 1.36895987e-02 1.53691791e+02] [-1.52795054e-01 9.88257298e-01 -1.08843533e-03 -4.23226536e+00] [-1.36951539e-02 -1.01615146e-03 9.99905701e-01 -1.11881302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.505898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.72, Y:-4.23, Z:-1.12 [[ 9.87837688e-01 1.54803427e-01 1.45808390e-02 1.53719608e+02] [-1.54803099e-01 9.87944664e-01 -1.15796662e-03 -4.23396940e+00] [-1.45843193e-02 -1.11327599e-03 9.99893023e-01 -1.11849769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:-4.24, Z:-1.12 [[ 9.87577912e-01 1.56491719e-01 1.41495744e-02 1.53747890e+02] [-1.56491596e-01 9.87678652e-01 -1.12277471e-03 -4.23623806e+00] [-1.41509375e-02 -1.10546197e-03 9.99899259e-01 -1.11754233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:-4.24, Z:-1.12 [[ 9.87315373e-01 1.58330431e-01 1.18249269e-02 1.53776133e+02] [-1.58330484e-01 9.87385729e-01 -9.37659653e-04 -4.23829063e+00] [-1.18242241e-02 -9.46480600e-04 9.99929643e-01 -1.11992427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:-4.24, Z:-1.12 [[ 9.87326582e-01 1.58308130e-01 1.11694248e-02 1.53802969e+02] [-1.58308181e-01 9.87389354e-01 -8.85245542e-04 -4.24017802e+00] [-1.11687128e-02 -8.94184870e-04 9.99937228e-01 -1.12039410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:-4.24, Z:-1.12 [[ 9.87357445e-01 1.58103741e-01 1.13350276e-02 1.53829949e+02] [-1.58103796e-01 9.87422091e-01 -8.96877974e-04 -4.24220771e+00] [-1.13342564e-02 -9.06571752e-04 9.99935354e-01 -1.12066158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:-4.24, Z:-1.12 [[ 9.87409947e-01 1.57677707e-01 1.26229171e-02 1.53856506e+02] [-1.57677765e-01 9.87490116e-01 -9.96923865e-04 -4.24400949e+00] [-1.26221985e-02 -1.00598082e-03 9.99919831e-01 -1.12101651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:-4.25, Z:-1.12 [[ 9.87251800e-01 1.58491250e-01 1.46426439e-02 1.53884660e+02] [-1.58491450e-01 9.87359675e-01 -1.15415209e-03 -4.24590594e+00] [-1.46404792e-02 -1.18129514e-03 9.99892125e-01 -1.12084628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:-4.25, Z:-1.12 [[ 9.87077242e-01 1.59519573e-01 1.52323731e-02 1.53911645e+02] [-1.59519927e-01 9.87193980e-01 -1.19954671e-03 -4.24755516e+00] [-1.52286582e-02 -1.24582179e-03 9.99883261e-01 -1.12096663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:-4.25, Z:-1.12 [[ 9.86768245e-01 1.61429594e-01 1.51300124e-02 1.53939914e+02] [-1.61430185e-01 9.86883417e-01 -1.19027333e-03 -4.24905513e+00] [-1.51237037e-02 -1.26791678e-03 9.99884826e-01 -1.12145121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:-4.25, Z:-1.12 [[ 9.86381667e-01 1.63824753e-01 1.45827987e-02 1.53967789e+02] [-1.63825576e-01 9.86488655e-01 -1.14626659e-03 -4.24984516e+00] [-1.45735523e-02 -1.25837904e-03 9.99893008e-01 -1.12194193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:-4.25, Z:-1.12 [[ 9.85898547e-01 1.66738468e-01 1.42245803e-02 1.53995720e+02] [-1.66739565e-01 9.86000339e-01 -1.11717328e-03 -4.24976516e+00] [-1.42117168e-02 -1.27038081e-03 9.99898201e-01 -1.12239762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:-4.25, Z:-1.12 [[ 9.85355380e-01 1.69929174e-01 1.41014701e-02 1.54022985e+02] [-1.69930589e-01 9.85455413e-01 -1.10657667e-03 -4.24946556e+00] [-1.40844097e-02 -1.30589983e-03 9.99899957e-01 -1.12300648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.865898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:154.05, Y:-4.25, Z:-1.13 [[ 9.84236942e-01 1.76272712e-01 1.43378192e-02 1.54051039e+02] [-1.76274855e-01 9.84340343e-01 -1.12416097e-03 -4.24632542e+00] [-1.43114528e-02 -1.42095625e-03 9.99896576e-01 -1.12511067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:-4.25, Z:-1.12 [[ 9.83845721e-01 1.78465111e-01 1.40642100e-02 1.54079360e+02] [-1.78467429e-01 9.83945205e-01 -1.10025037e-03 -4.24668606e+00] [-1.40347683e-02 -1.42752678e-03 9.99900489e-01 -1.12351644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:-4.25, Z:-1.12 [[ 9.83495813e-01 1.80385130e-01 1.40424321e-02 1.54106737e+02] [-1.80387675e-01 9.83594981e-01 -1.09567832e-03 -4.24598199e+00] [-1.40097098e-02 -1.45548663e-03 9.99900800e-01 -1.12421031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:-4.25, Z:-1.13 [[ 9.83279332e-01 1.80843316e-01 2.13880960e-02 1.54134630e+02] [-1.81275723e-01 9.83221337e-01 2.03694830e-02 -4.25419822e+00] [-1.73455475e-02 -2.39060342e-02 9.99563722e-01 -1.13015607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:-4.24, Z:-1.12 [[ 9.83184123e-01 1.82164874e-01 1.28428518e-02 1.54164866e+02] [-1.81841343e-01 9.83059017e-01 -2.29933672e-02 -4.23526350e+00] [-1.68138650e-02 2.02713521e-02 9.99653123e-01 -1.12250858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:-4.24, Z:-1.13 [[ 9.83288451e-01 1.81435749e-01 1.49963466e-02 1.54192332e+02] [-1.81438841e-01 9.83401540e-01 -1.16548641e-03 -4.24352028e+00] [-1.49588912e-02 -1.57491041e-03 9.99886869e-01 -1.12613245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:-4.24, Z:-1.13 [[ 9.83616534e-01 1.79673160e-01 1.46993026e-02 1.54220623e+02] [-1.79675975e-01 9.83725188e-01 -1.13974254e-03 -4.23969142e+00] [-1.46648553e-02 -1.52004191e-03 9.99891310e-01 -1.12714019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:-4.24, Z:-1.13 [[ 9.83865461e-01 1.78371786e-01 1.38658297e-02 1.54248060e+02] [-1.78374197e-01 9.83962141e-01 -1.07262086e-03 -4.23798212e+00] [-1.38347768e-02 -1.41799161e-03 9.99903289e-01 -1.12770924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:-4.24, Z:-1.13 [[ 9.84141381e-01 1.76899782e-01 1.31228604e-02 1.54275254e+02] [-1.76901825e-01 9.84227980e-01 -1.01412564e-03 -4.23578883e+00] [-1.30952850e-02 -1.32341495e-03 9.99913377e-01 -1.12876954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:-4.23, Z:-1.13 [[ 9.84878250e-01 1.72775563e-01 1.27842470e-02 1.54304044e+02] [-1.72777165e-01 9.84960444e-01 -9.87367374e-04 -4.23162650e+00] [-1.27625706e-02 -1.23638930e-03 9.99917791e-01 -1.13032050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:-4.23, Z:-1.13 [[ 9.85295475e-01 1.70289826e-01 1.39356374e-02 1.54332264e+02] [-1.70291523e-01 9.85393142e-01 -1.07350828e-03 -4.23192892e+00] [-1.39148891e-02 -1.31539807e-03 9.99902318e-01 -1.13095767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:-4.23, Z:-1.13 [[ 9.85872658e-01 1.66767986e-01 1.56057907e-02 1.54359183e+02] [-1.66769730e-01 9.85995142e-01 -1.19874757e-03 -4.23185648e+00] [-1.55871466e-02 -1.42076105e-03 9.99877504e-01 -1.13027372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:-4.23, Z:-1.13 [[ 9.86551793e-01 1.62598061e-01 1.66562204e-02 1.54385822e+02] [-1.62599482e-01 9.86691327e-01 -1.27796430e-03 -4.23201030e+00] [-1.66423428e-02 -1.44751485e-03 9.99860459e-01 -1.12970745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.255898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:154.41, Y:-4.23, Z:-1.13 [[ 9.87338634e-01 1.57733060e-01 1.68137840e-02 1.54413351e+02] [-1.57733832e-01 9.87480824e-01 -1.28859790e-03 -4.23235591e+00] [-1.68065438e-02 -1.37982009e-03 9.99857808e-01 -1.13213585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:-4.24, Z:-1.13 [[ 9.88194797e-01 1.52327878e-01 1.63481236e-02 1.54440751e+02] [-1.52327921e-01 9.88329218e-01 -1.24988715e-03 -4.23557372e+00] [-1.63477209e-02 -1.25514372e-03 9.99865579e-01 -1.13042225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:-4.24, Z:-1.13 [[ 9.89678951e-01 1.42549901e-01 1.46662614e-02 1.54468644e+02] [-1.42548902e-01 9.89787128e-01 -1.11880922e-03 -4.24076743e+00] [-1.46759629e-02 -9.83397527e-04 9.99891819e-01 -1.13270796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:-4.25, Z:-1.14 [[ 9.90206397e-01 1.38247097e-01 1.94687316e-02 1.54495565e+02] [-1.38509461e-01 9.90277920e-01 1.28362992e-02 -4.25074668e+00] [-1.75048739e-02 -1.54071891e-02 9.99728062e-01 -1.13712387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:-4.24, Z:-1.13 [[ 9.90666837e-01 1.35497688e-01 1.48186911e-02 1.54523398e+02] [-1.35265557e-01 9.90685200e-01 -1.56864357e-02 -4.24289221e+00] [-1.68061337e-02 1.35355732e-02 9.99767144e-01 -1.13132693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:-4.25, Z:-1.13 [[ 9.90979633e-01 1.32888051e-01 1.73243702e-02 1.54550711e+02] [-1.32885288e-01 9.91130551e-01 -1.31565656e-03 -4.25393836e+00] [-1.73455476e-02 -9.98365068e-04 9.99849056e-01 -1.13378254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:-4.26, Z:-1.13 [[ 9.91153890e-01 1.31448228e-01 1.83120266e-02 1.54577051e+02] [-1.31444923e-01 9.91322502e-01 -1.38921523e-03 -4.25928285e+00] [-1.83357339e-02 -1.03009685e-03 9.99831356e-01 -1.13356483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:-4.27, Z:-1.13 [[ 9.91293959e-01 1.30470571e-01 1.77120677e-02 1.54603319e+02] [-1.30467349e-01 9.91451698e-01 -1.34224084e-03 -4.26500283e+00] [-1.77357825e-02 -9.80291291e-04 9.99842228e-01 -1.13318523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:-4.27, Z:-1.13 [[ 9.91293304e-01 1.30973794e-01 1.35443883e-02 1.54630320e+02] [-1.30971967e-01 9.91385542e-01 -1.02560162e-03 -4.27436620e+00] [-1.35620376e-02 -7.57263157e-04 9.99907745e-01 -1.13370321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:-4.28, Z:-1.13 [[ 9.91107101e-01 1.32594183e-01 1.12025023e-02 1.54656799e+02] [-1.32593043e-01 9.91170200e-01 -8.47710489e-04 -4.27943579e+00] [-1.12159879e-02 -6.45201984e-04 9.99936891e-01 -1.13499865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:-4.28, Z:-1.14 [[ 9.90771794e-01 1.35169815e-01 1.00186533e-02 1.54684444e+02] [-1.35169042e-01 9.90822263e-01 -7.57352879e-04 -4.28467026e+00] [-1.00290760e-02 -6.03847898e-04 9.99949525e-01 -1.13622519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:-4.29, Z:-1.14 [[ 9.90292536e-01 1.38620667e-01 1.02471497e-02 1.54711058e+02] [-1.38620050e-01 9.90345335e-01 -7.73916370e-04 -4.28919815e+00] [-1.02554977e-02 -6.54056795e-04 9.99947197e-01 -1.13710974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:-4.29, Z:-1.14 [[ 9.89737818e-01 1.42463965e-01 1.10936992e-02 1.54739030e+02] [-1.42463494e-01 9.89799703e-01 -8.36747284e-04 -4.29336805e+00] [-1.10997465e-02 -7.52286707e-04 9.99938113e-01 -1.13766018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:-4.30, Z:-1.14 [[ 9.89208811e-01 1.46037427e-01 1.17897071e-02 1.54765497e+02] [-1.46037158e-01 9.89278707e-01 -8.88360953e-04 -4.29696429e+00] [-1.17930401e-02 -8.42960835e-04 9.99930104e-01 -1.13766472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:-4.30, Z:-1.14 [[ 9.88399912e-01 1.51362544e-01 1.24496759e-02 1.54791810e+02] [-1.51362675e-01 9.88477851e-01 -9.37121809e-04 -4.30242381e+00] [-1.24480740e-02 -9.58165132e-04 9.99922061e-01 -1.13792694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:-4.31, Z:-1.14 [[ 9.88173676e-01 1.52857591e-01 1.21385020e-02 1.54819494e+02] [-1.52857850e-01 9.88247766e-01 -9.11945195e-04 -4.30604575e+00] [-1.21352453e-02 -9.54305085e-04 9.99925910e-01 -1.13851457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:-4.31, Z:-1.14 [[ 9.88009297e-01 1.53980176e-01 1.13019332e-02 1.54847261e+02] [-1.53980482e-01 9.88073525e-01 -8.48379796e-04 -4.30989471e+00] [-1.12977746e-02 -9.02069986e-04 9.99935771e-01 -1.13850829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:-4.31, Z:-1.14 [[ 9.87914257e-01 1.54645265e-01 1.05006347e-02 1.54875520e+02] [-1.54645572e-01 9.87969699e-01 -7.87571760e-04 -4.31353195e+00] [-1.04961032e-02 -8.45823297e-04 9.99944557e-01 -1.13941780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:-4.32, Z:-1.14 [[ 9.87876254e-01 1.54474263e-01 1.54340487e-02 1.54902380e+02] [-1.54732781e-01 9.87805701e-01 1.72529316e-02 -4.32406816e+00] [-1.25807074e-02 -1.94319147e-02 9.99732027e-01 -1.14366769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:-4.31, Z:-1.14 [[ 9.87758388e-01 1.55787344e-01 7.97943881e-03 1.54932302e+02] [-1.55609843e-01 9.87627674e-01 -1.94204581e-02 -4.31183042e+00] [-1.09061762e-02 1.79410412e-02 9.99779563e-01 -1.13902990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:-4.32, Z:-1.14 [[ 9.87528109e-01 1.56959078e-01 1.23321498e-02 1.54959831e+02] [-1.56959731e-01 9.87604574e-01 -9.20920374e-04 -4.32330709e+00] [-1.23238344e-02 -1.02621617e-03 9.99923532e-01 -1.14139618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:-4.33, Z:-1.14 [[ 9.87355496e-01 1.57927053e-01 1.37174907e-02 1.54987711e+02] [-1.57927969e-01 9.87450105e-01 -1.02331079e-03 -4.32576689e+00] [-1.37069461e-02 -1.15600391e-03 9.99905387e-01 -1.14104448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:-4.33, Z:-1.14 [[ 9.87140901e-01 1.59209000e-01 1.43295720e-02 1.55014842e+02] [-1.59210149e-01 9.87244138e-01 -1.06788550e-03 -4.32773406e+00] [-1.43168030e-02 -1.22725984e-03 9.99896756e-01 -1.14102566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:-4.33, Z:-1.14 [[ 9.86954790e-01 1.60408790e-01 1.37572452e-02 1.55043087e+02] [-1.60409980e-01 9.87049943e-01 -1.02410320e-03 -4.33026494e+00] [-1.37433633e-02 -1.19605587e-03 9.99904840e-01 -1.14057348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97589822700002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.07, Y:-4.33, Z:-1.14 [[ 9.86784981e-01 1.61495759e-01 1.32106314e-02 1.55069555e+02] [-1.61496963e-01 9.86872720e-01 -9.82634473e-04 -4.33262432e+00] [-1.31959030e-02 -1.16382790e-03 9.99912253e-01 -1.14135196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:-4.34, Z:-1.14 [[ 9.86637244e-01 1.62390089e-01 1.32818549e-02 1.55095987e+02] [-1.62391411e-01 9.86725928e-01 -9.86059106e-04 -4.33543429e+00] [-1.32656768e-02 -1.18397652e-03 9.99911306e-01 -1.14150826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:-4.34, Z:-1.14 [[ 9.86400045e-01 1.63724965e-01 1.44598681e-02 1.55123425e+02] [-1.63726694e-01 9.86505155e-01 -1.07219945e-03 -4.33883320e+00] [-1.44402802e-02 -1.30984881e-03 9.99894876e-01 -1.14235360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:-4.34, Z:-1.14 [[ 9.86432925e-01 1.63456478e-01 1.52336493e-02 1.55151063e+02] [-1.63458382e-01 9.86549585e-01 -1.12847370e-03 -4.34113471e+00] [-1.52132067e-02 -1.37690405e-03 9.99883324e-01 -1.14298268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.18, Y:-4.34, Z:-1.14 [[ 9.86579557e-01 1.62478231e-01 1.61741262e-02 1.55179181e+02] [-1.62480267e-01 9.86711067e-01 -1.19693636e-03 -4.34314846e+00] [-1.61536654e-02 -1.44710339e-03 9.99868474e-01 -1.14346839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:-4.35, Z:-1.14 [[ 9.87213822e-01 1.58530200e-01 1.66446959e-02 1.55206501e+02] [-1.58531819e-01 9.87353102e-01 -1.23055750e-03 -4.34711379e+00] [-1.66292727e-02 -1.42389055e-03 9.99860710e-01 -1.14407225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:-4.35, Z:-1.14 [[ 9.87671000e-01 1.55694353e-01 1.62869071e-02 1.55234099e+02] [-1.55695538e-01 9.87804359e-01 -1.20298310e-03 -4.35154957e+00] [-1.62755755e-02 -1.34764724e-03 9.99866636e-01 -1.14487983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.26, Y:-4.36, Z:-1.15 [[ 9.88140078e-01 1.52815222e-01 1.50563930e-02 1.55260576e+02] [-1.52815917e-01 9.88254047e-01 -1.11111375e-03 -4.35622739e+00] [-1.50493364e-02 -1.20292047e-03 9.99886029e-01 -1.14540972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:-4.36, Z:-1.15 [[ 9.88509292e-01 1.50567296e-01 1.33741783e-02 1.55288308e+02] [-1.50567653e-01 9.88599216e-01 -9.85988463e-04 -4.36143187e+00] [-1.33701598e-02 -1.03905989e-03 9.99910076e-01 -1.14693421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:-4.36, Z:-1.15 [[ 9.88518189e-01 1.50508866e-01 1.33742501e-02 1.55316726e+02] [-1.50509231e-01 9.88608113e-01 -9.85013851e-04 -4.36340277e+00] [-1.33701455e-02 -1.03924399e-03 9.99910076e-01 -1.14737686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:-4.37, Z:-1.15 [[ 9.88759457e-01 1.49028641e-01 1.20498660e-02 1.55343280e+02] [-1.49028835e-01 9.88832453e-01 -8.86928446e-04 -4.36766097e+00] [-1.20474763e-02 -9.18818600e-04 9.99927004e-01 -1.14799929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:-4.37, Z:-1.15 [[ 9.88641100e-01 1.49837152e-01 1.17304438e-02 1.55369650e+02] [-1.49837403e-01 9.88710276e-01 -8.62476887e-04 -4.37297858e+00] [-1.17272414e-02 -9.04979141e-04 9.99930824e-01 -1.14850764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:-4.38, Z:-1.15 [[ 9.88493647e-01 1.50793037e-01 1.19067211e-02 1.55397949e+02] [-1.50793376e-01 9.88564916e-01 -8.74408292e-04 -4.37555309e+00] [-1.19024214e-02 -9.31107628e-04 9.99928730e-01 -1.14785377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:-4.38, Z:-1.15 [[ 9.88315524e-01 1.51921022e-01 1.23462198e-02 1.55424778e+02] [-1.51921485e-01 9.88392150e-01 -9.05793178e-04 -4.37754427e+00] [-1.23405158e-02 -9.80446596e-04 9.99923372e-01 -1.14812693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:-4.38, Z:-1.15 [[ 9.88184198e-01 1.52776453e-01 1.23022988e-02 1.55452270e+02] [-1.52776992e-01 9.88260278e-01 -9.01510081e-04 -4.37934977e+00] [-1.22956028e-02 -9.88650191e-04 9.99923917e-01 -1.14810673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:-4.38, Z:-1.15 [[ 9.88109479e-01 1.53322278e-01 1.14863945e-02 1.55479465e+02] [-1.53322792e-01 9.88175801e-01 -8.41032248e-04 -4.38107545e+00] [-1.14795260e-02 -9.30094136e-04 9.99933676e-01 -1.14791213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:-4.38, Z:-1.15 [[ 9.88147935e-01 1.53142720e-01 1.05339959e-02 1.55507873e+02] [-1.53143151e-01 9.88203715e-01 -7.70487760e-04 -4.38282501e+00] [-1.05277285e-02 -8.51853432e-04 9.99944219e-01 -1.14896226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:-4.38, Z:-1.15 [[ 9.88510405e-01 1.50888089e-01 8.94226170e-03 1.55535605e+02] [-1.50888312e-01 9.88550601e-01 -6.53617250e-04 -4.38381465e+00] [-8.93850123e-03 -7.03175320e-04 9.99959804e-01 -1.14996582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:-4.38, Z:-1.15 [[ 9.88693130e-01 1.49652009e-01 9.49586635e-03 1.55562934e+02] [-1.49652210e-01 9.88738456e-01 -6.93412655e-04 -4.38499231e+00] [-9.49269884e-03 -7.35505056e-04 9.99954673e-01 -1.15008280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:-4.39, Z:-1.15 [[ 9.88860099e-01 1.48463508e-01 1.06906948e-02 1.55589426e+02] [-1.48463704e-01 9.88917550e-01 -7.79617383e-04 -4.38596876e+00] [-1.06879604e-02 -8.16247628e-04 9.99942549e-01 -1.14988298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:-4.39, Z:-1.15 [[ 9.88901566e-01 1.48057837e-01 1.23519436e-02 1.55617763e+02] [-1.48058083e-01 9.88978258e-01 -8.99552413e-04 -4.38692810e+00] [-1.23489894e-02 -9.39236295e-04 9.99923307e-01 -1.14891944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:-4.39, Z:-1.15 [[ 9.88880987e-01 1.48087789e-01 1.35793806e-02 1.55645348e+02] [-1.48088105e-01 9.88973679e-01 -9.87861244e-04 -4.38691677e+00] [-1.35759401e-02 -1.03406753e-03 9.99907308e-01 -1.14836033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:-4.39, Z:-1.15 [[ 9.88779330e-01 1.48795726e-01 1.32389389e-02 1.55673337e+02] [-1.48796101e-01 9.88867430e-01 -9.62178502e-04 -4.38671487e+00] [-1.32347236e-02 -1.01852028e-03 9.99911898e-01 -1.14801728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.70, Y:-4.38, Z:-1.15 [[ 9.88501119e-01 1.50798238e-01 1.11995480e-02 1.55700350e+02] [-1.50798641e-01 9.88564165e-01 -8.13375935e-04 -4.38485927e+00] [-1.11941275e-02 -8.84853597e-04 9.99936952e-01 -1.14882404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:-4.39, Z:-1.15 [[ 9.88489504e-01 1.50898139e-01 1.08743917e-02 1.55728332e+02] [-1.50898534e-01 9.88548942e-01 -7.88835396e-04 -4.38559803e+00] [-1.08689022e-02 -8.61174258e-04 9.99940561e-01 -1.15025816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:-4.39, Z:-1.15 [[ 9.88512430e-01 1.50726586e-01 1.11656767e-02 1.55755820e+02] [-1.50727001e-01 9.88575094e-01 -8.09123280e-04 -4.38758364e+00] [-1.11600662e-02 -8.83140541e-04 9.99937335e-01 -1.15131219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:-4.39, Z:-1.15 [[ 9.88590647e-01 1.50091848e-01 1.26874147e-02 1.55782736e+02] [-1.50092346e-01 9.88671555e-01 -9.18357725e-04 -4.38961054e+00] [-1.26815240e-02 -9.96403983e-04 9.99919090e-01 -1.15230671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:-4.39, Z:-1.15 [[ 9.88889908e-01 1.47934421e-01 1.45655841e-02 1.55810781e+02] [-1.47934865e-01 9.88996546e-01 -1.05287238e-03 -4.39396577e+00] [-1.45610684e-02 -1.11358284e-03 9.99893362e-01 -1.15135873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:-4.40, Z:-1.15 [[ 9.89042601e-01 1.46917084e-01 1.44949882e-02 1.55838798e+02] [-1.46917430e-01 9.89148206e-01 -1.04678134e-03 -4.39677955e+00] [-1.44914817e-02 -1.09425508e-03 9.99894394e-01 -1.15123820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:-4.40, Z:-1.15 [[ 9.89116007e-01 1.46482172e-01 1.38743797e-02 1.55865244e+02] [-1.46482459e-01 9.89212761e-01 -1.00107288e-03 -4.39890605e+00] [-1.38713528e-02 -1.04217605e-03 9.99903245e-01 -1.15086174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:-4.40, Z:-1.15 [[ 9.89013035e-01 1.47285965e-01 1.26515225e-02 1.55893314e+02] [-1.47286280e-01 9.89093484e-01 -9.11917045e-04 -4.40100007e+00] [-1.26478510e-02 -9.61497840e-04 9.99919550e-01 -1.15127474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.905898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:155.92, Y:-4.40, Z:-1.15 [[ 9.88763502e-01 1.48977583e-01 1.23457093e-02 1.55920429e+02] [-1.48978023e-01 9.88840107e-01 -8.89159523e-04 -4.40169890e+00] [-1.23403973e-02 -9.60070880e-04 9.99923393e-01 -1.15444934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:-4.40, Z:-1.15 [[ 9.88409181e-01 1.51327916e-01 1.21306523e-02 1.55948606e+02] [-1.51328537e-01 9.88483138e-01 -8.72002969e-04 -4.40365037e+00] [-1.21229036e-02 -9.73818128e-04 9.99926041e-01 -1.15335089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:-4.40, Z:-1.15 [[ 9.87721349e-01 1.55786943e-01 1.17031854e-02 1.55976256e+02] [-1.55787840e-01 9.87790181e-01 -8.40484977e-04 -4.40433272e+00] [-1.16912282e-02 -9.93049017e-04 9.99931162e-01 -1.15435143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:-4.41, Z:-1.15 [[ 9.87489276e-01 1.57294618e-01 1.11055756e-02 1.56004536e+02] [-1.57295530e-01 9.87551255e-01 -7.96827010e-04 -4.40570243e+00] [-1.10926617e-02 -9.59999270e-04 9.99938014e-01 -1.15444266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:-4.41, Z:-1.15 [[ 9.87324254e-01 1.58314371e-01 1.12861366e-02 1.56031958e+02] [-1.58315387e-01 9.87388264e-01 -8.08987795e-04 -4.40709464e+00] [-1.12718732e-02 -9.88035807e-04 9.99935982e-01 -1.15451936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:-4.41, Z:-1.15 [[ 9.87269894e-01 1.58635160e-01 1.15343997e-02 1.56060189e+02] [-1.58636256e-01 9.87336749e-01 -8.25716745e-04 -4.40827088e+00] [-1.15193244e-02 -1.01456870e-03 9.99933136e-01 -1.15456976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:-4.41, Z:-1.16 [[ 9.87263000e-01 1.58642053e-01 1.20194517e-02 1.56088495e+02] [-1.58643253e-01 9.87335596e-01 -8.59575191e-04 -4.40930054e+00] [-1.20035973e-02 -1.05817814e-03 9.99927394e-01 -1.15515370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:-4.41, Z:-1.16 [[ 9.87363686e-01 1.58025137e-01 1.18746397e-02 1.56115074e+02] [-1.58026273e-01 9.87434543e-01 -8.48456477e-04 -4.41022622e+00] [-1.18595069e-02 -1.03876994e-03 9.99929134e-01 -1.15555553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:-4.41, Z:-1.16 [[ 9.87591599e-01 1.56578821e-01 1.20791565e-02 1.56142810e+02] [-1.56579901e-01 9.87664919e-01 -8.62049423e-04 -4.40994543e+00] [-1.20651378e-02 -1.04000036e-03 9.99926673e-01 -1.15726246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:-4.41, Z:-1.16 [[ 9.87756195e-01 1.55552753e-01 1.18760684e-02 1.56170868e+02] [-1.55553734e-01 9.87827069e-01 -8.46747466e-04 -4.41074061e+00] [-1.18632158e-02 -1.01098673e-03 9.99929118e-01 -1.15726427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:-4.41, Z:-1.16 [[ 9.87866954e-01 1.54835677e-01 1.20330303e-02 1.56197911e+02] [-1.54836641e-01 9.87939715e-01 -8.57102122e-04 -4.41185804e+00] [-1.20206185e-02 -1.01645113e-03 9.99927233e-01 -1.15770674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.235898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:156.23, Y:-4.41, Z:-1.16 [[ 9.87951431e-01 1.54309220e-01 1.18589855e-02 1.56225684e+02] [-1.54310130e-01 9.88022101e-01 -8.43682246e-04 -4.41233910e+00] [-1.18471277e-02 -9.96444520e-04 9.99929324e-01 -1.16000081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:-4.41, Z:-1.16 [[ 9.88019404e-01 1.53911347e-01 1.13558502e-02 1.56253983e+02] [-1.53912165e-01 9.88084204e-01 -8.07146454e-04 -4.41391567e+00] [-1.13447652e-02 -9.50327130e-04 9.99935194e-01 -1.15814097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:-4.42, Z:-1.16 [[ 9.88109870e-01 1.53419848e-01 1.00616058e-02 1.56281642e+02] [-1.53420470e-01 9.88160740e-01 -7.14590172e-04 -4.41504558e+00] [-1.00521161e-02 -8.37562687e-04 9.99949125e-01 -1.15817782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:-4.42, Z:-1.16 [[ 9.88457267e-01 1.51236702e-01 8.92694716e-03 1.56308448e+02] [-1.51237107e-01 9.88497312e-01 -6.33561180e-04 -4.41672818e+00] [-8.92008097e-03 -7.23837512e-04 9.99959953e-01 -1.15913491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:-4.42, Z:-1.16 [[ 9.88730120e-01 1.49387558e-01 9.80341939e-03 1.56336612e+02] [-1.49387967e-01 9.88778414e-01 -6.94742630e-04 -4.41889076e+00] [-9.79719539e-03 -7.77599926e-04 9.99951704e-01 -1.15981737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:-4.42, Z:-1.16 [[ 9.88985932e-01 1.47632327e-01 1.05604505e-02 1.56364878e+02] [-1.47632710e-01 9.89041973e-01 -7.47597741e-04 -4.42155153e+00] [-1.05550984e-02 -8.19704273e-04 9.99943957e-01 -1.15935859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:-4.42, Z:-1.16 [[ 9.89197702e-01 1.46139353e-01 1.14541101e-02 1.56391360e+02] [-1.46139713e-01 9.89263629e-01 -8.09983583e-04 -4.42440096e+00] [-1.14495050e-02 -8.72666465e-04 9.99934071e-01 -1.15960630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:-4.43, Z:-1.16 [[ 9.89334350e-01 1.45207035e-01 1.15091822e-02 1.56419630e+02] [-1.45207348e-01 9.89400912e-01 -8.12853143e-04 -4.42756045e+00] [-1.15052273e-02 -8.67034285e-04 9.99933437e-01 -1.15990442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:-4.43, Z:-1.16 [[ 9.89397084e-01 1.44827156e-01 1.08860413e-02 1.56445896e+02] [-1.44827421e-01 9.89456633e-01 -7.68167510e-04 -4.43254069e+00] [-1.08825173e-02 -8.16574592e-04 9.99940450e-01 -1.16080358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:-4.44, Z:-1.16 [[ 9.89367786e-01 1.45031655e-01 1.08260279e-02 1.56473587e+02] [-1.45031940e-01 9.89426680e-01 -7.62971597e-04 -4.43522669e+00] [-1.08222159e-02 -8.15260305e-04 9.99941106e-01 -1.16141679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.535898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:156.50, Y:-4.44, Z:-1.16 [[ 9.89285561e-01 1.45597224e-01 1.07483104e-02 1.56501572e+02] [-1.45597546e-01 9.89343612e-01 -7.56738179e-04 -4.43665188e+00] [-1.07439512e-02 -8.16297468e-04 9.99941949e-01 -1.16327689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:-4.44, Z:-1.16 [[ 9.89126660e-01 1.46652476e-01 1.10227801e-02 1.56529824e+02] [-1.46652888e-01 9.89187712e-01 -7.75244593e-04 -4.43794448e+00] [-1.10172902e-02 -8.49707451e-04 9.99938947e-01 -1.16120410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:-4.44, Z:-1.16 [[ 9.88889889e-01 1.48224514e-01 1.12374838e-02 1.56558061e+02] [-1.48225053e-01 9.88953341e-01 -7.89529404e-04 -4.43802548e+00] [-1.12303748e-02 -8.84918989e-04 9.99936546e-01 -1.16123365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:-4.44, Z:-1.16 [[ 9.88614933e-01 1.50071942e-01 1.09053483e-02 1.56585119e+02] [-1.50072566e-01 9.88674688e-01 -7.65710223e-04 -4.43757732e+00] [-1.08967535e-02 -8.79601049e-04 9.99940242e-01 -1.16137759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:-4.43, Z:-1.16 [[ 9.87926399e-01 1.54688058e-01 8.54609698e-03 1.56612415e+02] [-1.54688621e-01 9.87963092e-01 -5.99025451e-04 -4.43419491e+00] [-8.53589049e-03 -7.30190906e-04 9.99963302e-01 -1.16241704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:-4.43, Z:-1.16 [[ 9.87763705e-01 1.55756585e-01 7.92143861e-03 1.56640139e+02] [-1.55757108e-01 9.87795230e-01 -5.54572431e-04 -4.43351655e+00] [-7.91113758e-03 -6.86033854e-04 9.99968471e-01 -1.16354332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:-4.43, Z:-1.16 [[ 9.87791912e-01 1.55555952e-01 8.33573531e-03 1.56666913e+02] [-1.55556529e-01 9.87826820e-01 -5.83027308e-04 -4.43347075e+00] [-8.32495627e-03 -7.20768395e-04 9.99965087e-01 -1.16381263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:-4.43, Z:-1.16 [[ 9.88027532e-01 1.53959518e-01 9.90265703e-03 1.56693570e+02] [-1.53960263e-01 9.88076798e-01 -6.91590975e-04 -4.43314213e+00] [-9.89106266e-03 -8.41304757e-04 9.99950728e-01 -1.16366098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:-4.43, Z:-1.16 [[ 9.88828694e-01 1.48504830e-01 1.28113266e-02 1.56721850e+02] [-1.48505641e-01 9.88911157e-01 -8.93324360e-04 -4.43103516e+00] [-1.28019268e-02 -1.01920951e-03 9.99917533e-01 -1.16272161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:-4.43, Z:-1.16 [[ 9.89354250e-01 1.44952852e-01 1.29166095e-02 1.56748390e+02] [-1.44953387e-01 9.89438076e-01 -8.99790085e-04 -4.43144638e+00] [-1.29106124e-02 -9.82095152e-04 9.99916172e-01 -1.16384564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:-4.43, Z:-1.17 [[ 9.89899818e-01 1.41338599e-01 1.10340782e-02 1.56776009e+02] [-1.41338774e-01 9.89960990e-01 -7.67890535e-04 -4.43298543e+00] [-1.10318395e-02 -7.99408382e-04 9.99938828e-01 -1.16500485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:-4.44, Z:-1.17 [[ 9.90373741e-01 1.38120850e-01 9.08212203e-03 1.56802461e+02] [-1.38120837e-01 9.90415183e-01 -6.31680934e-04 -4.43518775e+00] [-9.08231986e-03 -6.28830086e-04 9.99958557e-01 -1.16721996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.83, Y:-4.44, Z:-1.17 [[ 9.90709515e-01 1.35790664e-01 7.45332707e-03 1.56830298e+02] [-1.35790593e-01 9.90737426e-01 -5.17946176e-04 -4.43829185e+00] [-7.45462233e-03 -4.98957500e-04 9.99972089e-01 -1.16798117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:-4.44, Z:-1.17 [[ 9.90801024e-01 1.35111046e-01 7.63780739e-03 1.56856896e+02] [-1.35110955e-01 9.90830333e-01 -5.30279951e-04 -4.44202943e+00] [-7.63941792e-03 -5.06549529e-04 9.99970691e-01 -1.16798072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:-4.45, Z:-1.17 [[ 9.90623882e-01 1.36252716e-01 9.97605329e-03 1.56884863e+02] [-1.36252631e-01 9.90673883e-01 -6.91305980e-04 -4.44752819e+00] [-9.97720777e-03 -6.74439296e-04 9.99949999e-01 -1.16613167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.985898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:156.91, Y:-4.45, Z:-1.17 [[ 9.90476725e-01 1.37277175e-01 1.05278184e-02 1.56913127e+02] [-1.37277148e-01 9.90532409e-01 -7.28727759e-04 -4.45020406e+00] [-1.05281830e-02 -7.23440990e-04 9.99944315e-01 -1.16751874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:-4.45, Z:-1.17 [[ 9.90304166e-01 1.38561940e-01 9.91194342e-03 1.56939686e+02] [-1.38561985e-01 9.90353526e-01 -6.85519522e-04 -4.45378514e+00] [-9.91131503e-03 -6.94545720e-04 9.99950641e-01 -1.16611976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-4.46, Z:-1.17 [[ 9.90123381e-01 1.39918664e-01 8.85763751e-03 1.56967049e+02] [-1.39918760e-01 9.90162798e-01 -6.11938518e-04 -4.45638391e+00] [-8.85612475e-03 -6.33455022e-04 9.99960583e-01 -1.16762591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-4.46, Z:-1.17 [[ 9.89895331e-01 1.41545880e-01 8.48517386e-03 1.56995054e+02] [-1.41546032e-01 9.89931502e-01 -5.85663896e-04 -4.45918115e+00] [-8.48263921e-03 -6.21296738e-04 9.99963829e-01 -1.16877766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:-4.46, Z:-1.17 [[ 9.89611788e-01 1.43421903e-01 9.93313828e-03 1.57022045e+02] [-1.43422214e-01 9.89661356e-01 -6.84746744e-04 -4.46240691e+00] [-9.92865078e-03 -7.46999232e-04 9.99950431e-01 -1.16983533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:-4.47, Z:-1.17 [[ 9.88923592e-01 1.47737691e-01 1.42725018e-02 1.57049340e+02] [-1.47738805e-01 9.89025925e-01 -9.82091731e-04 -4.46596157e+00] [-1.42609662e-02 -1.13738867e-03 9.99897660e-01 -1.16811353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:-4.47, Z:-1.17 [[ 9.88523998e-01 1.50340625e-01 1.47649144e-02 1.57076976e+02] [-1.50342125e-01 9.88633509e-01 -1.01469090e-03 -4.46711235e+00] [-1.47496384e-02 -1.21674229e-03 9.99890478e-01 -1.16799221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:-4.47, Z:-1.17 [[ 9.88532597e-01 1.50284063e-01 1.47649849e-02 1.57105404e+02] [-1.50285572e-01 9.88642109e-01 -1.01366256e-03 -4.46893873e+00] [-1.47496232e-02 -1.21692572e-03 9.99890478e-01 -1.16843486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:-4.47, Z:-1.17 [[ 9.88163770e-01 1.52822122e-01 1.33327532e-02 1.57132234e+02] [-1.52823589e-01 9.88253062e-01 -9.14704337e-04 -4.46947311e+00] [-1.33159212e-02 -1.13368151e-03 9.99910697e-01 -1.16947148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:-4.47, Z:-1.17 [[ 9.87834869e-01 1.55116354e-01 1.10085903e-02 1.57160259e+02] [-1.55117503e-01 9.87895739e-01 -7.54544713e-04 -4.46969445e+00] [-1.09923817e-02 -9.62259463e-04 9.99939119e-01 -1.17128983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:-4.47, Z:-1.17 [[ 9.87636857e-01 1.56475273e-01 9.43016745e-03 1.57188687e+02] [-1.56476182e-01 9.87681521e-01 -6.45851049e-04 -4.46988644e+00] [-9.41506185e-03 -8.37730303e-04 9.99955326e-01 -1.17346088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:-4.47, Z:-1.17 [[ 9.87552313e-01 1.57027136e-01 9.10534676e-03 1.57216412e+02] [-1.57028013e-01 9.87593952e-01 -6.22998830e-04 -4.46979012e+00] [-9.09021312e-03 -8.14550576e-04 9.99958351e-01 -1.17461816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.24, Y:-4.47, Z:-1.18 [[ 9.87848091e-01 1.55029359e-01 1.10475134e-02 1.57244347e+02] [-1.55030537e-01 9.87909390e-01 -7.54873467e-04 -4.46828423e+00] [-1.10309698e-02 -9.67001623e-04 9.99938689e-01 -1.17543966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:-4.47, Z:-1.18 [[ 9.88211346e-01 1.52669378e-01 1.14191014e-02 1.57271176e+02] [-1.52670490e-01 9.88276841e-01 -7.79410546e-04 -4.46959399e+00] [-1.14042256e-02 -9.73137457e-04 9.99934496e-01 -1.17580182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:-4.47, Z:-1.18 [[ 9.88784405e-01 1.48951742e-01 1.08985465e-02 1.57297706e+02] [-1.48952538e-01 9.88844067e-01 -7.43207296e-04 -4.47200469e+00] [-1.08876651e-02 -8.88494378e-04 9.99940333e-01 -1.17641032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:-4.47, Z:-1.18 [[ 9.89425807e-01 1.44696812e-01 9.97017986e-03 1.57325388e+02] [-1.44697265e-01 9.89475740e-01 -6.79695845e-04 -4.47498540e+00] [-9.96360092e-03 -7.70149145e-04 9.99950066e-01 -1.17772994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:-4.48, Z:-1.18 [[ 9.90068834e-01 1.40286679e-01 9.12968704e-03 1.57353307e+02] [-1.40286890e-01 9.90110703e-01 -6.20413612e-04 -4.47827137e+00] [-9.12643661e-03 -6.66523223e-04 9.99958131e-01 -1.17830384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:-4.48, Z:-1.18 [[ 9.90993017e-01 1.33569235e-01 9.59689523e-03 1.57381012e+02] [-1.33569162e-01 9.91039280e-01 -6.51384816e-04 -4.48236753e+00] [-9.59790511e-03 -6.36331449e-04 9.99953737e-01 -1.17921954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-4.49, Z:-1.18 [[ 9.91211822e-01 1.31898232e-01 1.00985518e-02 1.57408639e+02] [-1.31898071e-01 9.91263048e-01 -6.84868684e-04 -4.48512854e+00] [-1.01006542e-02 -6.53129560e-04 9.99948774e-01 -1.17983851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:-4.49, Z:-1.18 [[ 9.91368814e-01 1.30706657e-01 1.01805605e-02 1.57436662e+02] [-1.30706438e-01 9.91420875e-01 -6.89723268e-04 -4.48706471e+00] [-1.01833716e-02 -6.46894660e-04 9.99947939e-01 -1.18026969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:-4.49, Z:-1.18 [[ 9.91461334e-01 1.30041585e-01 9.67522188e-03 1.57463246e+02] [-1.30041358e-01 9.91508354e-01 -6.55155750e-04 -4.48902074e+00] [-9.67826081e-03 -6.08617401e-04 9.99952979e-01 -1.18101586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:-4.49, Z:-1.18 [[ 9.91571191e-01 1.29271869e-01 8.68083178e-03 1.57491227e+02] [-1.29271668e-01 9.91609042e-01 -5.86628967e-04 -4.49146198e+00] [-8.68382591e-03 -5.40501223e-04 9.99962149e-01 -1.18133317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:-4.49, Z:-1.18 [[ 9.91659769e-01 1.28626442e-01 8.13269589e-03 1.57518290e+02] [-1.28626248e-01 9.91692990e-01 -5.49148826e-04 -4.49390729e+00] [-8.13577257e-03 -5.01509357e-04 9.99966778e-01 -1.18261564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:-4.50, Z:-1.18 [[ 9.91802205e-01 1.27502651e-01 8.45335843e-03 1.57546267e+02] [-1.27502408e-01 9.91838097e-01 -5.69913626e-04 -4.49913504e+00] [-8.45702844e-03 -5.12581964e-04 9.99964107e-01 -1.18293340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:-4.50, Z:-1.18 [[ 9.91898067e-01 1.26692971e-01 9.33356001e-03 1.57574414e+02] [-1.26692645e-01 9.91941822e-01 -6.28503808e-04 -4.50256869e+00] [-9.33797554e-03 -5.59081695e-04 9.99956244e-01 -1.18302513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:-4.51, Z:-1.18 [[ 9.91994164e-01 1.25838970e-01 1.05892716e-02 1.57602159e+02] [-1.25838512e-01 9.92050483e-01 -7.12192224e-04 -4.50534308e+00] [-1.05947136e-02 -6.26047656e-04 9.99943678e-01 -1.18359015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:-4.51, Z:-1.18 [[ 9.92010933e-01 1.25687150e-01 1.08188865e-02 1.57630331e+02] [-1.25686671e-01 9.92069722e-01 -7.26838284e-04 -4.50798497e+00] [-1.08244439e-02 -6.38758303e-04 9.99941210e-01 -1.18322677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.795898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.66, Y:-4.51, Z:-1.18 [[ 9.91923101e-01 1.26365452e-01 1.09696727e-02 1.57656717e+02] [-1.26365009e-01 9.91983539e-01 -7.36219254e-04 -4.51034333e+00] [-1.09747674e-02 -6.55909907e-04 9.99939560e-01 -1.18362143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:-4.51, Z:-1.18 [[ 9.91768339e-01 1.27587079e-01 1.08212011e-02 1.57684548e+02] [-1.27586731e-01 9.91827152e-01 -7.25329431e-04 -4.51253429e+00] [-1.08253038e-02 -6.61282914e-04 9.99941186e-01 -1.18410078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:-4.51, Z:-1.18 [[ 9.91152650e-01 1.32164558e-01 1.22046669e-02 1.57712970e+02] [-1.32164473e-01 9.91227464e-01 -8.17007893e-04 -4.51442504e+00] [-1.22055805e-02 -8.03243840e-04 9.99925187e-01 -1.18360390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:-4.52, Z:-1.18 [[ 9.90777488e-01 1.34806562e-01 1.36806501e-02 1.57740310e+02] [-1.34806722e-01 9.90871491e-01 -9.14689733e-04 -4.51550349e+00] [-1.36790724e-02 -9.37989603e-04 9.99905997e-01 -1.18376163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:-4.52, Z:-1.18 [[ 9.90430286e-01 1.37265128e-01 1.43573352e-02 1.57767287e+02] [-1.37265580e-01 9.90533816e-01 -9.58641489e-04 -4.51607772e+00] [-1.43530141e-02 -1.02130038e-03 9.99896469e-01 -1.18360009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.80, Y:-4.52, Z:-1.18 [[ 9.90171267e-01 1.39124427e-01 1.43267847e-02 1.57795479e+02] [-1.39125087e-01 9.90274355e-01 -9.55436900e-04 -4.51642353e+00] [-1.43203721e-02 -1.04716900e-03 9.99896910e-01 -1.18361493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97589822700002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.82, Y:-4.52, Z:-1.19 [[ 9.89985609e-01 1.40498727e-01 1.37332162e-02 1.57823185e+02] [-1.40499478e-01 9.90080330e-01 -9.14906624e-04 -4.51632486e+00] [-1.37255304e-02 -1.02376532e-03 9.99905276e-01 -1.18575305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:-4.51, Z:-1.19 [[ 9.89771162e-01 1.42106176e-01 1.26048144e-02 1.57850674e+02] [-1.42106949e-01 9.89850954e-01 -8.38947998e-04 -4.51422612e+00] [-1.25961072e-02 -9.60865170e-04 9.99920204e-01 -1.18546432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:-4.51, Z:-1.19 [[ 9.89761798e-01 1.42154138e-01 1.27978339e-02 1.57878878e+02] [-1.42154952e-01 9.89844051e-01 -8.50670445e-04 -4.51371467e+00] [-1.27887861e-02 -9.77314352e-04 9.99917743e-01 -1.18537163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:-4.51, Z:-1.18 [[ 9.89750748e-01 1.42219230e-01 1.29285467e-02 1.57907353e+02] [-1.42220078e-01 9.89834689e-01 -8.58425950e-04 -4.51328233e+00] [-1.29192087e-02 -9.89071205e-04 9.99916054e-01 -1.18483517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.095898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.93, Y:-4.51, Z:-1.19 [[ 9.89763054e-01 1.42117970e-01 1.30988498e-02 1.57934176e+02] [-1.42118844e-01 9.89849221e-01 -8.68812190e-04 -4.51218351e+00] [-1.30893601e-02 -1.00167518e-03 9.99913829e-01 -1.18619204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.96, Y:-4.51, Z:-1.18 [[ 9.89757221e-01 1.42219554e-01 1.24194125e-02 1.57961121e+02] [-1.42220360e-01 9.89834679e-01 -8.22781454e-04 -4.51218502e+00] [-1.24101808e-02 -9.51939425e-04 9.99922538e-01 -1.18473163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:-4.51, Z:-1.19 [[ 9.89756257e-01 1.42320680e-01 1.12861328e-02 1.57989109e+02] [-1.42321361e-01 9.89820222e-01 -7.46835497e-04 -4.51178254e+00] [-1.12775326e-02 -8.67072684e-04 9.99936031e-01 -1.18501250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:-4.51, Z:-1.19 [[ 9.89541710e-01 1.43905569e-01 9.91925659e-03 1.58016598e+02] [-1.43906180e-01 9.89591118e-01 -6.55884757e-04 -4.50897820e+00] [-9.91039369e-03 -7.78416997e-04 9.99950588e-01 -1.18604545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-4.51, Z:-1.19 [[ 9.89280209e-01 1.45654985e-01 1.04543102e-02 1.58043452e+02] [-1.45655770e-01 9.89335090e-01 -6.90340914e-04 -4.50810988e+00] [-1.04433676e-02 -8.39790002e-04 9.99945114e-01 -1.18620037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:-4.51, Z:-1.19 [[ 9.89048271e-01 1.47171758e-01 1.11351076e-02 1.58071730e+02] [-1.47172755e-01 9.89110530e-01 -7.34266770e-04 -4.50668266e+00] [-1.11219155e-02 -9.12559184e-04 9.99937733e-01 -1.18591652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.10, Y:-4.50, Z:-1.19 [[ 9.88801238e-01 1.48793420e-01 1.15165006e-02 1.58098821e+02] [-1.48794605e-01 9.88867832e-01 -7.58628777e-04 -4.50473921e+00] [-1.15011760e-02 -9.63460092e-04 9.99933395e-01 -1.18636572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.13, Y:-4.50, Z:-1.19 [[ 9.88322761e-01 1.52013452e-01 1.04895171e-02 1.58127797e+02] [-1.52014623e-01 9.88378004e-01 -6.90188736e-04 -4.49734525e+00] [-1.04725259e-02 -9.12430749e-04 9.99944745e-01 -1.18576831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.16, Y:-4.50, Z:-1.19 [[ 9.88348536e-01 1.51845782e-01 1.04895301e-02 1.58156204e+02] [-1.51846946e-01 9.88403778e-01 -6.89991224e-04 -4.49903078e+00] [-1.04726635e-02 -9.10851303e-04 9.99944745e-01 -1.18621055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:-4.49, Z:-1.19 [[ 9.88000341e-01 1.53989023e-01 1.19460450e-02 1.58184443e+02] [-1.53990716e-01 9.88071984e-01 -7.83437085e-04 -4.49109440e+00] [-1.19241931e-02 -1.06554393e-03 9.99928337e-01 -1.18616912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:-4.49, Z:-1.19 [[ 9.87994880e-01 1.53894176e-01 1.35166792e-02 1.58212971e+02] [-1.53896374e-01 9.88086598e-01 -8.83616705e-04 -4.48821271e+00] [-1.34916331e-02 -1.20715914e-03 9.99908255e-01 -1.18687960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:-4.49, Z:-1.19 [[ 9.88093464e-01 1.53193360e-01 1.42513233e-02 1.58241336e+02] [-1.53195770e-01 9.88195423e-01 -9.28896085e-04 -4.48555057e+00] [-1.42253931e-02 -1.26540630e-03 9.99898013e-01 -1.18747236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:-4.48, Z:-1.19 [[ 9.88308676e-01 1.51857522e-01 1.36108349e-02 1.58269343e+02] [-1.51859626e-01 9.88401675e-01 -8.84822829e-04 -4.48318187e+00] [-1.35873390e-02 -1.19245823e-03 9.99906977e-01 -1.18910891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:-4.48, Z:-1.19 [[ 9.88585691e-01 1.50161701e-01 1.22390800e-02 1.58296896e+02] [-1.50163300e-01 9.88660889e-01 -7.93437572e-04 -4.48085230e+00] [-1.22194436e-02 -1.05347961e-03 9.99924785e-01 -1.19064536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:-4.48, Z:-1.19 [[ 9.88960723e-01 1.47756997e-01 1.11605333e-02 1.58325113e+02] [-1.47758190e-01 9.89023253e-01 -7.22197004e-04 -4.47952833e+00] [-1.11447366e-02 -9.34835727e-04 9.99937459e-01 -1.19200941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:-4.48, Z:-1.19 [[ 9.89866472e-01 1.41520401e-01 1.16766420e-02 1.58352957e+02] [-1.41521288e-01 9.89934925e-01 -7.54436394e-04 -4.47599066e+00] [-1.16658838e-02 -9.05702115e-04 9.99931541e-01 -1.19296785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.38, Y:-4.48, Z:-1.19 [[ 9.90375725e-01 1.37830988e-01 1.25913766e-02 1.58379608e+02] [-1.37831761e-01 9.90455324e-01 -8.10559069e-04 -4.47610768e+00] [-1.25829162e-02 -9.32733587e-04 9.99920397e-01 -1.19395376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:-4.48, Z:-1.19 [[ 9.90905220e-01 1.33960460e-01 1.27059416e-02 1.58407943e+02] [-1.33960944e-01 9.90986276e-01 -8.16818886e-04 -4.47704420e+00] [-1.27008352e-02 -8.92709832e-04 9.99918943e-01 -1.19429101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.43, Y:-4.48, Z:-1.20 [[ 9.91353210e-01 1.30656172e-01 1.21563561e-02 1.58434516e+02] [-1.30656377e-01 9.91427406e-01 -7.80699404e-04 -4.47828197e+00] [-1.21541477e-02 -8.14356584e-04 9.99925804e-01 -1.19505233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.46, Y:-4.48, Z:-1.20 [[ 9.91719235e-01 1.27908150e-01 1.15092703e-02 1.58462122e+02] [-1.27908161e-01 9.91785742e-01 -7.38205677e-04 -4.47945505e+00] [-1.15091527e-02 -7.40036828e-04 9.99933494e-01 -1.19627029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.49, Y:-4.48, Z:-1.20 [[ 9.91982729e-01 1.25863017e-01 1.13475406e-02 1.58489192e+02] [-1.25862903e-01 9.92047378e-01 -7.27081159e-04 -4.48037533e+00] [-1.13488105e-02 -7.06982448e-04 9.99935350e-01 -1.19695394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:-4.48, Z:-1.20 [[ 9.92295192e-01 1.23212527e-01 1.29971386e-02 1.58516909e+02] [-1.23212167e-01 9.92380003e-01 -8.31479478e-04 -4.48108756e+00] [-1.30005491e-02 -7.76332524e-04 9.99915188e-01 -1.19659448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.54, Y:-4.48, Z:-1.20 [[ 9.92390748e-01 1.22437559e-01 1.30248730e-02 1.58544204e+02] [-1.22437143e-01 9.92475921e-01 -8.32333645e-04 -4.48313243e+00] [-1.30287817e-02 -7.68728034e-04 9.99914826e-01 -1.19679877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.57, Y:-4.49, Z:-1.20 [[ 9.92488916e-01 1.21744630e-01 1.19998726e-02 1.58571872e+02] [-1.21744238e-01 9.92561209e-01 -7.65894045e-04 -4.48544603e+00] [-1.20038515e-02 -7.00773995e-04 9.99927706e-01 -1.19716841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:-4.49, Z:-1.20 [[ 9.92625998e-01 1.20861724e-01 9.27748230e-03 1.58599055e+02] [-1.20861455e-01 9.92669209e-01 -5.91779880e-04 -4.48814456e+00] [-9.28099455e-03 -5.33873914e-04 9.99956788e-01 -1.19799641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:-4.49, Z:-1.20 [[ 9.92721310e-01 1.19946134e-01 1.08317327e-02 1.58625382e+02] [-1.20000903e-01 9.92763337e-01 4.55407001e-03 -4.49187756e+00] [-1.02071040e-02 -5.82074005e-03 9.99930965e-01 -1.19893661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.65, Y:-4.49, Z:-1.20 [[ 9.92893358e-01 1.18589959e-01 9.95995189e-03 1.58654339e+02] [-1.18536548e-01 9.92932786e-01 -5.79393834e-03 -4.48951486e+00] [-1.05766657e-02 4.57214458e-03 9.99933613e-01 -1.19612425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.68, Y:-4.49, Z:-1.20 [[ 9.93032072e-01 1.17284573e-01 1.14731212e-02 1.58681096e+02] [-1.17283967e-01 9.93098153e-01 -7.27972605e-04 -4.49399857e+00] [-1.14793154e-02 -6.22713028e-04 9.99933917e-01 -1.19617127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.71, Y:-4.50, Z:-1.20 [[ 9.93089224e-01 1.16687378e-01 1.25638071e-02 1.58709105e+02] [-1.16686629e-01 9.93168464e-01 -7.95152817e-04 -4.49736959e+00] [-1.25707613e-02 -6.76370598e-04 9.99920756e-01 -1.19604590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.965898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:158.74, Y:-4.50, Z:-1.20 [[ 9.93105800e-01 1.16536114e-01 1.26571941e-02 1.58736186e+02] [-1.16535353e-01 9.93186222e-01 -8.00143255e-04 -4.50032766e+00] [-1.26641964e-02 -6.80383680e-04 9.99919574e-01 -1.19764533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:-4.51, Z:-1.20 [[ 9.92780211e-01 1.19299356e-01 1.24545490e-02 1.58764102e+02] [-1.19298850e-01 9.92858080e-01 -7.86231246e-04 -4.50520155e+00] [-1.24593965e-02 -7.05258546e-04 9.99922130e-01 -1.19647405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.79, Y:-4.51, Z:-1.20 [[ 9.92560295e-01 1.21101599e-01 1.25882180e-02 1.58790973e+02] [-1.21101238e-01 9.92639844e-01 -7.93773626e-04 -4.50657000e+00] [-1.25916941e-02 -7.36580603e-04 9.99920450e-01 -1.19682417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.82, Y:-4.51, Z:-1.20 [[ 9.92574447e-01 1.20985550e-01 1.25882786e-02 1.58819394e+02] [-1.20985191e-01 9.92653996e-01 -7.92811554e-04 -4.50820206e+00] [-1.25917238e-02 -7.36070811e-04 9.99920450e-01 -1.19726812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.085898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.85, Y:-4.51, Z:-1.20 [[ 9.92343881e-01 1.22853233e-01 1.26769632e-02 1.58847624e+02] [-1.22853042e-01 9.92424554e-01 -7.96767274e-04 -4.50870618e+00] [-1.26788150e-02 -7.66736363e-04 9.99919327e-01 -1.19832875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.87, Y:-4.51, Z:-1.20 [[ 9.92058565e-01 1.25090926e-01 1.31172896e-02 1.58874218e+02] [-1.25090929e-01 9.92144940e-01 -8.23479382e-04 -4.50960402e+00] [-1.31172623e-02 -8.23914164e-04 9.99913626e-01 -1.19760144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:-4.51, Z:-1.20 [[ 9.91751764e-01 1.27524394e-01 1.28828591e-02 1.58902616e+02] [-1.27524615e-01 9.91835077e-01 -8.07663866e-04 -4.51025048e+00] [-1.28806684e-02 -8.41879590e-04 9.99916686e-01 -1.19789642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:-4.51, Z:-1.20 [[ 9.91119729e-01 1.32468270e-01 1.15689431e-02 1.58929801e+02] [-1.32468791e-01 9.91186912e-01 -7.24620183e-04 -4.50997168e+00] [-1.15629741e-02 -8.14338539e-04 9.99932815e-01 -1.19954120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:-4.51, Z:-1.20 [[ 9.90872390e-01 1.34311455e-01 1.15039483e-02 1.58957368e+02] [-1.34312105e-01 9.90938818e-01 -7.19543782e-04 -4.51025591e+00] [-1.14963519e-02 -8.32143445e-04 9.99933569e-01 -1.20030821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.99, Y:-4.51, Z:-1.20 [[ 9.90759757e-01 1.35089677e-01 1.20782528e-02 1.58985248e+02] [-1.35090462e-01 9.90832982e-01 -7.54576730e-04 -4.51027727e+00] [-1.20694668e-02 -8.84052492e-04 9.99926771e-01 -1.20052921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.01, Y:-4.51, Z:-1.20 [[ 9.90766537e-01 1.34952764e-01 1.30161423e-02 1.59013564e+02] [-1.34953677e-01 9.90851576e-01 -8.12156372e-04 -4.51095105e+00] [-1.30066679e-02 -9.51918915e-04 9.99914957e-01 -1.20140595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.04, Y:-4.51, Z:-1.20 [[ 9.90904723e-01 1.33861318e-01 1.37469473e-02 1.59040391e+02] [-1.33862246e-01 9.90999579e-01 -8.56736840e-04 -4.51233385e+00] [-1.37379029e-02 -9.91252663e-04 9.99905139e-01 -1.20186286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:-4.51, Z:-1.20 [[ 9.91119165e-01 1.32271354e-01 1.36780349e-02 1.59068704e+02] [-1.32272139e-01 9.91213073e-01 -8.51297332e-04 -4.51446244e+00] [-1.36704492e-02 -9.65485822e-04 9.99906089e-01 -1.20251852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.10, Y:-4.52, Z:-1.20 [[ 9.91515914e-01 1.29330236e-01 1.30338771e-02 1.59095770e+02] [-1.29330707e-01 9.91601186e-01 -8.10354580e-04 -4.51834167e+00] [-1.30292113e-02 -8.82201067e-04 9.99914727e-01 -1.20378575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.12, Y:-4.52, Z:-1.20 [[ 9.91684874e-01 1.28159916e-01 1.16681839e-02 1.59123195e+02] [-1.28160222e-01 9.91753212e-01 -7.24559028e-04 -4.52110531e+00] [-1.16648183e-02 -7.76862816e-04 9.99931662e-01 -1.20410988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:-4.52, Z:-1.20 [[ 9.91706339e-01 1.28110665e-01 1.03051020e-02 1.59149730e+02] [-1.28110907e-01 9.91759642e-01 -6.39381840e-04 -4.52405470e+00] [-1.03020959e-02 -6.86116941e-04 9.99946697e-01 -1.20373518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:-4.53, Z:-1.20 [[ 9.91639949e-01 1.28678502e-01 9.59447912e-03 1.59177684e+02] [-1.28678746e-01 9.91686153e-01 -5.94524016e-04 -4.52777032e+00] [-9.59121455e-03 -6.45051772e-04 9.99953795e-01 -1.20427081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:-4.53, Z:-1.20 [[ 9.91414491e-01 1.30320574e-01 1.06703149e-02 1.59204638e+02] [-1.30320976e-01 9.91471637e-01 -6.60610739e-04 -4.53355703e+00] [-1.06654057e-02 -7.35626782e-04 9.99942852e-01 -1.20392407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.505898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:159.23, Y:-4.54, Z:-1.21 [[ 9.91277724e-01 1.31291345e-01 1.14479722e-02 1.59232248e+02] [-1.31291892e-01 9.91343502e-01 -7.06954360e-04 -4.53603070e+00] [-1.14416898e-02 -8.02237824e-04 9.99934220e-01 -1.20733145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:-4.54, Z:-1.20 [[ 9.91079095e-01 1.32785795e-01 1.14087700e-02 1.59259826e+02] [-1.32786447e-01 9.91144422e-01 -7.03723445e-04 -4.53952366e+00] [-1.14011832e-02 -8.17484434e-04 9.99934670e-01 -1.20448870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:-4.54, Z:-1.20 [[ 9.90835677e-01 1.34594850e-01 1.13528798e-02 1.59286545e+02] [-1.34595622e-01 9.90900363e-01 -6.99511943e-04 -4.54189665e+00] [-1.13437234e-02 -8.34946527e-04 9.99935309e-01 -1.20492859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.31, Y:-4.54, Z:-1.21 [[ 9.90596394e-01 1.36369319e-01 1.10540718e-02 1.59314749e+02] [-1.36370171e-01 9.90657718e-01 -6.80151471e-04 -4.54395933e+00] [-1.10435534e-02 -8.33690070e-04 9.99938671e-01 -1.20500477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:-4.55, Z:-1.21 [[ 9.90364058e-01 1.38055837e-01 1.09370597e-02 1.59342549e+02] [-1.38056781e-01 9.90424088e-01 -6.72196743e-04 -4.54550630e+00] [-1.09251281e-02 -8.44215768e-04 9.99939963e-01 -1.20568846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:-4.55, Z:-1.21 [[ 9.89948189e-01 1.41076729e-01 9.99692965e-03 1.59369444e+02] [-1.41077677e-01 9.89998339e-01 -6.13866767e-04 -4.54557231e+00] [-9.98354606e-03 -8.02647318e-04 9.99949841e-01 -1.20542997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:-4.55, Z:-1.21 [[ 9.89895161e-01 1.41456551e-01 9.87996264e-03 1.59397498e+02] [-1.41457497e-01 9.89944144e-01 -6.06436779e-04 -4.54523209e+00] [-9.86639561e-03 -7.97285956e-04 9.99951008e-01 -1.20608329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.42, Y:-4.55, Z:-1.21 [[ 9.89869332e-01 1.41652639e-01 9.65583620e-03 1.59424514e+02] [-1.41653574e-01 9.89916116e-01 -5.90444324e-04 -4.54528758e+00] [-9.64210586e-03 -7.83320978e-04 9.99953207e-01 -1.20609026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:-4.55, Z:-1.21 [[ 9.89926670e-01 1.41221504e-01 1.00833849e-02 1.59452030e+02] [-1.41222511e-01 9.89977688e-01 -6.15744319e-04 -4.54605678e+00] [-1.00692824e-02 -8.14459203e-04 9.99948972e-01 -1.20633199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:-4.55, Z:-1.21 [[ 9.90123716e-01 1.39726275e-01 1.14714470e-02 1.59479267e+02] [-1.39727489e-01 9.90189749e-01 -6.99544543e-04 -4.54681920e+00] [-1.14566540e-02 -9.10240843e-04 9.99933956e-01 -1.20669775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:-4.55, Z:-1.21 [[ 9.90731843e-01 1.34950603e-01 1.54515123e-02 1.59506265e+02] [-1.34952256e-01 9.90851656e-01 -9.40455294e-04 -4.54867295e+00] [-1.54370715e-02 -1.15347743e-03 9.99880176e-01 -1.20636424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:-4.55, Z:-1.21 [[ 9.91089692e-01 1.32137342e-01 1.67613944e-02 1.59534355e+02] [-1.32138912e-01 9.91230685e-01 -1.01867167e-03 -4.55144257e+00] [-1.67490130e-02 -1.20523742e-03 9.99858999e-01 -1.20682852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:-4.56, Z:-1.21 [[ 9.91416497e-01 1.29338680e-01 1.91006483e-02 1.59562179e+02] [-1.29466217e-01 9.91568057e-01 5.59351138e-03 -4.55804249e+00] [-1.82161353e-02 -8.01838813e-03 9.99801919e-01 -1.21006357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:-4.56, Z:-1.21 [[ 9.91734316e-01 1.27411289e-01 1.51463132e-02 1.59590159e+02] [-1.27308960e-01 9.91834432e-01 -7.54240592e-03 -4.55649688e+00] [-1.59836226e-02 5.55180139e-03 9.99856840e-01 -1.20814207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.62, Y:-4.56, Z:-1.21 [[ 9.91918582e-01 1.26129280e-01 1.37452302e-02 1.59616550e+02] [-1.26129819e-01 9.92013396e-01 -8.31107131e-04 -4.56308022e+00] [-1.37402794e-02 -9.09292787e-04 9.99905184e-01 -1.20991753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.64, Y:-4.57, Z:-1.21 [[ 9.91937229e-01 1.26138992e-01 1.22265285e-02 1.59643878e+02] [-1.26139430e-01 9.92012247e-01 -7.38356031e-04 -4.56844557e+00] [-1.22220015e-02 -8.09844500e-04 9.99924981e-01 -1.21019259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.67, Y:-4.57, Z:-1.21 [[ 9.91878121e-01 1.26598491e-01 1.22725317e-02 1.59671636e+02] [-1.26598978e-01 9.91953704e-01 -7.40253263e-04 -4.57160080e+00] [-1.22674982e-02 -8.19448963e-04 9.99924416e-01 -1.21037566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:-4.57, Z:-1.21 [[ 9.91837773e-01 1.26920629e-01 1.22059762e-02 1.59698855e+02] [-1.26921146e-01 9.91912537e-01 -7.35378473e-04 -4.57492092e+00] [-1.22005955e-02 -8.19820337e-04 9.99925234e-01 -1.21111307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.73, Y:-4.58, Z:-1.21 [[ 9.91792747e-01 1.27314335e-01 1.17561735e-02 1.59725239e+02] [-1.27314854e-01 9.91862101e-01 -7.07309656e-04 -4.57857176e+00] [-1.17505536e-02 -7.95230931e-04 9.99930644e-01 -1.21131855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.75, Y:-4.58, Z:-1.21 [[ 9.91762764e-01 1.27557183e-01 1.16527076e-02 1.59752554e+02] [-1.27557721e-01 9.91830902e-01 -7.00071926e-04 -4.58252353e+00] [-1.16468146e-02 -7.92087556e-04 9.99931860e-01 -1.21217305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.78, Y:-4.59, Z:-1.21 [[ 9.91954460e-01 1.25970285e-01 1.25633366e-02 1.59778866e+02] [-1.25970796e-01 9.92033664e-01 -7.53832542e-04 -4.58881276e+00] [-1.25582134e-02 -8.34845960e-04 9.99920794e-01 -1.21225149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.81, Y:-4.59, Z:-1.21 [[ 9.92193638e-01 1.24062997e-01 1.26553065e-02 1.59806486e+02] [-1.24063375e-01 9.92274007e-01 -7.58259089e-04 -4.59380965e+00] [-1.26516036e-02 -8.17720195e-04 9.99919631e-01 -1.21246633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.83, Y:-4.60, Z:-1.21 [[ 9.92535075e-01 1.21256738e-01 1.30739614e-02 1.59833189e+02] [-1.21256911e-01 9.92620849e-01 -7.82416461e-04 -4.59872825e+00] [-1.30723599e-02 -8.08732386e-04 9.99914226e-01 -1.21311034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:-4.60, Z:-1.21 [[ 9.92918960e-01 1.18071297e-01 1.30808238e-02 1.59860038e+02] [-1.18071209e-01 9.93004823e-01 -7.81750673e-04 -4.60435006e+00] [-1.30816234e-02 -7.68253610e-04 9.99914137e-01 -1.21339423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:-4.61, Z:-1.21 [[ 9.93292050e-01 1.14875614e-01 1.32097202e-02 1.59887377e+02] [-1.14875256e-01 9.93379612e-01 -7.88357894e-04 -4.61049045e+00] [-1.32128298e-02 -7.34400357e-04 9.99912437e-01 -1.21415380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:-4.62, Z:-1.21 [[ 9.93651735e-01 1.11793079e-01 1.25911099e-02 1.59913613e+02] [-1.11792517e-01 9.93731286e-01 -7.50659551e-04 -4.61711648e+00] [-1.25960984e-02 -6.61697703e-04 9.99920447e-01 -1.21463173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:-4.63, Z:-1.22 [[ 9.94200607e-01 1.07058925e-01 1.01753937e-02 1.59941302e+02] [-1.07058318e-01 9.94252558e-01 -6.05886590e-04 -4.63094986e+00] [-1.01817768e-02 -4.86987723e-04 9.99948046e-01 -1.21628713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.97, Y:-4.64, Z:-1.22 [[ 9.94317795e-01 1.06094105e-01 8.72718028e-03 1.59969269e+02] [-1.06093623e-01 9.94356009e-01 -5.19514517e-04 -4.63917518e+00] [-8.73304158e-03 -4.09335647e-04 9.99961782e-01 -1.21713198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.00, Y:-4.65, Z:-1.22 [[ 9.94297767e-01 1.06350866e-01 7.83857587e-03 1.59996755e+02] [-1.06350489e-01 9.94328596e-01 -4.66078322e-04 -4.64731931e+00] [-7.84368797e-03 -3.70215745e-04 9.99969169e-01 -1.21773427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.02, Y:-4.66, Z:-1.22 [[ 9.94155761e-01 1.07698301e-01 7.44302484e-03 1.60024674e+02] [-1.07698001e-01 9.94183557e-01 -4.42269951e-04 -4.65504901e+00] [-7.44736463e-03 -3.61913675e-04 9.99972203e-01 -1.21812544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.05, Y:-4.66, Z:-1.22 [[ 9.93909186e-01 1.09883827e-01 8.37109627e-03 1.60051985e+02] [-1.09883532e-01 9.93944346e-01 -4.96590742e-04 -4.66245193e+00] [-8.37497110e-03 -4.26279522e-04 9.99964838e-01 -1.21840637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:-4.67, Z:-1.22 [[ 9.93624942e-01 1.12368573e-01 9.09831308e-03 1.60079427e+02] [-1.12368333e-01 9.93666477e-01 -5.39202712e-04 -4.66955268e+00] [-9.10127814e-03 -4.86597011e-04 9.99958464e-01 -1.21788292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:-4.68, Z:-1.22 [[ 9.93282396e-01 1.15271137e-01 1.01314614e-02 1.60106711e+02] [-1.15270999e-01 9.93333900e-01 -5.99496102e-04 -4.67644216e+00] [-1.01330287e-02 -5.72394756e-04 9.99948496e-01 -1.21766566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:-4.69, Z:-1.21 [[ 9.92501054e-01 1.21690058e-01 1.15406912e-02 1.60133742e+02] [-1.21831273e-01 9.92472840e-01 1.24419457e-02 -4.69463005e+00] [-9.93976150e-03 -1.37546613e-02 9.99855995e-01 -1.21428509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:-4.69, Z:-1.22 [[ 9.92132471e-01 1.24606493e-01 1.20988010e-02 1.60162605e+02] [-1.24438259e-01 9.92131572e-01 -1.37863628e-02 -4.69047602e+00] [-1.37214728e-02 1.21723445e-02 9.99831763e-01 -1.21926064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:-4.70, Z:-1.22 [[ 9.91859273e-01 1.26608494e-01 1.36187952e-02 1.60190392e+02] [-1.26609345e-01 9.91952332e-01 -8.03108975e-04 -4.70179940e+00] [-1.36108761e-02 -9.27695666e-04 9.99906937e-01 -1.22120175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.22, Y:-4.71, Z:-1.22 [[ 9.91651791e-01 1.28214555e-01 1.37022920e-02 1.60217547e+02] [-1.28215578e-01 9.91745993e-01 -8.07394891e-04 -4.70711420e+00] [-1.36927130e-02 -9.56192701e-04 9.99905793e-01 -1.22246026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:-4.71, Z:-1.22 [[ 9.91513158e-01 1.29339078e-01 1.31552666e-02 1.60245846e+02] [-1.29340130e-01 9.91599985e-01 -7.74381886e-04 -4.71219154e+00] [-1.31449200e-02 -9.33694060e-04 9.99913166e-01 -1.22258741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.27, Y:-4.72, Z:-1.22 [[ 9.91445277e-01 1.30010216e-01 1.15588437e-02 1.60272951e+02] [-1.30011078e-01 9.91512308e-01 -6.80030662e-04 -4.71949820e+00] [-1.15491467e-02 -8.28564539e-04 9.99932963e-01 -1.22248586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.30, Y:-4.72, Z:-1.22 [[ 9.91445670e-01 1.30046551e-01 1.11075218e-02 1.60302043e+02] [-1.30047357e-01 9.91507569e-01 -6.52757812e-04 -4.72307572e+00] [-1.10980808e-02 -7.97329943e-04 9.99938097e-01 -1.22330917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:-4.73, Z:-1.22 [[ 9.91445823e-01 1.30066017e-01 1.08632965e-02 1.60330447e+02] [-1.30066794e-01 9.91505029e-01 -6.37929682e-04 -4.72583048e+00] [-1.08539861e-02 -7.80481437e-04 9.99940789e-01 -1.22334665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.36, Y:-4.73, Z:-1.22 [[ 9.91406446e-01 1.30300869e-01 1.16164929e-02 1.60358232e+02] [-1.30301780e-01 9.91474146e-01 -6.81619424e-04 -4.72813509e+00] [-1.16062680e-02 -8.37887812e-04 9.99932294e-01 -1.22373011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.39, Y:-4.73, Z:-1.22 [[ 9.91334693e-01 1.30772271e-01 1.24152688e-02 1.60386596e+02] [-1.30773358e-01 9.91412023e-01 -7.27680446e-04 -4.73048392e+00] [-1.24038072e-02 -9.02211520e-04 9.99922663e-01 -1.22392613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.41, Y:-4.73, Z:-1.22 [[ 9.91283588e-01 1.31074828e-01 1.32754838e-02 1.60414087e+02] [-1.31076107e-01 9.91372004e-01 -7.77459760e-04 -4.73238626e+00] [-1.32628484e-02 -9.69415628e-04 9.99911575e-01 -1.22413265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.825898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:160.44, Y:-4.73, Z:-1.23 [[ 9.91382029e-01 1.30408789e-01 1.24587542e-02 1.60442667e+02] [-1.30409871e-01 9.91459900e-01 -7.28929240e-04 -4.73314084e+00] [-1.24474140e-02 -9.02097183e-04 9.99922121e-01 -1.22614827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.855898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:160.47, Y:-4.73, Z:-1.23 [[ 9.91386684e-01 1.30373394e-01 1.24587910e-02 1.60471947e+02] [-1.30374482e-01 9.91464555e-01 -7.28299125e-04 -4.73477351e+00] [-1.24474005e-02 -9.02282365e-04 9.99922121e-01 -1.22660814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.50, Y:-4.74, Z:-1.23 [[ 9.91469542e-01 1.29989703e-01 9.53018185e-03 1.60499579e+02] [-1.29990322e-01 9.91515106e-01 -5.57037231e-04 -4.73827601e+00] [-9.52172837e-03 -6.86545961e-04 9.99954432e-01 -1.22517835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.915898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:160.53, Y:-4.74, Z:-1.22 [[ 9.91553319e-01 1.29442793e-01 8.15962674e-03 1.60527459e+02] [-1.29509385e-01 9.91543952e-01 8.24081768e-03 -4.74408834e+00] [-7.02391409e-03 -9.22795836e-03 9.99932752e-01 -1.22186734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:-4.74, Z:-1.23 [[ 9.91524083e-01 1.29668382e-01 8.13040619e-03 1.60557910e+02] [-1.29593452e-01 9.91524975e-01 -9.15209410e-03 -4.74027111e+00] [-9.24823803e-03 8.02087431e-03 9.99925065e-01 -1.22527290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:-4.75, Z:-1.23 [[ 9.91556526e-01 1.29335420e-01 9.38108342e-03 1.60586143e+02] [-1.29336005e-01 9.91600675e-01 -5.46875579e-04 -4.74633030e+00] [-9.37301904e-03 -6.71053800e-04 9.99955847e-01 -1.22622360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:-4.75, Z:-1.23 [[ 9.91561176e-01 1.29299761e-01 9.38111385e-03 1.60615424e+02] [-1.29300349e-01 9.91605325e-01 -5.46352906e-04 -4.74795577e+00] [-9.37300576e-03 -6.71238963e-04 9.99955847e-01 -1.22668345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:-4.75, Z:-1.23 [[ 9.91585962e-01 1.29019742e-01 1.05444707e-02 1.60643405e+02] [-1.29020473e-01 9.91641740e-01 -6.13777231e-04 -4.75022938e+00] [-1.05355267e-02 -7.51839715e-04 9.99944217e-01 -1.22753725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:-4.75, Z:-1.23 [[ 9.91644082e-01 1.28501264e-01 1.13771557e-02 1.60671653e+02] [-1.28502090e-01 9.91709018e-01 -6.61439754e-04 -4.75264018e+00] [-1.13678237e-02 -8.06075463e-04 9.99935059e-01 -1.22818803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:-4.76, Z:-1.23 [[ 9.91822315e-01 1.26928820e-01 1.33255384e-02 1.60698949e+02] [-1.26929822e-01 9.91911398e-01 -7.73979079e-04 -4.75662375e+00] [-1.33159936e-02 -9.23758483e-04 9.99910912e-01 -1.22815251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:-4.76, Z:-1.23 [[ 9.91939402e-01 1.25826310e-01 1.49654058e-02 1.60727308e+02] [-1.25827464e-01 9.92051761e-01 -8.68213922e-04 -4.75955173e+00] [-1.49557013e-02 -1.02184346e-03 9.99887635e-01 -1.22821185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:-4.76, Z:-1.23 [[ 9.92075532e-01 1.24602518e-01 1.61354101e-02 1.60756198e+02] [-1.24603711e-01 9.92206148e-01 -9.35263837e-04 -4.76272555e+00] [-1.61261893e-02 -1.08267961e-03 9.99869378e-01 -1.22813364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:-4.77, Z:-1.23 [[ 9.92197845e-01 1.23542341e-01 1.67549132e-02 1.60784707e+02] [-1.23543492e-01 9.92338684e-01 -9.70350423e-04 -4.76580770e+00] [-1.67464279e-02 -1.10718089e-03 9.99859156e-01 -1.22825867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.81, Y:-4.77, Z:-1.23 [[ 9.92324697e-01 1.22588360e-01 1.62416308e-02 1.60814091e+02] [-1.22589323e-01 9.92457039e-01 -9.40065739e-04 -4.76874889e+00] [-1.62343619e-02 -1.05820007e-03 9.99867654e-01 -1.22886299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:-4.77, Z:-1.23 [[ 9.92424441e-01 1.21846507e-01 1.57212739e-02 1.60843915e+02] [-1.21847322e-01 9.92548438e-01 -9.09595826e-04 -4.77218801e+00] [-1.57149569e-02 -1.01288999e-03 9.99875999e-01 -1.22968875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:-4.78, Z:-1.23 [[ 9.92535904e-01 1.20956991e-01 1.55526957e-02 1.60873182e+02] [-1.20957685e-01 9.92657257e-01 -8.99477580e-04 -4.77514850e+00] [-1.55472944e-02 -9.88454279e-04 9.99878645e-01 -1.23082671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:-4.78, Z:-1.23 [[ 9.92594567e-01 1.20467013e-01 1.56116505e-02 1.60902115e+02] [-1.20467658e-01 9.92716842e-01 -9.02518372e-04 -4.77846044e+00] [-1.56066721e-02 -9.84864144e-04 9.99877723e-01 -1.23173632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:-4.78, Z:-1.23 [[ 9.92831313e-01 1.18516431e-01 1.54867335e-02 1.60931526e+02] [-1.18516837e-01 9.92951640e-01 -8.94756005e-04 -4.78271302e+00] [-1.54836207e-02 -9.47096900e-04 9.99879673e-01 -1.23264329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:-4.79, Z:-1.23 [[ 9.92986387e-01 1.17306148e-01 1.47412068e-02 1.60961075e+02] [-1.17306389e-01 9.93095407e-01 -8.51352933e-04 -4.78593343e+00] [-1.47392937e-02 -8.83855861e-04 9.99890980e-01 -1.23316149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.99, Y:-4.79, Z:-1.23 [[ 9.93143872e-01 1.16070735e-01 1.38864396e-02 1.60990144e+02] [-1.16070832e-01 9.93240615e-01 -8.01683306e-04 -4.78909145e+00] [-1.38856278e-02 -8.15623743e-04 9.99903257e-01 -1.23351679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.02, Y:-4.79, Z:-1.23 [[ 9.93226524e-01 1.15449727e-01 1.31313498e-02 1.61018842e+02] [-1.15449764e-01 9.93313031e-01 -7.57825257e-04 -4.79205049e+00] [-1.31310315e-02 -7.63319081e-04 9.99913493e-01 -1.23430161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:-4.79, Z:-1.23 [[ 9.93232004e-01 1.15512393e-01 1.21273917e-02 1.61047643e+02] [-1.15512433e-01 9.93305788e-01 -6.99486159e-04 -4.79456478e+00] [-1.21270077e-02 -7.06112491e-04 9.99926216e-01 -1.23466127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.08, Y:-4.80, Z:-1.24 [[ 9.93154313e-01 1.16304288e-01 1.08546101e-02 1.61076999e+02] [-1.16304371e-01 9.93213422e-01 -6.25714199e-04 -4.79718447e+00] [-1.08537177e-02 -6.41007844e-04 9.99940891e-01 -1.23545651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:-4.80, Z:-1.24 [[ 9.92701303e-01 1.20179311e-01 1.00527000e-02 1.61105995e+02] [-1.20179582e-01 9.92751999e-01 -5.79279828e-04 -4.80113007e+00] [-1.00494554e-02 -6.33077441e-04 9.99949303e-01 -1.23628301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:-4.80, Z:-1.24 [[ 9.92468709e-01 1.22049532e-01 1.04772459e-02 1.61134084e+02] [-1.22049933e-01 9.92523778e-01 -6.03537544e-04 -4.80427429e+00] [-1.04725771e-02 -6.79755025e-04 9.99944930e-01 -1.23693958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.575898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:161.16, Y:-4.81, Z:-1.24 [[ 9.92310671e-01 1.23297875e-01 1.08243497e-02 1.61162383e+02] [-1.23298381e-01 9.92369448e-01 -6.23175844e-04 -4.80640010e+00] [-1.08185902e-02 -7.16240747e-04 9.99941221e-01 -1.23870498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:-4.81, Z:-1.24 [[ 9.92072858e-01 1.25190825e-01 1.08950045e-02 1.61192119e+02] [-1.25191458e-01 9.92132404e-01 -6.26624387e-04 -4.81108437e+00] [-1.08877346e-02 -7.42304448e-04 9.99940451e-01 -1.23729665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:-4.82, Z:-1.24 [[ 9.91818281e-01 1.27193774e-01 1.08739086e-02 1.61220393e+02] [-1.27194526e-01 9.91877594e-01 -6.25168007e-04 -4.81526351e+00] [-1.08651038e-02 -7.63048597e-04 9.99940682e-01 -1.23729628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:-4.82, Z:-1.24 [[ 9.91530021e-01 1.29436698e-01 1.06938817e-02 1.61249129e+02] [-1.29437558e-01 9.91587384e-01 -6.14606208e-04 -4.81996358e+00] [-1.06834708e-02 -7.74789423e-04 9.99942630e-01 -1.23767147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:-4.82, Z:-1.24 [[ 9.91241900e-01 1.31613991e-01 1.08283803e-02 1.61278445e+02] [-1.31615006e-01 9.91300713e-01 -6.21908082e-04 -4.82473941e+00] [-1.08160329e-02 -8.08715993e-04 9.99941178e-01 -1.23779270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:-4.83, Z:-1.24 [[ 9.90962045e-01 1.33677801e-01 1.11566261e-02 1.61308055e+02] [-1.33679012e-01 9.91024476e-01 -6.40493668e-04 -4.82882836e+00] [-1.11421093e-02 -8.56701835e-04 9.99937558e-01 -1.23760105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:-4.83, Z:-1.24 [[ 9.90510842e-01 1.36695889e-01 1.42304292e-02 1.61336789e+02] [-1.36698175e-01 9.90612408e-01 -8.16546150e-04 -4.83478389e+00] [-1.42084582e-02 -1.13647588e-03 9.99898409e-01 -1.23788692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:-4.84, Z:-1.24 [[ 9.90384144e-01 1.37361394e-01 1.64649466e-02 1.61365762e+02] [-1.37364556e-01 9.90520110e-01 -9.44131233e-04 -4.83921583e+00] [-1.64385479e-02 -1.32664747e-03 9.99863998e-01 -1.23812355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:-4.84, Z:-1.24 [[ 9.90300994e-01 1.37780094e-01 1.79049633e-02 1.61395972e+02] [-1.37783905e-01 9.90461782e-01 -1.02651171e-03 -4.84469521e+00] [-1.78756148e-02 -1.45046020e-03 9.99839166e-01 -1.23866100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.43, Y:-4.85, Z:-1.24 [[ 9.90291358e-01 1.37827052e-01 1.80756885e-02 1.61426683e+02] [-1.37830943e-01 9.90455227e-01 -1.03635443e-03 -4.85074567e+00] [-1.80459978e-02 -1.46509634e-03 9.99836084e-01 -1.23919332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:-4.86, Z:-1.24 [[ 9.90313342e-01 1.37718303e-01 1.76961584e-02 1.61457611e+02] [-1.37722004e-01 9.90470403e-01 -1.01524026e-03 -4.85632294e+00] [-1.76673383e-02 -1.43174442e-03 9.99842895e-01 -1.23992922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.49, Y:-4.87, Z:-1.24 [[ 9.90394219e-01 1.37203004e-01 1.71647176e-02 1.61489152e+02] [-1.37206366e-01 9.90541992e-01 -9.87208498e-04 -4.86564076e+00] [-1.71378215e-02 -1.37738294e-03 9.99852188e-01 -1.24108200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:-4.87, Z:-1.24 [[ 9.90413396e-01 1.37072886e-01 1.70976573e-02 1.61520031e+02] [-1.37076159e-01 9.90560021e-01 -9.85915974e-04 -4.87058564e+00] [-1.70713981e-02 -1.36721679e-03 9.99853338e-01 -1.24170752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:-4.88, Z:-1.24 [[ 9.90420457e-01 1.36994727e-01 1.73136524e-02 1.61551721e+02] [-1.36998043e-01 9.90570813e-01 -1.00001244e-03 -4.87553315e+00] [-1.72873952e-02 -1.38150372e-03 9.99849607e-01 -1.24256150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:-4.88, Z:-1.24 [[ 9.90448149e-01 1.36826925e-01 1.70545465e-02 1.61583681e+02] [-1.36830073e-01 9.90594042e-01 -9.87660430e-04 -4.88034010e+00] [-1.70292707e-02 -1.35534840e-03 9.99854073e-01 -1.24286253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.62, Y:-4.89, Z:-1.24 [[ 9.90406523e-01 1.37224401e-01 1.62598401e-02 1.61615906e+02] [-1.37227278e-01 9.90539138e-01 -9.44009306e-04 -4.88510178e+00] [-1.62355491e-02 -1.29634061e-03 9.99867354e-01 -1.24414210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.65, Y:-4.89, Z:-1.25 [[ 9.90300580e-01 1.38136581e-01 1.49347450e-02 1.61646565e+02] [-1.38139088e-01 9.90412459e-01 -8.68561317e-04 -4.88943184e+00] [-1.49115376e-02 -1.20293527e-03 9.99888093e-01 -1.24520599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.68, Y:-4.89, Z:-1.25 [[ 9.90170712e-01 1.39198748e-01 1.36260350e-02 1.61678173e+02] [-1.39200911e-01 9.90263841e-01 -7.94172393e-04 -4.89401518e+00] [-1.36039176e-02 -1.11039025e-03 9.99906846e-01 -1.24656166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.71, Y:-4.90, Z:-1.25 [[ 9.90113083e-01 1.39812356e-01 1.13396921e-02 1.61709900e+02] [-1.39813877e-01 9.90177581e-01 -6.62427070e-04 -4.90275611e+00] [-1.13209243e-02 -9.29568597e-04 9.99935484e-01 -1.24884691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.74, Y:-4.91, Z:-1.25 [[ 9.90222657e-01 1.39096814e-01 1.05434896e-02 1.61742230e+02] [-1.39098080e-01 9.90278417e-01 -6.16720481e-04 -4.90857274e+00] [-1.05267740e-02 -8.55888569e-04 9.99944226e-01 -1.24933598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:-4.91, Z:-1.25 [[ 9.90383011e-01 1.37932320e-01 1.07780426e-02 1.61774718e+02] [-1.37933558e-01 9.90441283e-01 -6.31959298e-04 -4.91470963e+00] [-1.07621860e-02 -8.60772019e-04 9.99941716e-01 -1.24937610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:-4.92, Z:-1.25 [[ 9.90610777e-01 1.36231196e-01 1.14607997e-02 1.61807436e+02] [-1.36232457e-01 9.90676669e-01 -6.74238273e-04 -4.91996591e+00] [-1.14457991e-02 -8.93425205e-04 9.99934096e-01 -1.24928702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:-4.93, Z:-1.25 [[ 9.90820043e-01 1.34675196e-01 1.17572956e-02 1.61839086e+02] [-1.34676388e-01 9.90889393e-01 -6.93940978e-04 -4.92517308e+00] [-1.17436361e-02 -8.95859473e-04 9.99930640e-01 -1.24893872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.87, Y:-4.93, Z:-1.25 [[ 9.91018015e-01 1.33200475e-01 1.18712656e-02 1.61871509e+02] [-1.33201561e-01 9.91088720e-01 -7.02664740e-04 -4.92975816e+00] [-1.18590727e-02 -8.84917699e-04 9.99929287e-01 -1.24946157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:-4.93, Z:-1.25 [[ 9.91166271e-01 1.32112999e-01 1.16438107e-02 1.61904109e+02] [-1.32113946e-01 9.91234295e-01 -6.91251580e-04 -4.93459289e+00] [-1.16330678e-02 -8.53164530e-04 9.99931970e-01 -1.25040707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:-4.94, Z:-1.25 [[ 9.91326811e-01 1.30909622e-01 1.15682336e-02 1.61936552e+02] [-1.30910451e-01 9.91393958e-01 -6.88870565e-04 -4.94224849e+00] [-1.15588566e-02 -8.31506807e-04 9.99932848e-01 -1.25146959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:-4.95, Z:-1.25 [[ 9.91272421e-01 1.31261217e-01 1.22262257e-02 1.61969688e+02] [-1.31262139e-01 9.91347425e-01 -7.30502354e-04 -4.94752663e+00] [-1.22163240e-02 -8.80713702e-04 9.99924990e-01 -1.25143671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.00, Y:-4.95, Z:-1.25 [[ 9.91177908e-01 1.31897047e-01 1.30201514e-02 1.62001340e+02] [-1.31898113e-01 9.91262971e-01 -7.80575362e-04 -4.95215239e+00] [-1.30093495e-02 -9.43644342e-04 9.99914930e-01 -1.25123413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.415898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.03, Y:-4.96, Z:-1.25 [[ 9.91063909e-01 1.32676490e-01 1.37577946e-02 1.62034058e+02] [-1.32677720e-01 9.91158886e-01 -8.27300857e-04 -4.95519197e+00] [-1.37459237e-02 -1.00544480e-03 9.99905015e-01 -1.25403598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.07, Y:-4.96, Z:-1.25 [[ 9.90890140e-01 1.33944827e-01 1.39826410e-02 1.62065422e+02] [-1.33946186e-01 9.90988248e-01 -8.43463892e-04 -4.95964735e+00] [-1.39696105e-02 -1.03714138e-03 9.99901882e-01 -1.25279824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:-4.96, Z:-1.25 [[ 9.90722597e-01 1.35172968e-01 1.40358098e-02 1.62098678e+02] [-1.35174427e-01 9.90821454e-01 -8.49076508e-04 -4.96289168e+00] [-1.40217537e-02 -1.05608326e-03 9.99901133e-01 -1.25386463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:-4.97, Z:-1.26 [[ 9.90411757e-01 1.37351547e-01 1.48021593e-02 1.62131108e+02] [-1.37353369e-01 9.90521703e-01 -8.98287001e-04 -4.96682237e+00] [-1.47852411e-02 -1.14345244e-03 9.99890039e-01 -1.25502196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.16, Y:-4.97, Z:-1.25 [[ 9.90220614e-01 1.38664253e-01 1.53414859e-02 1.62164195e+02] [-1.38666322e-01 9.90338719e-01 -9.33909933e-04 -4.97037822e+00] [-1.53227674e-02 -1.20257055e-03 9.99881876e-01 -1.25480592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:-4.97, Z:-1.26 [[ 9.90048410e-01 1.39761132e-01 1.64612192e-02 1.62195599e+02] [-1.39763614e-01 9.90184388e-01 -1.00520332e-03 -4.97348312e+00] [-1.64401306e-02 -1.30547954e-03 9.99864000e-01 -1.25506491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.23, Y:-4.98, Z:-1.25 [[ 9.89902618e-01 1.40769087e-01 1.66394583e-02 1.62227591e+02] [-1.40771732e-01 9.90041556e-01 -1.01802520e-03 -4.97631259e+00] [-1.66170617e-02 -1.33461956e-03 9.99861036e-01 -1.25487024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:-4.98, Z:-1.26 [[ 9.89807122e-01 1.41410332e-01 1.68813512e-02 1.62260239e+02] [-1.41413100e-01 9.89950131e-01 -1.03569502e-03 -4.97880554e+00] [-1.68581539e-02 -1.36210590e-03 9.99856963e-01 -1.25519009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.29, Y:-4.98, Z:-1.26 [[ 9.89797362e-01 1.41554016e-01 1.62370849e-02 1.62292038e+02] [-1.41556550e-01 9.89929667e-01 -9.98962946e-04 -4.98181199e+00] [-1.62149793e-02 -1.30969484e-03 9.99867671e-01 -1.25583928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:-4.99, Z:-1.26 [[ 9.89918084e-01 1.40749402e-01 1.58679534e-02 1.62325020e+02] [-1.40751678e-01 9.90044447e-01 -9.78846639e-04 -4.98531719e+00] [-1.58477512e-02 -1.26446308e-03 9.99873617e-01 -1.25724287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.36, Y:-4.99, Z:-1.26 [[ 9.90119401e-01 1.39406941e-01 1.51418585e-02 1.62356946e+02] [-1.39408818e-01 9.90234469e-01 -9.36681399e-04 -4.98925118e+00] [-1.51245701e-02 -1.18348217e-03 9.99884917e-01 -1.25747470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:-5.00, Z:-1.26 [[ 9.90529067e-01 1.36526990e-01 1.45790197e-02 1.62389795e+02] [-1.36528398e-01 9.90635746e-01 -9.03344793e-04 -4.99502724e+00] [-1.45658290e-02 -1.09566093e-03 9.99893312e-01 -1.25895568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:-5.00, Z:-1.26 [[ 9.90605098e-01 1.36052657e-01 1.38280369e-02 1.62421827e+02] [-1.36053843e-01 9.90701072e-01 -8.59274684e-04 -4.99826154e+00] [-1.38163576e-02 -1.03015568e-03 9.99904019e-01 -1.25924119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.805898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.46, Y:-5.00, Z:-1.26 [[ 9.90577812e-01 1.36346116e-01 1.28582700e-02 1.62455024e+02] [-1.36347140e-01 9.90660798e-01 -8.01039508e-04 -5.00042322e+00] [-1.28474026e-02 -9.59696374e-04 9.99917008e-01 -1.26037759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:-5.00, Z:-1.26 [[ 9.90398762e-01 1.37700855e-01 1.21970145e-02 1.62486875e+02] [-1.37701852e-01 9.90473432e-01 -7.62033206e-04 -5.00304268e+00] [-1.21857514e-02 -9.24834739e-04 9.99925323e-01 -1.25970930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:-5.01, Z:-1.26 [[ 9.90381323e-01 1.37826234e-01 1.21968706e-02 1.62520293e+02] [-1.37827213e-01 9.90455994e-01 -7.64327623e-04 -5.00528209e+00] [-1.21858080e-02 -9.24084881e-04 9.99925323e-01 -1.26023477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.55, Y:-5.01, Z:-1.26 [[ 9.90098759e-01 1.39881638e-01 1.17292501e-02 1.62552303e+02] [-1.39882669e-01 9.90167812e-01 -7.36489576e-04 -5.00728084e+00] [-1.17169472e-02 -9.11521392e-04 9.99930939e-01 -1.26087814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:-5.01, Z:-1.26 [[ 9.89798839e-01 1.41989080e-01 1.17200523e-02 1.62585645e+02] [-1.41990244e-01 9.89867783e-01 -7.36964279e-04 -5.00901798e+00] [-1.17059431e-02 -9.34686705e-04 9.99931046e-01 -1.26154257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:-5.01, Z:-1.26 [[ 9.89364292e-01 1.44995266e-01 1.16047408e-02 1.62617846e+02] [-1.44996587e-01 9.89431884e-01 -7.31890597e-04 -5.00936389e+00] [-1.15882212e-02 -9.58541388e-04 9.99932395e-01 -1.26276838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:-5.01, Z:-1.26 [[ 9.89238127e-01 1.45879001e-01 1.12803323e-02 1.62650244e+02] [-1.45880285e-01 9.89301993e-01 -7.13310092e-04 -5.01044161e+00] [-1.12637122e-02 -9.39944558e-04 9.99936121e-01 -1.26396620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:-5.01, Z:-1.26 [[ 9.89191927e-01 1.46228349e-01 1.07982566e-02 1.62682743e+02] [-1.46229529e-01 9.89250452e-01 -6.84505377e-04 -5.01148156e+00] [-1.07822743e-02 -9.01916783e-04 9.99941463e-01 -1.26446744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.72, Y:-5.01, Z:-1.27 [[ 9.89199129e-01 1.46169936e-01 1.09285862e-02 1.62716074e+02] [-1.46171118e-01 9.89259077e-01 -6.94805751e-04 -5.01253839e+00] [-1.09127629e-02 -9.10142425e-04 9.99940040e-01 -1.26584811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:-5.01, Z:-1.27 [[ 9.89299283e-01 1.45463861e-01 1.12780252e-02 1.62748655e+02] [-1.45465050e-01 9.89363130e-01 -7.19136830e-04 -5.01344376e+00] [-1.12626707e-02 -9.29116944e-04 9.99936142e-01 -1.26576519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:-5.01, Z:-1.27 [[ 9.89455302e-01 1.44364494e-01 1.17089258e-02 1.62780441e+02] [-1.44365672e-01 9.89524124e-01 -7.48991011e-04 -5.01416761e+00] [-1.16943922e-02 -9.49273812e-04 9.99931168e-01 -1.26620133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.81, Y:-5.01, Z:-1.27 [[ 9.89872580e-01 1.41519859e-01 1.11537274e-02 1.62813699e+02] [-1.41520728e-01 9.89935034e-01 -7.15288104e-04 -5.01308467e+00] [-1.11426930e-02 -8.70439539e-04 9.99937539e-01 -1.26644649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:-5.01, Z:-1.27 [[ 9.89979253e-01 1.40807918e-01 1.06868415e-02 1.62846147e+02] [-1.40808654e-01 9.90036591e-01 -6.87256090e-04 -5.01429446e+00] [-1.06771352e-02 -8.24430489e-04 9.99942658e-01 -1.26699724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.88, Y:-5.02, Z:-1.27 [[ 9.90038574e-01 1.40386062e-01 1.07412853e-02 1.62877696e+02] [-1.40386761e-01 9.90096499e-01 -6.92644998e-04 -5.01574951e+00] [-1.07321467e-02 -8.22188991e-04 9.99942071e-01 -1.26737013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.91, Y:-5.02, Z:-1.27 [[ 9.90062033e-01 1.40173288e-01 1.13410609e-02 1.62910258e+02] [-1.40174031e-01 9.90126610e-01 -7.33260874e-04 -5.01730626e+00] [-1.13318698e-02 -8.63748476e-04 9.99935419e-01 -1.26749007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:-5.02, Z:-1.27 [[ 9.89996435e-01 1.40555767e-01 1.22936759e-02 1.62942006e+02] [-1.40556637e-01 9.90072318e-01 -7.97510212e-04 -5.01896955e+00] [-1.22837229e-02 -9.38425479e-04 9.99924112e-01 -1.26729675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.97, Y:-5.02, Z:-1.27 [[ 9.89864032e-01 1.41392861e-01 1.33137901e-02 1.62974354e+02] [-1.41393920e-01 9.89953034e-01 -8.66466120e-04 -5.02057878e+00] [-1.33025390e-02 -1.02480532e-03 9.99910992e-01 -1.26745988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:-5.02, Z:-1.27 [[ 9.89632228e-01 1.42902418e-01 1.43858265e-02 1.63007333e+02] [-1.42903789e-01 9.89736140e-01 -9.37917650e-04 -5.02263454e+00] [-1.43722031e-02 -1.12759559e-03 9.99896079e-01 -1.26822840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.04, Y:-5.03, Z:-1.27 [[ 9.89576978e-01 1.43280126e-01 1.44294760e-02 1.63038881e+02] [-1.43281505e-01 9.89681525e-01 -9.43500192e-04 -5.02533115e+00] [-1.44157707e-02 -1.13381098e-03 9.99895445e-01 -1.26928289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.375898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.07, Y:-5.03, Z:-1.27 [[ 9.89614487e-01 1.42986312e-01 1.47675887e-02 1.63072192e+02] [-1.42987686e-01 9.89723994e-01 -9.68243132e-04 -5.02743558e+00] [-1.47542824e-02 -1.15339590e-03 9.99890484e-01 -1.27218284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:-5.03, Z:-1.27 [[ 9.89713761e-01 1.42264554e-01 1.50820636e-02 1.63103589e+02] [-1.42265860e-01 9.89827986e-01 -9.91769228e-04 -5.03094627e+00] [-1.50697423e-02 -1.16409509e-03 9.99885767e-01 -1.27120966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.435898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:163.14, Y:-5.03, Z:-1.27 [[ 9.89972109e-01 1.40431823e-01 1.53012103e-02 1.63136878e+02] [-1.40432922e-01 9.90089682e-01 -1.00795636e-03 -5.03320318e+00] [-1.52911196e-02 -1.15094501e-03 9.99882422e-01 -1.27405305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.465898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:163.17, Y:-5.04, Z:-1.27 [[ 9.90265493e-01 1.38362438e-01 1.51686683e-02 1.63169070e+02] [-1.38363233e-01 9.90381044e-01 -1.00204499e-03 -5.03746775e+00] [-1.51614069e-02 -1.10649542e-03 9.99884447e-01 -1.27476199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:-5.05, Z:-1.27 [[ 9.90927136e-01 1.33670238e-01 1.39884812e-02 1.63201819e+02] [-1.33670419e-01 9.91025409e-01 -9.26301127e-04 -5.04678793e+00] [-1.39867592e-02 -9.51949209e-04 9.99901727e-01 -1.27313523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:-5.05, Z:-1.27 [[ 9.91193611e-01 1.31709186e-01 1.37082400e-02 1.63234165e+02] [-1.31709138e-01 9.91287988e-01 -9.10232206e-04 -5.05193020e+00] [-1.37086996e-02 -9.03284125e-04 9.99905623e-01 -1.27397987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:-5.06, Z:-1.27 [[ 9.91366017e-01 1.30426844e-01 1.35003546e-02 1.63267087e+02] [-1.30426646e-01 9.91457554e-01 -8.98887195e-04 -5.05703042e+00] [-1.35022675e-02 -8.69679743e-04 9.99908462e-01 -1.27475800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:-5.06, Z:-1.28 [[ 9.91405843e-01 1.30155078e-01 1.31950775e-02 1.63298810e+02] [-1.30154833e-01 9.91493290e-01 -8.80965097e-04 -5.06167091e+00] [-1.31974928e-02 -8.44009160e-04 9.99912553e-01 -1.27534810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:-5.07, Z:-1.28 [[ 9.91310877e-01 1.30922762e-01 1.27269808e-02 1.63330514e+02] [-1.30922570e-01 9.91392231e-01 -8.51824950e-04 -5.06660935e+00] [-1.27289531e-02 -8.21825699e-04 9.99918646e-01 -1.27611072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:-5.07, Z:-1.28 [[ 9.91188891e-01 1.31877653e-01 1.23639573e-02 1.63362085e+02] [-1.31877521e-01 9.91265671e-01 -8.29567742e-04 -5.07130301e+00] [-1.23653679e-02 -8.08269714e-04 9.99923219e-01 -1.27654997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.39, Y:-5.08, Z:-1.28 [[ 9.91053442e-01 1.32932899e-01 1.19129617e-02 1.63394603e+02] [-1.32932830e-01 9.91124725e-01 -8.01171378e-04 -5.07547595e+00] [-1.19137329e-02 -7.89620056e-04 9.99928717e-01 -1.27728545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:-5.08, Z:-1.28 [[ 9.90868733e-01 1.34328599e-01 1.16181423e-02 1.63426326e+02] [-1.34328604e-01 9.90936533e-01 -7.83465358e-04 -5.07917407e+00] [-1.16180835e-02 -7.84337512e-04 9.99932200e-01 -1.27801784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.46, Y:-5.08, Z:-1.28 [[ 9.90517100e-01 1.37054305e-01 9.59121513e-03 1.63458783e+02] [-1.37054425e-01 9.90563307e-01 -6.47877533e-04 -5.08323647e+00] [-9.58950018e-03 -6.72784702e-04 9.99953793e-01 -1.27847604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.49, Y:-5.09, Z:-1.28 [[ 9.90333923e-01 1.38379268e-01 9.48151015e-03 1.63490719e+02] [-1.38379428e-01 9.90379080e-01 -6.42281804e-04 -5.08680370e+00] [-9.47916778e-03 -6.75972495e-04 9.99954843e-01 -1.27957551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:-5.09, Z:-1.28 [[ 9.90204341e-01 1.39307373e-01 9.42438565e-03 1.63523265e+02] [-1.39307558e-01 9.90248956e-01 -6.39987451e-04 -5.09032701e+00] [-9.42164302e-03 -6.79169803e-04 9.99955385e-01 -1.27944390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:-5.09, Z:-1.28 [[ 9.90083329e-01 1.40126708e-01 9.97536471e-03 1.63555952e+02] [-1.40126938e-01 9.90133314e-01 -6.79347117e-04 -5.09364630e+00] [-9.97213559e-03 -7.25207059e-04 9.99950014e-01 -1.27982673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:-5.10, Z:-1.28 [[ 9.89949435e-01 1.40999162e-01 1.09248637e-02 1.63589035e+02] [-1.40999466e-01 9.90009391e-01 -7.46256628e-04 -5.09677992e+00] [-1.09209392e-02 -8.01643620e-04 9.99940043e-01 -1.28005358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:-5.10, Z:-1.28 [[ 9.89781732e-01 1.42046997e-01 1.24407751e-02 1.63621300e+02] [-1.42047441e-01 9.89859484e-01 -8.52473417e-04 -5.10148447e+00] [-1.24357105e-02 -9.23417645e-04 9.99922247e-01 -1.27988435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.915898227 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:163.65, Y:-5.10, Z:-1.28 [[ 9.89821941e-01 1.41721460e-01 1.29442595e-02 1.63654530e+02] [-1.41721880e-01 9.89906116e-01 -8.89471003e-04 -5.10465305e+00] [-1.29396588e-02 -9.54066885e-04 9.99915824e-01 -1.28252181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:-5.11, Z:-1.28 [[ 9.89883000e-01 1.41246194e-01 1.34595316e-02 1.63686222e+02] [-1.41246568e-01 9.89974013e-01 -9.27584804e-04 -5.11026322e+00] [-1.34556043e-02 -9.82912215e-04 9.99908986e-01 -1.28102427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:-5.12, Z:-1.28 [[ 9.90062313e-01 1.39934068e-01 1.39668517e-02 1.63718975e+02] [-1.39934305e-01 9.90160320e-01 -9.65113457e-04 -5.11544336e+00] [-1.39644746e-02 -9.98919228e-04 9.99901993e-01 -1.28101129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.75, Y:-5.12, Z:-1.28 [[ 9.90269829e-01 1.38385103e-01 1.46707244e-02 1.63750828e+02] [-1.38385153e-01 9.90377966e-01 -1.01660181e-03 -5.12091890e+00] [-1.46702447e-02 -1.02350034e-03 9.99891862e-01 -1.28116186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:-5.13, Z:-1.28 [[ 9.90394957e-01 1.37350090e-01 1.58991323e-02 1.63783738e+02] [-1.37349970e-01 9.90521966e-01 -1.10466975e-03 -5.12692048e+00] [-1.59001662e-02 -1.08968600e-03 9.99872991e-01 -1.28111946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:-5.14, Z:-1.28 [[ 9.90477998e-01 1.36626183e-01 1.69298768e-02 1.63815638e+02] [-1.36625886e-01 9.90622015e-01 -1.17961379e-03 -5.13581067e+00] [-1.69322748e-02 -1.14467792e-03 9.99855984e-01 -1.28140545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.85, Y:-5.14, Z:-1.28 [[ 9.90471291e-01 1.36749254e-01 1.63175899e-02 1.63848153e+02] [-1.36748950e-01 9.90605081e-01 -1.13968700e-03 -5.14092427e+00] [-1.63201388e-02 -1.10258603e-03 9.99866210e-01 -1.28267296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:-5.15, Z:-1.28 [[ 9.90400124e-01 1.37367298e-01 1.54214183e-02 1.63879840e+02] [-1.37367060e-01 9.90519624e-01 -1.07976440e-03 -5.14653571e+00] [-1.54235418e-02 -1.04899610e-03 9.99880500e-01 -1.28400900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:-5.15, Z:-1.28 [[ 9.90388542e-01 1.37562772e-01 1.43881650e-02 1.63912362e+02] [-1.37562552e-01 9.90492567e-01 -1.00968312e-03 -5.15270979e+00] [-1.43902653e-02 -9.79294101e-04 9.99895975e-01 -1.28468122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.94, Y:-5.16, Z:-1.29 [[ 9.90399125e-01 1.37521564e-01 1.40496109e-02 1.63944880e+02] [-1.37521316e-01 9.90498314e-01 -9.88423583e-04 -5.15936687e+00] [-1.40520454e-02 -9.53187119e-04 9.99900811e-01 -1.28530215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:-5.17, Z:-1.29 [[ 9.90458925e-01 1.37091150e-01 1.40404424e-02 1.63976994e+02] [-1.37090823e-01 9.90557987e-01 -9.90331561e-04 -5.16609300e+00] [-1.40436381e-02 -9.43933071e-04 9.99900938e-01 -1.28553829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:-5.18, Z:-1.29 [[ 9.90730513e-01 1.35049516e-01 1.46519492e-02 1.64008752e+02] [-1.35048897e-01 9.90838393e-01 -1.03621448e-03 -5.17843319e+00] [-1.46576541e-02 -9.52120287e-04 9.99892118e-01 -1.28586540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:-5.19, Z:-1.29 [[ 9.90908874e-01 1.33663836e-01 1.52834321e-02 1.64041149e+02] [-1.33662954e-01 9.91026256e-01 -1.08381353e-03 -5.18640832e+00] [-1.52911492e-02 -9.68868235e-04 9.99882614e-01 -1.28619599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.07, Y:-5.19, Z:-1.29 [[ 9.91066067e-01 1.32487954e-01 1.53294733e-02 1.64072824e+02] [-1.32486882e-01 9.91184160e-01 -1.08991355e-03 -5.19432625e+00] [-1.53387315e-02 -9.50777794e-04 9.99881903e-01 -1.28616835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:-5.20, Z:-1.29 [[ 9.91167785e-01 1.31783798e-01 1.48139208e-02 1.64105873e+02] [-1.31782683e-01 9.91278069e-01 -1.05570637e-03 -5.20122196e+00] [-1.48238398e-02 -9.05836074e-04 9.99889711e-01 -1.28661167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.14, Y:-5.21, Z:-1.29 [[ 9.91114659e-01 1.32290712e-01 1.38166575e-02 1.64137914e+02] [-1.32289758e-01 9.91210596e-01 -9.86996674e-04 -5.20728700e+00] [-1.38257878e-02 -8.49575394e-04 9.99904058e-01 -1.28693469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:-5.21, Z:-1.29 [[ 9.90608774e-01 1.36268140e-01 1.11915954e-02 1.64170102e+02] [-1.36267752e-01 9.90671721e-01 -8.00815894e-04 -5.21463928e+00] [-1.11963228e-02 -7.31758293e-04 9.99937051e-01 -1.28728276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:-5.22, Z:-1.29 [[ 9.90247693e-01 1.38967143e-01 9.88124059e-03 1.64203073e+02] [-1.38966959e-01 9.90296765e-01 -7.08543562e-04 -5.21929785e+00] [-9.88382486e-03 -6.71532328e-04 9.99950928e-01 -1.28819716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.24, Y:-5.22, Z:-1.29 [[ 9.89910575e-01 1.41375385e-01 9.48967564e-03 1.64236309e+02] [-1.41375310e-01 9.89955836e-01 -6.82107842e-04 -5.22366617e+00] [-9.49079304e-03 -6.66380073e-04 9.99954739e-01 -1.28899646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.27, Y:-5.23, Z:-1.29 [[ 9.89664516e-01 1.43025128e-01 1.03903297e-02 1.64268977e+02] [-1.43025106e-01 9.89718777e-01 -7.49035352e-04 -5.22790090e+00] [-1.03906353e-02 -7.44784296e-04 9.99945739e-01 -1.28993476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.515898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:164.30, Y:-5.23, Z:-1.29 [[ 9.89533388e-01 1.43817993e-01 1.18346464e-02 1.64302111e+02] [-1.43817990e-01 9.89603786e-01 -8.55735056e-04 -5.23126931e+00] [-1.18346810e-02 -8.55256650e-04 9.99929602e-01 -1.29133817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.33, Y:-5.24, Z:-1.29 [[ 9.89476123e-01 1.44041093e-01 1.37537347e-02 1.64334099e+02] [-1.44041070e-01 9.89571208e-01 -9.97502821e-04 -5.23624048e+00] [-1.37539812e-02 -9.94097433e-04 9.99904915e-01 -1.28995342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.575898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.37, Y:-5.24, Z:-1.29 [[ 9.89624263e-01 1.43013737e-01 1.38162535e-02 1.64367168e+02] [-1.43013581e-01 9.89720217e-01 -1.00438764e-03 -5.24188653e+00] [-1.38178666e-02 -9.81945505e-04 9.99904047e-01 -1.29082373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.40, Y:-5.25, Z:-1.29 [[ 9.89643003e-01 1.42954751e-01 1.30639255e-02 1.64398404e+02] [-1.42954577e-01 9.89728793e-01 -9.51964864e-04 -5.24673657e+00] [-1.30658312e-02 -9.25442582e-04 9.99914210e-01 -1.29126340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:-5.25, Z:-1.29 [[ 9.89644956e-01 1.42967395e-01 1.27744107e-02 1.64431140e+02] [-1.42967203e-01 9.89726987e-01 -9.32953599e-04 -5.25155826e+00] [-1.27765610e-02 -9.03028941e-04 9.99917969e-01 -1.29278503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:-5.26, Z:-1.29 [[ 9.89557327e-01 1.43557650e-01 1.29421090e-02 1.64463035e+02] [-1.43557471e-01 9.89641528e-01 -9.47611433e-04 -5.25705378e+00] [-1.29440854e-02 -9.20220610e-04 9.99915798e-01 -1.29337326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.50, Y:-5.26, Z:-1.29 [[ 9.89431263e-01 1.44389090e-01 1.33253926e-02 1.64495875e+02] [-1.44388946e-01 9.89520528e-01 -9.77963876e-04 -5.26333100e+00] [-1.33269568e-02 -9.56411362e-04 9.99910735e-01 -1.29352462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.53, Y:-5.27, Z:-1.29 [[ 9.89329620e-01 1.45062489e-01 1.35564168e-02 1.64527256e+02] [-1.45062368e-01 9.89422010e-01 -9.97498426e-04 -5.26960453e+00] [-1.35577168e-02 -9.79671185e-04 9.99907610e-01 -1.29354515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.56, Y:-5.28, Z:-1.29 [[ 9.89026475e-01 1.47149614e-01 1.31766070e-02 1.64559041e+02] [-1.47149654e-01 9.89113762e-01 -9.71744041e-04 -5.27962876e+00] [-1.31761550e-02 -9.77852574e-04 9.99912713e-01 -1.29437501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:-5.28, Z:-1.29 [[ 9.89015262e-01 1.47224975e-01 1.31764249e-02 1.64592425e+02] [-1.47224989e-01 9.89102550e-01 -9.74205747e-04 -5.28222551e+00] [-1.31762629e-02 -9.76394666e-04 9.99912713e-01 -1.29490067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.815898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.63, Y:-5.29, Z:-1.30 [[ 9.88856721e-01 1.48329940e-01 1.26733885e-02 1.64625146e+02] [-1.48330036e-01 9.88937471e-01 -9.37619334e-04 -5.28796588e+00] [-1.26722658e-02 -9.52672999e-04 9.99919250e-01 -1.29727865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:-5.30, Z:-1.30 [[ 9.88657988e-01 1.49684812e-01 1.22408966e-02 1.64657367e+02] [-1.49684978e-01 9.88733323e-01 -9.07778986e-04 -5.29520228e+00] [-1.22388631e-02 -9.34795399e-04 9.99924665e-01 -1.29644601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.69, Y:-5.30, Z:-1.30 [[ 9.88450957e-01 1.51090085e-01 1.16829448e-02 1.64688776e+02] [-1.51090309e-01 9.88519582e-01 -8.68474612e-04 -5.30136766e+00] [-1.16800377e-02 -9.06735189e-04 9.99931375e-01 -1.29628688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.72, Y:-5.31, Z:-1.30 [[ 9.88224648e-01 1.52602760e-01 1.11553484e-02 1.64720977e+02] [-1.52603041e-01 9.88287216e-01 -8.31003380e-04 -5.30719406e+00] [-1.11515016e-02 -8.81122067e-04 9.99937432e-01 -1.29662807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.75, Y:-5.31, Z:-1.30 [[ 9.87991038e-01 1.54129908e-01 1.08480296e-02 1.64753120e+02] [-1.54130244e-01 9.88050207e-01 -8.10094368e-04 -5.31259972e+00] [-1.08432576e-02 -8.71643464e-04 9.99940830e-01 -1.29682287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.965898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:164.79, Y:-5.32, Z:-1.30 [[ 9.87706921e-01 1.55969317e-01 1.04215895e-02 1.64785632e+02] [-1.55969712e-01 9.87761530e-01 -7.79859133e-04 -5.31728424e+00] [-1.04156793e-02 -8.55180043e-04 9.99945390e-01 -1.29933176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:-5.32, Z:-1.30 [[ 9.87451720e-01 1.57571607e-01 1.05018588e-02 1.64817248e+02] [-1.57572077e-01 9.87507175e-01 -7.87910710e-04 -5.32359130e+00] [-1.04948133e-02 -8.76775912e-04 9.99944544e-01 -1.29817323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:-5.33, Z:-1.30 [[ 9.87218559e-01 1.59010937e-01 1.07256325e-02 1.64849465e+02] [-1.59011490e-01 9.87276403e-01 -8.06566068e-04 -5.32898389e+00] [-1.07174167e-02 -9.09241825e-04 9.99942153e-01 -1.29811183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:-5.34, Z:-1.30 [[ 9.86985982e-01 1.60404272e-01 1.13640045e-02 1.64881140e+02] [-1.60404960e-01 9.87050918e-01 -8.56864763e-04 -5.33568653e+00] [-1.13542958e-02 -9.77129178e-04 9.99935060e-01 -1.29826954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:-5.34, Z:-1.30 [[ 9.87004908e-01 1.60225691e-01 1.22081927e-02 1.64914197e+02] [-1.60226444e-01 9.87079853e-01 -9.22754246e-04 -5.34058741e+00] [-1.21983099e-02 -1.04531232e-03 9.99925051e-01 -1.29859220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.115898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:164.95, Y:-5.35, Z:-1.30 [[ 9.87126134e-01 1.59403761e-01 1.31314880e-02 1.64945760e+02] [-1.59404525e-01 9.87212848e-01 -9.95153134e-04 -5.34510601e+00] [-1.31222049e-02 -1.11087695e-03 9.99913283e-01 -1.30114584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.98, Y:-5.35, Z:-1.30 [[ 9.87312148e-01 1.58164952e-01 1.40915067e-02 1.64976945e+02] [-1.58165671e-01 9.87412009e-01 -1.07046831e-03 -5.35177421e+00] [-1.40834335e-02 -1.17190625e-03 9.99900137e-01 -1.29869967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:-5.36, Z:-1.30 [[ 9.87421466e-01 1.57406052e-01 1.49058482e-02 1.65009858e+02] [-1.57406731e-01 9.87533206e-01 -1.13495528e-03 -5.35769472e+00] [-1.48986688e-02 -1.22560162e-03 9.99888258e-01 -1.29891974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:-5.37, Z:-1.30 [[ 9.87425893e-01 1.57502997e-01 1.35244739e-02 1.65041248e+02] [-1.57503535e-01 9.87517884e-01 -1.03200791e-03 -5.36511725e+00] [-1.35182042e-02 -1.11112112e-03 9.99908008e-01 -1.29928932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.235898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:165.07, Y:-5.37, Z:-1.30 [[ 9.87262084e-01 1.58604813e-01 1.25733785e-02 1.65072874e+02] [-1.58605342e-01 9.87341593e-01 -9.61409750e-04 -5.36874377e+00] [-1.25667038e-02 -1.04504162e-03 9.99920490e-01 -1.30245269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.265898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:165.11, Y:-5.37, Z:-1.30 [[ 9.86997329e-01 1.60278886e-01 1.21223260e-02 1.65105941e+02] [-1.60279481e-01 9.87071236e-01 -9.28783763e-04 -5.37329171e+00] [-1.21144638e-02 -1.02625303e-03 9.99926091e-01 -1.30289624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.295898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:165.14, Y:-5.38, Z:-1.30 [[ 9.86705404e-01 1.62016457e-01 1.27715636e-02 1.65137583e+02] [-1.62017228e-01 9.86787442e-01 -9.81109580e-04 -5.37699121e+00] [-1.27617745e-02 -1.10114721e-03 9.99917959e-01 -1.30304545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.17, Y:-5.38, Z:-1.30 [[ 9.86373378e-01 1.63953061e-01 1.36730627e-02 1.65169300e+02] [-1.63954109e-01 9.86467406e-01 -1.05187756e-03 -5.38041041e+00] [-1.36604893e-02 -1.20421079e-03 9.99905966e-01 -1.30209040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.20, Y:-5.38, Z:-1.30 [[ 9.85945591e-01 1.66452251e-01 1.43157382e-02 1.65201713e+02] [-1.66453627e-01 9.86048666e-01 -1.10373235e-03 -5.38344095e+00] [-1.42997333e-02 -1.29468650e-03 9.99896915e-01 -1.30289353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:-5.39, Z:-1.30 [[ 9.85406075e-01 1.69626986e-01 1.41969235e-02 1.65233353e+02] [-1.69628631e-01 9.85507445e-01 -1.09700067e-03 -5.38587635e+00] [-1.41772548e-02 -1.32721359e-03 9.99898617e-01 -1.30383228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.27, Y:-5.39, Z:-1.30 [[ 9.85347712e-01 1.69995860e-01 1.38308882e-02 1.65265902e+02] [-1.69997427e-01 9.85443924e-01 -1.07085995e-03 -5.38849898e+00] [-1.38116065e-02 -1.29604601e-03 9.99903775e-01 -1.30412986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.30, Y:-5.39, Z:-1.30 [[ 9.85425368e-01 1.69552690e-01 1.37378797e-02 1.65298908e+02] [-1.69554163e-01 9.85520294e-01 -1.06595228e-03 -5.39104876e+00] [-1.37196943e-02 -1.27889827e-03 9.99905063e-01 -1.30458566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:-5.39, Z:-1.30 [[ 9.85647748e-01 1.68261810e-01 1.36557492e-02 1.65331105e+02] [-1.68263111e-01 9.85741547e-01 -1.06187525e-03 -5.39295059e+00] [-1.36397124e-02 -1.25112389e-03 9.99906192e-01 -1.30483981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:-5.40, Z:-1.31 [[ 9.85894950e-01 1.66773799e-01 1.40586827e-02 1.65364140e+02] [-1.66774996e-01 9.85994371e-01 -1.09546748e-03 -5.39526429e+00] [-1.40444773e-02 -1.26462091e-03 9.99900572e-01 -1.30587150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.40, Y:-5.40, Z:-1.31 [[ 9.86189104e-01 1.64971131e-01 1.46825677e-02 1.65397352e+02] [-1.64972201e-01 9.86297550e-01 -1.14662802e-03 -5.39821021e+00] [-1.46705411e-02 -1.29142346e-03 9.99891548e-01 -1.30656319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:-5.40, Z:-1.31 [[ 9.86511393e-01 1.62963559e-01 1.54321179e-02 1.65430160e+02] [-1.62964455e-01 9.86631201e-01 -1.20785281e-03 -5.40144864e+00] [-1.54226450e-02 -1.32332613e-03 9.99880188e-01 -1.30651459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:-5.40, Z:-1.31 [[ 9.86799830e-01 1.61213593e-01 1.53711903e-02 1.65462366e+02] [-1.61214233e-01 9.86918699e-01 -1.20560890e-03 -5.40475330e+00] [-1.53644757e-02 -1.28836000e-03 9.99881129e-01 -1.30592157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.50, Y:-5.41, Z:-1.31 [[ 9.87036796e-01 1.59732641e-01 1.56155672e-02 1.65495074e+02] [-1.59733079e-01 9.87159479e-01 -1.22721690e-03 -5.40742890e+00] [-1.56110818e-02 -1.28301439e-03 9.99877316e-01 -1.30645612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:-5.41, Z:-1.31 [[ 9.87175392e-01 1.58905889e-01 1.52860339e-02 1.65528476e+02] [-1.58906171e-01 9.87292955e-01 -1.20394059e-03 -5.40896581e+00] [-1.52831068e-02 -1.24054459e-03 9.99882437e-01 -1.30618724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.685898227 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.56, Y:-5.41, Z:-1.31 [[ 9.87083619e-01 1.59489774e-01 1.51308366e-02 1.65560543e+02] [-1.59490076e-01 9.87198809e-01 -1.19445612e-03 -5.41088536e+00] [-1.51276474e-02 -1.23419021e-03 9.99884809e-01 -1.30819929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.59, Y:-5.41, Z:-1.31 [[ 9.86976492e-01 1.60181427e-01 1.48092742e-02 1.65592838e+02] [-1.60181758e-01 9.87086841e-01 -1.17153718e-03 -5.41358552e+00] [-1.48056982e-02 -1.21589592e-03 9.99889650e-01 -1.30666178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.63, Y:-5.42, Z:-1.31 [[ 9.86863204e-01 1.60922981e-01 1.43112424e-02 1.65625202e+02] [-1.60923334e-01 9.86966258e-01 -1.13447689e-03 -5.41538249e+00] [-1.43072768e-02 -1.18343933e-03 9.99896945e-01 -1.30696270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.66, Y:-5.42, Z:-1.31 [[ 9.86720088e-01 1.61826450e-01 1.39881078e-02 1.65658252e+02] [-1.61826846e-01 9.86818543e-01 -1.11107645e-03 -5.41707641e+00] [-1.39835257e-02 -1.16732991e-03 9.99901544e-01 -1.30721770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:-5.42, Z:-1.31 [[ 9.86594834e-01 1.62554844e-01 1.43720717e-02 1.65690447e+02] [-1.62555300e-01 9.86698771e-01 -1.14429808e-03 -5.41859056e+00] [-1.43669167e-02 -1.20729785e-03 9.99896062e-01 -1.30740655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:-5.42, Z:-1.31 [[ 9.86453626e-01 1.63246553e-01 1.61185421e-02 1.65722018e+02] [-1.63247168e-01 9.86584364e-01 -1.28641762e-03 -5.41998856e+00] [-1.61123049e-02 -1.36231504e-03 9.99869260e-01 -1.30736441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.76, Y:-5.42, Z:-1.31 [[ 9.86484510e-01 1.63069092e-01 1.60244178e-02 1.65755023e+02] [-1.63069635e-01 9.86613730e-01 -1.28155538e-03 -5.42217440e+00] [-1.60188927e-02 -1.34886144e-03 9.99870779e-01 -1.30722949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.79, Y:-5.42, Z:-1.31 [[ 9.86589017e-01 1.62445885e-01 1.59199842e-02 1.65786628e+02] [-1.62446294e-01 9.86716562e-01 -1.27611125e-03 -5.42415258e+00] [-1.59158111e-02 -1.32714508e-03 9.99872455e-01 -1.30795698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.82, Y:-5.43, Z:-1.31 [[ 9.86733315e-01 1.61636905e-01 1.51946370e-02 1.65819516e+02] [-1.61637144e-01 9.86849504e-01 -1.22045728e-03 -5.42665216e+00] [-1.51920909e-02 -1.25175187e-03 9.99883810e-01 -1.30869234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.85, Y:-5.43, Z:-1.31 [[ 9.86807524e-01 1.61229183e-01 1.46990015e-02 1.65851479e+02] [-1.61229324e-01 9.86916260e-01 -1.18323722e-03 -5.42988905e+00] [-1.46974559e-02 -1.20228268e-03 9.99891264e-01 -1.30938916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:-5.43, Z:-1.31 [[ 9.86719282e-01 1.61777014e-01 1.46032783e-02 1.65884024e+02] [-1.61777177e-01 9.86826610e-01 -1.17797736e-03 -5.43420690e+00] [-1.46014732e-02 -1.20014416e-03 9.99892673e-01 -1.30853675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.92, Y:-5.44, Z:-1.31 [[ 9.86433796e-01 1.63572363e-01 1.38725619e-02 1.65915607e+02] [-1.63572652e-01 9.86530653e-01 -1.12148716e-03 -5.43773999e+00] [-1.38691519e-02 -1.16289890e-03 9.99903142e-01 -1.30836130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:-5.44, Z:-1.31 [[ 9.86077108e-01 1.65775604e-01 1.30531872e-02 1.65948693e+02] [-1.65776024e-01 9.86162863e-01 -1.05732421e-03 -5.44158667e+00] [-1.30478470e-02 -1.12130229e-03 9.99914245e-01 -1.30909197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:-5.45, Z:-1.31 [[ 9.85741219e-01 1.67846173e-01 1.19126226e-02 1.65981084e+02] [-1.67846651e-01 9.85812643e-01 -9.66808154e-04 -5.44505264e+00] [-1.19058891e-02 -1.04647116e-03 9.99928575e-01 -1.30956669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:-5.45, Z:-1.31 [[ 9.85400278e-01 1.69861026e-01 1.15552838e-02 1.66012829e+02] [-1.69861588e-01 9.85467482e-01 -9.39931943e-04 -5.44878328e+00] [-1.15470143e-02 -1.03658966e-03 9.99932794e-01 -1.31052505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.05, Y:-5.45, Z:-1.31 [[ 9.85140740e-01 1.71359492e-01 1.15605862e-02 1.66045134e+02] [-1.71360134e-01 9.85208007e-01 -9.42381930e-04 -5.45271583e+00] [-1.15510682e-02 -1.05264477e-03 9.99932730e-01 -1.31084058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:-5.46, Z:-1.31 [[ 9.85094485e-01 1.71583186e-01 1.21682004e-02 1.66077664e+02] [-1.71583887e-01 9.85169012e-01 -9.94161462e-04 -5.45901019e+00] [-1.21583153e-02 -1.10852414e-03 9.99925470e-01 -1.31159751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:-5.46, Z:-1.31 [[ 9.85249362e-01 1.70694560e-01 1.21269010e-02 1.66110368e+02] [-1.70695162e-01 9.85323386e-01 -9.92983923e-04 -5.46444697e+00] [-1.21184161e-02 -1.09166657e-03 9.99925973e-01 -1.31181313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22589822700002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:-5.47, Z:-1.31 [[ 9.85443625e-01 1.69579772e-01 1.19817645e-02 1.66143227e+02] [-1.69580253e-01 9.85515891e-01 -9.83223981e-04 -5.47040197e+00] [-1.19749542e-02 -1.06295885e-03 9.99927733e-01 -1.31198253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:-5.48, Z:-1.31 [[ 9.85611274e-01 1.68596280e-01 1.20711005e-02 1.66174758e+02] [-1.68596668e-01 9.85684624e-01 -9.92851740e-04 -5.47611716e+00] [-1.20656893e-02 -1.05658146e-03 9.99926649e-01 -1.31217111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.21, Y:-5.48, Z:-1.31 [[ 9.85707110e-01 1.68010383e-01 1.24098274e-02 1.66206907e+02] [-1.68010720e-01 9.85784638e-01 -1.02288436e-03 -5.48165197e+00] [-1.24052724e-02 -1.07671964e-03 9.99922472e-01 -1.31273601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:-5.49, Z:-1.31 [[ 9.85646005e-01 1.68300444e-01 1.33008748e-02 1.66238603e+02] [-1.68300820e-01 9.85735069e-01 -1.09902992e-03 -5.48718153e+00] [-1.32961060e-02 -1.15529369e-03 9.99910935e-01 -1.31346057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:-5.49, Z:-1.31 [[ 9.85507195e-01 1.69082581e-01 1.36620001e-02 1.66271724e+02] [-1.69083020e-01 9.85601163e-01 -1.13130370e-03 -5.49230057e+00] [-1.36565669e-02 -1.19510428e-03 9.99906031e-01 -1.31354133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:-5.50, Z:-1.31 [[ 9.85083370e-01 1.71576737e-01 1.31216245e-02 1.66304106e+02] [-1.71577333e-01 9.85170053e-01 -1.08871003e-03 -5.49922294e+00] [-1.31138289e-02 -1.17890320e-03 9.99913315e-01 -1.31427084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:-5.50, Z:-1.32 [[ 9.84844443e-01 1.72989366e-01 1.24940620e-02 1.66336018e+02] [-1.72989991e-01 9.84923034e-01 -1.03881291e-03 -5.50397048e+00] [-1.24853930e-02 -1.13827855e-03 9.99921407e-01 -1.31509434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.37, Y:-5.51, Z:-1.32 [[ 9.84603841e-01 1.74352031e-01 1.25157856e-02 1.66368432e+02] [-1.74352742e-01 9.84682707e-01 -1.04275410e-03 -5.50883678e+00] [-1.25058840e-02 -1.15546185e-03 9.99921131e-01 -1.31599266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.40, Y:-5.51, Z:-1.32 [[ 9.84480495e-01 1.75049134e-01 1.24882211e-02 1.66400857e+02] [-1.75049871e-01 9.84559016e-01 -1.04249705e-03 -5.51344607e+00] [-1.24778789e-02 -1.15974348e-03 9.99921476e-01 -1.31662892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:-5.52, Z:-1.32 [[ 9.84448626e-01 1.75225280e-01 1.25301037e-02 1.66433030e+02] [-1.75226008e-01 9.84527677e-01 -1.04825152e-03 -5.51830208e+00] [-1.25199141e-02 -1.16365029e-03 9.99920946e-01 -1.31727018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:-5.52, Z:-1.32 [[ 9.84476543e-01 1.75016158e-01 1.32393664e-02 1.66465780e+02] [-1.75016919e-01 9.84564800e-01 -1.11011167e-03 -5.52320143e+00] [-1.32293016e-02 -1.22423422e-03 9.99911740e-01 -1.31814895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:-5.53, Z:-1.32 [[ 9.84907343e-01 1.72510185e-01 1.40627898e-02 1.66497222e+02] [-1.72510753e-01 9.85006926e-01 -1.18182332e-03 -5.53039385e+00] [-1.40558219e-02 -1.26199600e-03 9.99900416e-01 -1.31898559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.585898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:166.53, Y:-5.54, Z:-1.32 [[ 9.85287727e-01 1.70304920e-01 1.42943651e-02 1.66528887e+02] [-1.70305239e-01 9.85390621e-01 -1.20387200e-03 -5.53508596e+00] [-1.42905586e-02 -1.24824497e-03 9.99897106e-01 -1.32161125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:-5.54, Z:-1.32 [[ 9.85689993e-01 1.67977105e-01 1.41042320e-02 1.66561437e+02] [-1.67977147e-01 9.85790171e-01 -1.19014007e-03 -5.54107511e+00] [-1.41037295e-02 -1.19607949e-03 9.99899822e-01 -1.32119352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:-5.55, Z:-1.32 [[ 9.86107419e-01 1.65525297e-01 1.39116493e-02 1.66593840e+02] [-1.65525062e-01 9.86204882e-01 -1.17628003e-03 -5.54643704e+00] [-1.39144406e-02 -1.14278815e-03 9.99902536e-01 -1.32211576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.63, Y:-5.55, Z:-1.32 [[ 9.86450397e-01 1.63442374e-01 1.42198641e-02 1.66626013e+02] [-1.63441878e-01 9.86552229e-01 -1.20488110e-03 -5.55226220e+00] [-1.42255673e-02 -1.13556586e-03 9.99898167e-01 -1.32301451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:-5.56, Z:-1.32 [[ 9.86431015e-01 1.63559330e-01 1.42196501e-02 1.66659349e+02] [-1.63558810e-01 9.86532847e-01 -1.20740205e-03 -5.55523156e+00] [-1.42256337e-02 -1.13473021e-03 9.99898167e-01 -1.32354018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:-5.56, Z:-1.32 [[ 9.86727283e-01 1.61744808e-01 1.44182348e-02 1.66691532e+02] [-1.61744056e-01 9.86831980e-01 -1.22594641e-03 -5.56125423e+00] [-1.44266656e-02 -1.12238900e-03 9.99895300e-01 -1.32357198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.765898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.72, Y:-5.57, Z:-1.33 [[ 9.87093821e-01 1.59570911e-01 1.35245283e-02 1.66723879e+02] [-1.59570017e-01 9.87185941e-01 -1.15211774e-03 -5.57071319e+00] [-1.35350687e-02 -1.02086091e-03 9.99907876e-01 -1.32556105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:-5.58, Z:-1.33 [[ 9.87158968e-01 1.59225551e-01 1.28217234e-02 1.66756661e+02] [-1.59224691e-01 9.87241764e-01 -1.09443030e-03 -5.57823056e+00] [-1.28324021e-02 -9.61158268e-04 9.99917199e-01 -1.32515893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:-5.59, Z:-1.33 [[ 9.87168970e-01 1.59180407e-01 1.26104151e-02 1.66788593e+02] [-1.59179542e-01 9.87249062e-01 -1.07870678e-03 -5.58535942e+00] [-1.26213295e-02 -9.42454246e-04 9.99919904e-01 -1.32618561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:-5.59, Z:-1.33 [[ 9.87167619e-01 1.59214049e-01 1.22873364e-02 1.66820704e+02] [-1.59213205e-01 9.87243661e-01 -1.05312698e-03 -5.59307458e+00] [-1.22982675e-02 -9.16693346e-04 9.99923953e-01 -1.32619254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:-5.60, Z:-1.33 [[ 9.87092392e-01 1.59663564e-01 1.24962661e-02 1.66853543e+02] [-1.59662700e-01 9.87171044e-01 -1.07320181e-03 -5.60131205e+00] [-1.25073032e-02 -9.35838237e-04 9.99921343e-01 -1.32622632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.89, Y:-5.61, Z:-1.33 [[ 9.87005316e-01 1.60146428e-01 1.31767790e-02 1.66885565e+02] [-1.60145479e-01 9.87092772e-01 -1.13401604e-03 -5.60923683e+00] [-1.31883119e-02 -9.90921723e-04 9.99912539e-01 -1.32665265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94589822700001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.92, Y:-5.62, Z:-1.33 [[ 9.86814064e-01 1.61107751e-01 1.55658694e-02 1.66916606e+02] [-1.61106497e-01 9.86936114e-01 -1.34271421e-03 -5.62089638e+00] [-1.55788403e-02 -1.18275342e-03 9.99877943e-01 -1.32743279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:-5.63, Z:-1.33 [[ 9.86686391e-01 1.61808790e-01 1.63670888e-02 1.66949181e+02] [-1.61807455e-01 9.86821335e-01 -1.41452899e-03 -5.62883091e+00] [-1.63802756e-02 -1.25262048e-03 9.99865050e-01 -1.32689803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:-5.64, Z:-1.33 [[ 9.86555283e-01 1.62586564e-01 1.65614805e-02 1.66980299e+02] [-1.62585261e-01 9.86693456e-01 -1.43408696e-03 -5.63636084e+00] [-1.65742677e-02 -1.27784657e-03 9.99861821e-01 -1.32757801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:-5.64, Z:-1.33 [[ 9.86386174e-01 1.63639897e-01 1.62573237e-02 1.67012416e+02] [-1.63638743e-01 9.86519322e-01 -1.41021629e-03 -5.64426151e+00] [-1.62689316e-02 -1.26931017e-03 9.99866846e-01 -1.32752563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:-5.65, Z:-1.33 [[ 9.86188500e-01 1.64860913e-01 1.59098253e-02 1.67044507e+02] [-1.64859925e-01 9.86316021e-01 -1.38262369e-03 -5.65202382e+00] [-1.59200562e-02 -1.25936502e-03 9.99872475e-01 -1.32780552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:-5.66, Z:-1.33 [[ 9.86011887e-01 1.65969396e-01 1.53205424e-02 1.67075517e+02] [-1.65968574e-01 9.86130140e-01 -1.33401599e-03 -5.65911695e+00] [-1.53294545e-02 -1.22737295e-03 9.99881744e-01 -1.32797249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.125898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:167.11, Y:-5.67, Z:-1.33 [[ 9.85591621e-01 1.68393152e-01 1.59029063e-02 1.67107068e+02] [-1.68392550e-01 9.85719040e-01 -1.38653384e-03 -5.66928390e+00] [-1.59092803e-02 -1.31137481e-03 9.99872579e-01 -1.32958605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:-5.68, Z:-1.33 [[ 9.85460735e-01 1.69125873e-01 1.62351107e-02 1.67139738e+02] [-1.69125303e-01 9.85593537e-01 -1.41802176e-03 -5.67529632e+00] [-1.62410443e-02 -1.34836325e-03 9.99867196e-01 -1.32823133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:-5.68, Z:-1.33 [[ 9.85324907e-01 1.69915645e-01 1.62327392e-02 1.67171632e+02] [-1.69915134e-01 9.85457675e-01 -1.42075260e-03 -5.68084941e+00] [-1.62380855e-02 -1.35828514e-03 9.99867231e-01 -1.32891263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:-5.69, Z:-1.33 [[ 9.85128873e-01 1.71092892e-01 1.57583404e-02 1.67204493e+02] [-1.71092519e-01 9.85253998e-01 -1.38182429e-03 -5.68644566e+00] [-1.57623882e-02 -1.33485915e-03 9.99874875e-01 -1.32951684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.24, Y:-5.69, Z:-1.33 [[ 9.84911087e-01 1.72398938e-01 1.51247250e-02 1.67236116e+02] [-1.72398708e-01 9.85026355e-01 -1.32886634e-03 -5.69172975e+00] [-1.51273479e-02 -1.29866786e-03 9.99884732e-01 -1.33022575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:-5.70, Z:-1.33 [[ 9.84690223e-01 1.73697286e-01 1.46430230e-02 1.67269015e+02] [-1.73697179e-01 9.84798268e-01 -1.28888039e-03 -5.69652334e+00] [-1.46442987e-02 -1.27430386e-03 9.99891954e-01 -1.33085325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.30, Y:-5.70, Z:-1.33 [[ 9.84216158e-01 1.76353938e-01 1.47595266e-02 1.67301057e+02] [-1.76354085e-01 9.84325933e-01 -1.30185329e-03 -5.70044266e+00] [-1.47577717e-02 -1.32159777e-03 9.99890225e-01 -1.33198601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.33, Y:-5.70, Z:-1.33 [[ 9.84065159e-01 1.77174988e-01 1.49928763e-02 1.67334280e+02] [-1.77175195e-01 9.84178436e-01 -1.32502743e-03 -5.70352653e+00] [-1.49904272e-02 -1.35245245e-03 9.99886723e-01 -1.33309176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.37, Y:-5.71, Z:-1.33 [[ 9.84008170e-01 1.77486635e-01 1.50470935e-02 1.67366952e+02] [-1.77486840e-01 9.84122272e-01 -1.33252568e-03 -5.70649655e+00] [-1.50446853e-02 -1.35944492e-03 9.99885898e-01 -1.33360836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.40, Y:-5.71, Z:-1.33 [[ 9.84039402e-01 1.77319057e-01 1.49802062e-02 1.67398562e+02] [-1.77319199e-01 9.84152496e-01 -1.32936292e-03 -5.71007073e+00] [-1.49785287e-02 -1.34813267e-03 9.99886907e-01 -1.33360744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:-5.71, Z:-1.33 [[ 9.84205980e-01 1.76383125e-01 1.50857957e-02 1.67431024e+02] [-1.76383120e-01 9.84320677e-01 -1.34134760e-03 -5.71301933e+00] [-1.50858517e-02 -1.34071739e-03 9.99885303e-01 -1.33404350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:-5.72, Z:-1.34 [[ 9.84386028e-01 1.75371476e-01 1.51325026e-02 1.67462435e+02] [-1.75371310e-01 9.84501440e-01 -1.34828936e-03 -5.71552395e+00] [-1.51344221e-02 -1.32656960e-03 9.99884588e-01 -1.33515412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:-5.72, Z:-1.34 [[ 9.84817147e-01 1.72965931e-01 1.47639477e-02 1.67494096e+02] [-1.72965482e-01 9.84927006e-01 -1.31703389e-03 -5.71785692e+00] [-1.47692128e-02 -1.25661577e-03 9.99890140e-01 -1.33706732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:-5.72, Z:-1.34 [[ 9.85062158e-01 1.71580001e-01 1.45893187e-02 1.67526363e+02] [-1.71579377e-01 9.85169436e-01 -1.30379217e-03 -5.72116644e+00] [-1.45966555e-02 -1.21890988e-03 9.99892720e-01 -1.33812752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.56, Y:-5.72, Z:-1.34 [[ 9.85401137e-01 1.69602067e-01 1.48235462e-02 1.67558805e+02] [-1.69601160e-01 9.85511890e-01 -1.32745375e-03 -5.72486955e+00] [-1.48339200e-02 -1.20601620e-03 9.99889244e-01 -1.33900958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.575898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.59, Y:-5.73, Z:-1.34 [[ 9.85709125e-01 1.67733580e-01 1.55874119e-02 1.67590053e+02] [-1.67732299e-01 9.85831588e-01 -1.39883552e-03 -5.72904743e+00] [-1.56011947e-02 -1.23566749e-03 9.99877530e-01 -1.34106665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:-5.73, Z:-1.34 [[ 9.86017093e-01 1.65866817e-01 1.60776715e-02 1.67622246e+02] [-1.65865159e-01 9.86147382e-01 -1.44583386e-03 -5.73395895e+00] [-1.60947695e-02 -1.24110864e-03 9.99869701e-01 -1.34035182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:-5.74, Z:-1.34 [[ 9.86333652e-01 1.63920171e-01 1.66164161e-02 1.67653902e+02] [-1.63918073e-01 9.86472819e-01 -1.49739319e-03 -5.73934162e+00] [-1.66370958e-02 -1.24680162e-03 9.99860817e-01 -1.34089724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:-5.75, Z:-1.34 [[ 9.86892688e-01 1.60692532e-01 1.48570852e-02 1.67686656e+02] [-1.60690469e-01 9.87003939e-01 -1.34033148e-03 -5.74808681e+00] [-1.48793829e-02 -1.06462865e-03 9.99888729e-01 -1.33993600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.72, Y:-5.75, Z:-1.34 [[ 9.87010533e-01 1.60052288e-01 1.39094214e-02 1.67719150e+02] [-1.60050385e-01 9.87108046e-01 -1.25710054e-03 -5.75373790e+00] [-1.39313036e-02 -9.85436778e-04 9.99902469e-01 -1.33988919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:-5.76, Z:-1.34 [[ 9.86926169e-01 1.60608057e-01 1.34828986e-02 1.67750415e+02] [-1.60606288e-01 9.87017796e-01 -1.22088893e-03 -5.75869023e+00] [-1.35039454e-02 -9.60511063e-04 9.99908356e-01 -1.34017271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:-5.76, Z:-1.34 [[ 9.86709030e-01 1.61889031e-01 1.40439555e-02 1.67783453e+02] [-1.61887207e-01 9.86808446e-01 -1.27409692e-03 -5.76308176e+00] [-1.40649562e-02 -1.01637380e-03 9.99900567e-01 -1.34086416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:-5.77, Z:-1.34 [[ 9.86275174e-01 1.64471985e-01 1.44998882e-02 1.67815841e+02] [-1.64470280e-01 9.86381158e-01 -1.31818859e-03 -5.76705938e+00] [-1.45192216e-02 -1.08470398e-03 9.99894002e-01 -1.34027106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:-5.77, Z:-1.34 [[ 9.85153276e-01 1.71013069e-01 1.50848887e-02 1.67847831e+02] [-1.71011942e-01 9.85267998e-01 -1.37423013e-03 -5.77148866e+00] [-1.50976694e-02 -1.22586879e-03 9.99885272e-01 -1.33859022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.88, Y:-5.77, Z:-1.34 [[ 9.84660433e-01 1.73899835e-01 1.42365352e-02 1.67879375e+02] [-1.73899098e-01 9.84762619e-01 -1.29921303e-03 -5.77421058e+00] [-1.42455406e-02 -1.19643697e-03 9.99897811e-01 -1.33847740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:-5.78, Z:-1.34 [[ 9.84346523e-01 1.75762124e-01 1.30229660e-02 1.67912321e+02] [-1.75761644e-01 9.84432033e-01 -1.19036569e-03 -5.77643810e+00] [-1.30294461e-02 -1.11720557e-03 9.99914489e-01 -1.33898559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:-5.78, Z:-1.34 [[ 9.84262043e-01 1.76287107e-01 1.22917550e-02 1.67945605e+02] [-1.76286695e-01 9.84338222e-01 -1.12552959e-03 -5.77897657e+00] [-1.22976607e-02 -1.05905682e-03 9.99923820e-01 -1.33978871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.98, Y:-5.78, Z:-1.34 [[ 9.84406180e-01 1.75451139e-01 1.27031633e-02 1.67977149e+02] [-1.75450598e-01 9.84487546e-01 -1.16577305e-03 -5.78197192e+00] [-1.27106423e-02 -1.08118340e-03 9.99918632e-01 -1.34051287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.01, Y:-5.79, Z:-1.34 [[ 9.84749802e-01 1.73401492e-01 1.41333019e-02 1.68008460e+02] [-1.73400588e-01 9.84850521e-01 -1.29871921e-03 -5.78602323e+00] [-1.41443896e-02 -1.17180938e-03 9.99899276e-01 -1.34069247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:-5.79, Z:-1.34 [[ 9.85376858e-01 1.69674390e-01 1.55900345e-02 1.68041330e+02] [-1.69672782e-01 9.85499410e-01 -1.43539166e-03 -5.79014490e+00] [-1.56075190e-02 -1.23080280e-03 9.99877438e-01 -1.34095509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:-5.79, Z:-1.34 [[ 9.86060963e-01 1.65516212e-01 1.69753177e-02 1.68074160e+02] [-1.65513639e-01 9.86206258e-01 -1.56612878e-03 -5.79442278e+00] [-1.70003842e-02 -1.26534815e-03 9.99854682e-01 -1.34142253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:-5.80, Z:-1.34 [[ 9.87233201e-01 1.58291104e-01 1.77350969e-02 1.68105784e+02] [-1.58287078e-01 9.87391773e-01 -1.63942612e-03 -5.80047396e+00] [-1.77709954e-02 -1.18874078e-03 9.99841377e-01 -1.34223565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:-5.81, Z:-1.34 [[ 9.87581459e-01 1.56104330e-01 1.77285138e-02 1.68137232e+02] [-1.56099901e-01 9.87739908e-01 -1.64186895e-03 -5.80527476e+00] [-1.77674634e-02 -1.14593992e-03 9.99841489e-01 -1.34303319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:-5.81, Z:-1.34 [[ 9.87702203e-01 1.55326699e-01 1.78318287e-02 1.68169655e+02] [-1.55322040e-01 9.87862504e-01 -1.65436992e-03 -5.81032968e+00] [-1.78723628e-02 -1.13565120e-03 9.99839632e-01 -1.34320144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:-5.81, Z:-1.34 [[ 9.87608990e-01 1.55936848e-01 1.76687129e-02 1.68201946e+02] [-1.55932318e-01 9.87766377e-01 -1.64224691e-03 -5.81497903e+00] [-1.77086473e-02 -1.13322554e-03 9.99842547e-01 -1.34365160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.23, Y:-5.82, Z:-1.34 [[ 9.87061628e-01 1.59421944e-01 1.71460348e-02 1.68234829e+02] [-1.59418151e-01 9.87209858e-01 -1.59653061e-03 -5.81902331e+00] [-1.71812566e-02 -1.15751506e-03 9.99851721e-01 -1.34499687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.27, Y:-5.82, Z:-1.35 [[ 9.86672230e-01 1.61848964e-01 1.68173748e-02 1.68267360e+02] [-1.61845617e-01 9.86814843e-01 -1.56887469e-03 -5.82250647e+00] [-1.68495559e-02 -1.17385332e-03 9.99857347e-01 -1.34602142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.30, Y:-5.83, Z:-1.35 [[ 9.86336063e-01 1.63844548e-01 1.72085968e-02 1.68298972e+02] [-1.63841292e-01 9.86485400e-01 -1.60847797e-03 -5.82617003e+00] [-1.72395699e-02 -1.23297891e-03 9.99850627e-01 -1.34640401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:-5.83, Z:-1.35 [[ 9.86071902e-01 1.65310866e-01 1.82899121e-02 1.68330778e+02] [-1.65307381e-01 9.86240608e-01 -1.71272156e-03 -5.82935934e+00] [-1.83213855e-02 -1.33459085e-03 9.99831259e-01 -1.34655342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.295898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:168.36, Y:-5.83, Z:-1.35 [[ 9.85899896e-01 1.66210222e-01 1.93793158e-02 1.68363125e+02] [-1.66206419e-01 9.86089307e-01 -1.81794631e-03 -5.83238657e+00] [-1.94118974e-02 -1.42865362e-03 9.99810551e-01 -1.34758484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:-5.84, Z:-1.35 [[ 9.85958583e-01 1.65841541e-01 1.95513611e-02 1.68395815e+02] [-1.65837534e-01 9.86151376e-01 -1.83741722e-03 -5.83572540e+00] [-1.95853218e-02 -1.43073223e-03 9.99807165e-01 -1.34798275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.43, Y:-5.84, Z:-1.35 [[ 9.86083603e-01 1.65182296e-01 1.88132159e-02 1.68427536e+02] [-1.65178403e-01 9.86262114e-01 -1.77135330e-03 -5.83973516e+00] [-1.88473583e-02 -1.36083453e-03 9.99821447e-01 -1.34941980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:-5.84, Z:-1.35 [[ 9.86317781e-01 1.63859424e-01 1.80921018e-02 1.68460095e+02] [-1.63855548e-01 9.86482867e-01 -1.70647863e-03 -5.84458700e+00] [-1.81271711e-02 -1.28136105e-03 9.99834868e-01 -1.35017187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:-5.85, Z:-1.35 [[ 9.86578752e-01 1.62300578e-01 1.79133311e-02 1.68492308e+02] [-1.62296465e-01 9.86740590e-01 -1.69285409e-03 -5.84976647e+00] [-1.79505621e-02 -1.23713644e-03 9.99838110e-01 -1.35047260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.52, Y:-5.85, Z:-1.35 [[ 9.86868121e-01 1.60586000e-01 1.74197532e-02 1.68523540e+02] [-1.60581790e-01 9.87021159e-01 -1.64928991e-03 -5.85494637e+00] [-1.74585179e-02 -1.16966352e-03 9.99846904e-01 -1.35034067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:-5.86, Z:-1.35 [[ 9.87138060e-01 1.59024761e-01 1.64187430e-02 1.68555687e+02] [-1.59020762e-01 9.87274011e-01 -1.55717720e-03 -5.86031037e+00] [-1.64574280e-02 -1.07377214e-03 9.99863991e-01 -1.35000225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:-5.87, Z:-1.35 [[ 9.87552309e-01 1.56643436e-01 1.42572857e-02 1.68588043e+02] [-1.56640141e-01 9.87654814e-01 -1.35443529e-03 -5.86768696e+00] [-1.42934403e-02 -8.95687544e-04 9.99897442e-01 -1.35023003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:-5.87, Z:-1.35 [[ 9.87524898e-01 1.56838844e-01 1.40054588e-02 1.68619791e+02] [-1.56835647e-01 9.87623816e-01 -1.33309934e-03 -5.87251300e+00] [-1.40412064e-02 -8.80086399e-04 9.99901030e-01 -1.35083012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:-5.88, Z:-1.35 [[ 9.87359409e-01 1.57867502e-01 1.41155724e-02 1.68652073e+02] [-1.57864325e-01 9.87459894e-01 -1.34606583e-03 -5.87694094e+00] [-1.41510617e-02 -8.99294548e-04 9.99899464e-01 -1.35066980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:-5.88, Z:-1.35 [[ 9.87347187e-01 1.57943946e-01 1.41153211e-02 1.68685377e+02] [-1.57940739e-01 9.87447672e-01 -1.34869544e-03 -5.88024412e+00] [-1.41511592e-02 -8.97753589e-04 9.99899464e-01 -1.35119584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:-5.88, Z:-1.35 [[ 9.87078213e-01 1.59594364e-01 1.43610627e-02 1.68717881e+02] [-1.59591204e-01 9.87182233e-01 -1.37318466e-03 -5.88336734e+00] [-1.43961385e-02 -9.36458627e-04 9.99895932e-01 -1.35220772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:-5.89, Z:-1.35 [[ 9.86707123e-01 1.61875277e-01 1.43334353e-02 1.68749834e+02] [-1.61872330e-01 9.86810753e-01 -1.37321263e-03 -5.88618137e+00] [-1.43666773e-02 -9.65227884e-04 9.99896328e-01 -1.35309016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.78, Y:-5.89, Z:-1.35 [[ 9.86343702e-01 1.64096014e-01 1.40925441e-02 1.68782948e+02] [-1.64093358e-01 9.86443886e-01 -1.35250464e-03 -5.88919235e+00] [-1.41234446e-02 -9.78458450e-04 9.99899780e-01 -1.35402467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.81, Y:-5.89, Z:-1.36 [[ 9.85923443e-01 1.66673796e-01 1.32215473e-02 1.68814793e+02] [-1.66671656e-01 9.86011634e-01 -1.27133973e-03 -5.89224148e+00] [-1.32484985e-02 -9.50213534e-04 9.99911783e-01 -1.35518868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:-5.90, Z:-1.36 [[ 9.85895806e-01 1.66863208e-01 1.28891426e-02 1.68847084e+02] [-1.66861174e-01 9.85979619e-01 -1.24061944e-03 -5.89528384e+00] [-1.29154456e-02 -9.27575963e-04 9.99916162e-01 -1.35613990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.775898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.88, Y:-5.90, Z:-1.36 [[ 9.85889566e-01 1.66899401e-01 1.28978234e-02 1.68878556e+02] [-1.66897336e-01 9.85973495e-01 -1.24389841e-03 -5.89846782e+00] [-1.29245180e-02 -9.26265904e-04 9.99916046e-01 -1.35675837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.91, Y:-5.90, Z:-1.36 [[ 9.85966863e-01 1.66414808e-01 1.32459999e-02 1.68910878e+02] [-1.66412555e-01 9.86055386e-01 -1.27983729e-03 -5.90150267e+00] [-1.32742734e-02 -9.42423529e-04 9.99911449e-01 -1.35700019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:-5.90, Z:-1.36 [[ 9.85984280e-01 1.66229732e-01 1.42364195e-02 1.68942985e+02] [-1.66227069e-01 9.86086539e-01 -1.37846774e-03 -5.90451498e+00] [-1.42674839e-02 -1.00733075e-03 9.99897707e-01 -1.35738780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.98, Y:-5.91, Z:-1.36 [[ 9.86013879e-01 1.65987199e-01 1.49960208e-02 1.68976064e+02] [-1.65984190e-01 9.86127342e-01 -1.45379252e-03 -5.90770906e+00] [-1.50292971e-02 -1.05564276e-03 9.99886496e-01 -1.35772667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:-5.91, Z:-1.36 [[ 9.86023241e-01 1.65802078e-01 1.63657900e-02 1.69008999e+02] [-1.65798416e-01 9.86158384e-01 -1.58978404e-03 -5.91212510e+00] [-1.64028505e-02 -1.14585804e-03 9.99864808e-01 -1.35867524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.04, Y:-5.92, Z:-1.36 [[ 9.86044268e-01 1.65645646e-01 1.66799988e-02 1.69041653e+02] [-1.65641767e-01 9.86184653e-01 -1.62345313e-03 -5.91654313e+00] [-1.67184768e-02 -1.16210782e-03 9.99859561e-01 -1.35899784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.07, Y:-5.92, Z:-1.36 [[ 9.86088837e-01 1.65400950e-01 1.64721070e-02 1.69073750e+02] [-1.65397083e-01 9.86225747e-01 -1.60624527e-03 -5.92116978e+00] [-1.65108905e-02 -1.14053792e-03 9.99863035e-01 -1.35924506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.985898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:169.11, Y:-5.93, Z:-1.36 [[ 9.86156040e-01 1.65019492e-01 1.62736632e-02 1.69106522e+02] [-1.65015620e-01 9.86289672e-01 -1.58970171e-03 -5.92575480e+00] [-1.63128777e-02 -1.11771467e-03 9.99866311e-01 -1.35990493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:-5.93, Z:-1.36 [[ 9.86120307e-01 1.65286449e-01 1.57203339e-02 1.69137768e+02] [-1.65282825e-01 9.86245011e-01 -1.53848422e-03 -5.93061477e+00] [-1.57583914e-02 -1.08117066e-03 9.99875244e-01 -1.35968813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:-5.93, Z:-1.36 [[ 9.86152210e-01 1.65095307e-01 1.57276211e-02 1.69170278e+02] [-1.65091612e-01 9.86277031e-01 -1.54193145e-03 -5.93461961e+00] [-1.57663571e-02 -1.07591922e-03 9.99875124e-01 -1.35964768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:-5.94, Z:-1.36 [[ 9.86320186e-01 1.63971755e-01 1.69042389e-02 1.69202313e+02] [-1.63967268e-01 9.86464382e-01 -1.66052907e-03 -5.93847414e+00] [-1.69477095e-02 -1.13392853e-03 9.99855734e-01 -1.35999896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-5.94, Z:-1.36 [[ 9.86527126e-01 1.62704394e-01 1.70736850e-02 1.69234965e+02] [-1.62699592e-01 9.86674223e-01 -1.67925623e-03 -5.94245025e+00] [-1.71193873e-02 -1.12124976e-03 9.99852824e-01 -1.36061092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:-5.95, Z:-1.36 [[ 9.86804450e-01 1.61048822e-01 1.67408092e-02 1.69267075e+02] [-1.61043917e-01 9.86945863e-01 -1.64954290e-03 -5.94704724e+00] [-1.67879293e-02 -1.06822921e-03 9.99858502e-01 -1.36075897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:-5.95, Z:-1.36 [[ 9.87197635e-01 1.58619082e-01 1.67575939e-02 1.69299011e+02] [-1.58613771e-01 9.87339322e-01 -1.65402775e-03 -5.95274789e+00] [-1.68077917e-02 -1.02513288e-03 9.99858214e-01 -1.36142867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:-5.96, Z:-1.36 [[ 9.87730105e-01 1.55287995e-01 1.65794679e-02 1.69331644e+02] [-1.55282296e-01 9.87868779e-01 -1.63838456e-03 -5.95879805e+00] [-1.66327601e-02 -9.56216091e-04 9.99861209e-01 -1.36209288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:-5.97, Z:-1.36 [[ 9.88338303e-01 1.51404770e-01 1.62479188e-02 1.69363298e+02] [-1.51398726e-01 9.88471466e-01 -1.60845654e-03 -5.96536530e+00] [-1.63041321e-02 -8.70214998e-04 9.99866700e-01 -1.36286661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:-5.98, Z:-1.36 [[ 9.89424929e-01 1.44268911e-01 1.49930269e-02 1.69395343e+02] [-1.44262913e-01 9.89538277e-01 -1.48651595e-03 -5.97632241e+00] [-1.50506321e-02 -6.92141798e-04 9.99886493e-01 -1.36358698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.43, Y:-5.98, Z:-1.36 [[ 9.89826703e-01 1.41583374e-01 1.40444239e-02 1.69427549e+02] [-1.41577807e-01 9.89926148e-01 -1.39491139e-03 -5.98372721e+00] [-1.41004387e-02 -6.07658195e-04 9.99900399e-01 -1.36370044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:-5.99, Z:-1.36 [[ 9.90123638e-01 1.39566812e-01 1.32772621e-02 1.69459458e+02] [-1.39561624e-01 9.90212507e-01 -1.32104792e-03 -5.99058111e+00] [-1.33316854e-02 -5.44995473e-04 9.99910981e-01 -1.36387932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:-6.00, Z:-1.37 [[ 9.90235446e-01 1.38788664e-01 1.30946136e-02 1.69491203e+02] [-1.38783517e-01 9.90321883e-01 -1.30531962e-03 -5.99745329e+00] [-1.31490460e-02 -5.24742790e-04 9.99913410e-01 -1.36524702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:-6.00, Z:-1.37 [[ 9.90228970e-01 1.38842306e-01 1.30153756e-02 1.69523684e+02] [-1.38837197e-01 9.90314366e-01 -1.29966705e-03 -6.00408797e+00] [-1.30697622e-02 -5.20050298e-04 9.99914452e-01 -1.36609511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.56, Y:-6.01, Z:-1.37 [[ 9.90075549e-01 1.39895415e-01 1.34044961e-02 1.69555775e+02] [-1.39890058e-01 9.90166134e-01 -1.34103168e-03 -6.01130438e+00] [-1.34602823e-02 -5.47433064e-04 9.99909256e-01 -1.36696170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:-6.02, Z:-1.37 [[ 9.89711527e-01 1.42479772e-01 1.30617174e-02 1.69586678e+02] [-1.42474880e-01 9.89797552e-01 -1.30906374e-03 -6.02302543e+00] [-1.31149710e-02 -5.65371149e-04 9.99913835e-01 -1.36682430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:-6.03, Z:-1.37 [[ 9.89545086e-01 1.43632218e-01 1.30502579e-02 1.69618683e+02] [-1.43627406e-01 9.89630968e-01 -1.31009170e-03 -6.03030052e+00] [-1.31031107e-02 -5.77979885e-04 9.99913984e-01 -1.36687490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:-6.04, Z:-1.37 [[ 9.89368777e-01 1.44766171e-01 1.38628337e-02 1.69649781e+02] [-1.44760814e-01 9.89465695e-01 -1.39437828e-03 -6.03766143e+00] [-1.39186572e-02 -6.27240762e-04 9.99902934e-01 -1.36750415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:-6.04, Z:-1.37 [[ 9.89245813e-01 1.45475838e-01 1.51493167e-02 1.69681619e+02] [-1.45469481e-01 9.89361562e-01 -1.52658928e-03 -6.04478351e+00] [-1.52102335e-02 -6.93591187e-04 9.99884077e-01 -1.36760729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:-6.05, Z:-1.37 [[ 9.89204516e-01 1.45594683e-01 1.66316908e-02 1.69713563e+02] [-1.45586987e-01 9.89344030e-01 -1.67903249e-03 -6.05199516e+00] [-1.66989222e-02 -7.60451236e-04 9.99860274e-01 -1.36828954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:-6.06, Z:-1.37 [[ 9.89250479e-01 1.45186816e-01 1.74435555e-02 1.69746170e+02] [-1.45178230e-01 9.89403946e-01 -1.76424726e-03 -6.05966124e+00] [-1.75148681e-02 -7.87142062e-04 9.99846293e-01 -1.36790980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:-6.07, Z:-1.37 [[ 9.89413145e-01 1.44148768e-01 1.68155292e-02 1.69778556e+02] [-1.44140591e-01 9.89555753e-01 -1.70363186e-03 -6.07159676e+00] [-1.68854801e-02 -7.38204549e-04 9.99857158e-01 -1.36708135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:-6.08, Z:-1.37 [[ 9.89443769e-01 1.43975989e-01 1.64906886e-02 1.69810563e+02] [-1.43968052e-01 9.89580921e-01 -1.67368570e-03 -6.07859139e+00] [-1.65598414e-02 -7.18114423e-04 9.99862619e-01 -1.36805893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:-6.09, Z:-1.37 [[ 9.89464713e-01 1.43848232e-01 1.63483282e-02 1.69841865e+02] [-1.43840365e-01 9.89599508e-01 -1.66219647e-03 -6.08594243e+00] [-1.64174016e-02 -7.06864742e-04 9.99864976e-01 -1.36850390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:-6.09, Z:-1.37 [[ 9.89499281e-01 1.43580457e-01 1.66079675e-02 1.69873883e+02] [-1.43572253e-01 9.89638392e-01 -1.69148187e-03 -6.09356504e+00] [-1.66787460e-02 -7.10723209e-04 9.99860647e-01 -1.36906875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:-6.10, Z:-1.37 [[ 9.89585524e-01 1.42906916e-01 1.72656936e-02 1.69906553e+02] [-1.42897891e-01 9.89735868e-01 -1.76165867e-03 -6.10064879e+00] [-1.73402295e-02 -7.23919286e-04 9.99849385e-01 -1.36910723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:-6.11, Z:-1.37 [[ 9.89718696e-01 1.41846452e-01 1.83435687e-02 1.69938330e+02] [-1.41836022e-01 9.89888391e-01 -1.87493518e-03 -6.10721692e+00] [-1.84240387e-02 -7.46120415e-04 9.99829985e-01 -1.36975059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:-6.11, Z:-1.37 [[ 9.89903792e-01 1.40410906e-01 1.93716184e-02 1.69970791e+02] [-1.40398952e-01 9.90093028e-01 -1.98251021e-03 -6.11338825e+00] [-1.94580704e-02 -7.57260544e-04 9.99810387e-01 -1.37094610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:-6.12, Z:-1.37 [[ 9.90386084e-01 1.36980473e-01 1.92809238e-02 1.70002664e+02] [-1.36967917e-01 9.90573512e-01 -1.97654472e-03 -6.12150380e+00] [-1.93699204e-02 -6.83325582e-04 9.99812152e-01 -1.37345593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:-6.13, Z:-1.37 [[ 9.90581023e-01 1.35689293e-01 1.83753064e-02 1.70035368e+02] [-1.35677608e-01 9.90751243e-01 -1.88684148e-03 -6.12732254e+00] [-1.84613819e-02 -6.24048267e-04 9.99829379e-01 -1.37499152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:-6.13, Z:-1.38 [[ 9.90759414e-01 1.34486248e-01 1.75849936e-02 1.70067545e+02] [-1.34475304e-01 9.90915295e-01 -1.80873366e-03 -6.13258303e+00] [-1.76684889e-02 -5.72727466e-04 9.99843736e-01 -1.37524020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.915898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.10, Y:-6.14, Z:-1.38 [[ 9.90895934e-01 1.33536057e-01 1.71280486e-02 1.70099786e+02] [-1.33525478e-01 9.91043809e-01 -1.76489477e-03 -6.13710822e+00] [-1.72103236e-02 -5.38203827e-04 9.99851747e-01 -1.37608732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:-6.14, Z:-1.38 [[ 9.90977175e-01 1.32947460e-01 1.70061977e-02 1.70132919e+02] [-1.32936893e-01 9.91122950e-01 -1.75537267e-03 -6.14136268e+00] [-1.70886051e-02 -5.21216830e-04 9.99853843e-01 -1.37661219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:-6.14, Z:-1.38 [[ 9.91057242e-01 1.32282411e-01 1.75187626e-02 1.70164778e+02] [-1.32271063e-01 9.91211930e-01 -1.80995248e-03 -6.14476073e+00] [-1.76042313e-02 -5.23458847e-04 9.99844896e-01 -1.37752079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:-6.15, Z:-1.38 [[ 9.91064691e-01 1.32133236e-01 1.82095262e-02 1.70196218e+02] [-1.32120893e-01 9.91231819e-01 -1.88449762e-03 -6.14820096e+00] [-1.82988665e-02 -5.38199805e-04 9.99832417e-01 -1.37788768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:-6.15, Z:-1.38 [[ 9.90994071e-01 1.32533750e-01 1.91195296e-02 1.70229205e+02] [-1.32520168e-01 9.91178329e-01 -1.98123594e-03 -6.15210386e+00] [-1.92134441e-02 -5.70330203e-04 9.99815242e-01 -1.37820166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.065898227 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:170.26, Y:-6.16, Z:-1.38 [[ 9.90906320e-01 1.33243386e-01 1.87313882e-02 1.70261889e+02] [-1.33230411e-01 9.91083184e-01 -1.94445213e-03 -6.15545590e+00] [-1.88234492e-02 -5.68820645e-04 9.99822661e-01 -1.37882641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:-6.16, Z:-1.38 [[ 9.90589121e-01 1.35556838e-01 1.89086569e-02 1.70293940e+02] [-1.35543970e-01 9.90769381e-01 -1.96640561e-03 -6.15980711e+00] [-1.90006780e-02 -6.15054420e-04 9.99819282e-01 -1.37880706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:-6.16, Z:-1.38 [[ 9.90049539e-01 1.39338669e-01 1.96633153e-02 1.70326150e+02] [-1.39325428e-01 9.90244530e-01 -2.04843331e-03 -6.16243023e+00] [-1.97569164e-02 -7.11549372e-04 9.99804560e-01 -1.37761384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:-6.17, Z:-1.38 [[ 9.89795091e-01 1.41153577e-01 1.95280644e-02 1.70358675e+02] [-1.41140804e-01 9.89987435e-01 -2.03773605e-03 -6.16505462e+00] [-1.96201722e-02 -7.39265572e-04 9.99807233e-01 -1.37784461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.185898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:170.39, Y:-6.17, Z:-1.38 [[ 9.89593139e-01 1.42659956e-01 1.88031014e-02 1.70391873e+02] [-1.42648320e-01 9.89771486e-01 -1.96551515e-03 -6.16723461e+00] [-1.88911740e-02 -7.37170523e-04 9.99821274e-01 -1.37848665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:-6.17, Z:-1.38 [[ 9.89328968e-01 1.44495181e-01 1.86905418e-02 1.70423112e+02] [-1.44483946e-01 9.89505209e-01 -1.95719829e-03 -6.17062070e+00] [-1.87771942e-02 -7.64170277e-04 9.99823401e-01 -1.37946154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.245898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:170.46, Y:-6.17, Z:-1.38 [[ 9.89120436e-01 1.45959574e-01 1.83457071e-02 1.70455610e+02] [-1.45948942e-01 9.89290252e-01 -1.92427881e-03 -6.17371881e+00] [-1.84300962e-02 -7.74193063e-04 9.99829852e-01 -1.37949123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.275898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.49, Y:-6.18, Z:-1.38 [[ 9.88653972e-01 1.49041780e-01 1.87048276e-02 1.70487260e+02] [-1.49031213e-01 9.88830539e-01 -1.96543802e-03 -6.17781162e+00] [-1.87888371e-02 -8.44465036e-04 9.99823118e-01 -1.38001412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:-6.18, Z:-1.38 [[ 9.88450069e-01 1.50332235e-01 1.91488992e-02 1.70519386e+02] [-1.50321337e-01 9.88635137e-01 -2.01547326e-03 -6.18177431e+00] [-1.92342652e-02 -8.86293447e-04 9.99814612e-01 -1.38144793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:-6.19, Z:-1.38 [[ 9.88185949e-01 1.52001235e-01 1.95998729e-02 1.70551741e+02] [-1.51990077e-01 9.88379859e-01 -2.06642761e-03 -6.18598210e+00] [-1.96862191e-02 -9.36971445e-04 9.99805769e-01 -1.38218330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:-6.19, Z:-1.38 [[ 9.87875132e-01 1.53875140e-01 2.06195138e-02 1.70583757e+02] [-1.53863115e-01 9.88089773e-01 -2.17786331e-03 -6.19068028e+00] [-2.07090497e-02 -1.02112563e-03 9.99785023e-01 -1.38271956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:-6.20, Z:-1.38 [[ 9.87605985e-01 1.55542796e-01 2.09966125e-02 1.70616699e+02] [-1.55530624e-01 9.87828573e-01 -2.22146108e-03 -6.19569478e+00] [-2.10865860e-02 -1.07168798e-03 9.99777079e-01 -1.38289391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.425898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:170.65, Y:-6.20, Z:-1.38 [[ 9.87433181e-01 1.56607623e-01 2.12076723e-02 1.70648586e+02] [-1.56595373e-01 9.87660285e-01 -2.24737066e-03 -6.19988372e+00] [-2.12979310e-02 -1.10189500e-03 9.99772566e-01 -1.38399119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:-6.21, Z:-1.39 [[ 9.87269081e-01 1.57691377e-01 2.08132409e-02 1.70680531e+02] [-1.57679762e-01 9.87487831e-01 -2.20832670e-03 -6.20590608e+00] [-2.09010562e-02 -1.10161419e-03 9.99780942e-01 -1.38505662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.485898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:170.71, Y:-6.21, Z:-1.39 [[ 9.87236971e-01 1.57892452e-01 2.08119261e-02 1.70712621e+02] [-1.57880802e-01 9.87455700e-01 -2.21204103e-03 -6.21007903e+00] [-2.09001197e-02 -1.10199490e-03 9.99780961e-01 -1.38623538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.515898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:170.75, Y:-6.21, Z:-1.39 [[ 9.87224154e-01 1.57972616e-01 2.08115934e-02 1.70745877e+02] [-1.57960918e-01 9.87442880e-01 -2.21516786e-03 -6.21372899e+00] [-2.09001955e-02 -1.10055117e-03 9.99780961e-01 -1.38676155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:-6.22, Z:-1.39 [[ 9.87136965e-01 1.58447377e-01 2.13316846e-02 1.70777095e+02] [-1.58435148e-01 9.87366770e-01 -2.27284031e-03 -6.21917582e+00] [-2.14223221e-02 -1.13608391e-03 9.99769870e-01 -1.38731065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:-6.22, Z:-1.39 [[ 9.87069276e-01 1.58783743e-01 2.19537422e-02 1.70809459e+02] [-1.58770787e-01 9.87312690e-01 -2.34307139e-03 -6.22398040e+00] [-2.20472499e-02 -1.17283913e-03 9.99756242e-01 -1.38759271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.605898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.84, Y:-6.23, Z:-1.39 [[ 9.86968021e-01 1.59355886e-01 2.23568287e-02 1.70842208e+02] [-1.59342503e-01 9.87220469e-01 -2.39022297e-03 -6.22784690e+00] [-2.24520150e-02 -1.20331942e-03 9.99747198e-01 -1.38763997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:-6.23, Z:-1.39 [[ 9.86843497e-01 1.60084554e-01 2.26461287e-02 1.70874329e+02] [-1.60070928e-01 9.87102537e-01 -2.42491477e-03 -6.23147921e+00] [-2.27422425e-02 -1.23197547e-03 9.99740603e-01 -1.38826765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:-6.23, Z:-1.39 [[ 9.86751733e-01 1.60695513e-01 2.23152164e-02 1.70907520e+02] [-1.60682371e-01 9.87003268e-01 -2.39249371e-03 -6.23442476e+00] [-2.24096545e-02 -1.22486455e-03 9.99748122e-01 -1.38906028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:-6.24, Z:-1.39 [[ 9.86661359e-01 1.61362340e-01 2.14838903e-02 1.70939727e+02] [-1.61350235e-01 9.86894513e-01 -2.30711475e-03 -6.23505645e+00] [-2.15746149e-02 -1.19008977e-03 9.99766533e-01 -1.39032403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:-6.24, Z:-1.39 [[ 9.86617814e-01 1.61592402e-01 2.17527918e-02 1.70972337e+02] [-1.61579965e-01 9.86856849e-01 -2.33980098e-03 -6.23707245e+00] [-2.18449856e-02 -1.20632600e-03 9.99760642e-01 -1.39053026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:-6.24, Z:-1.39 [[ 9.86586578e-01 1.61720864e-01 2.22100540e-02 1.71004377e+02] [-1.61707841e-01 9.86835776e-01 -2.39300825e-03 -6.23893181e+00] [-2.23046752e-02 -1.23063005e-03 9.99750462e-01 -1.39053376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.785898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:171.04, Y:-6.24, Z:-1.39 [[ 9.86734681e-01 1.60812090e-01 2.22292927e-02 1.71036775e+02] [-1.60798738e-01 9.86984302e-01 -2.39847751e-03 -6.24048616e+00] [-2.23256671e-02 -1.20778128e-03 9.99750022e-01 -1.39135721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:-6.24, Z:-1.39 [[ 9.86986750e-01 1.59349319e-01 2.15627116e-02 1.71070118e+02] [-1.59336348e-01 9.87221608e-01 -2.32934815e-03 -6.24259914e+00] [-2.16583548e-02 -1.13668795e-03 9.99764784e-01 -1.39201416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:-6.24, Z:-1.39 [[ 9.87340481e-01 1.57246752e-01 2.07902044e-02 1.71102300e+02] [-1.57234151e-01 9.87558789e-01 -2.24962131e-03 -6.24430366e+00] [-2.08852947e-02 -1.04778794e-03 9.99781329e-01 -1.39371001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:-6.24, Z:-1.40 [[ 9.88077568e-01 1.52631845e-01 2.01553964e-02 1.71134066e+02] [-1.52618971e-01 9.88282691e-01 -2.18447028e-03 -6.24348633e+00] [-2.02526491e-02 -9.17669774e-04 9.99794473e-01 -1.39571580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:-6.25, Z:-1.40 [[ 9.88427563e-01 1.50206073e-01 2.11916979e-02 1.71167157e+02] [-1.50191203e-01 9.88654292e-01 -2.30057479e-03 -6.24524289e+00] [-2.12968234e-02 -9.08855076e-04 9.99772784e-01 -1.39631909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.935898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:171.20, Y:-6.25, Z:-1.40 [[ 9.88782922e-01 1.47686340e-01 2.22952274e-02 1.71199223e+02] [-1.47669149e-01 9.89033844e-01 -2.42458770e-03 -6.24637019e+00] [-2.24088129e-02 -8.94926335e-04 9.99748490e-01 -1.39592347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:-6.25, Z:-1.40 [[ 9.89009295e-01 1.45921185e-01 2.38248002e-02 1.71232506e+02] [-1.45900936e-01 9.89295801e-01 -2.59535367e-03 -6.24804142e+00] [-2.39484919e-02 -9.09231751e-04 9.99712780e-01 -1.39596950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:-6.25, Z:-1.40 [[ 9.89294987e-01 1.43767663e-01 2.50257420e-02 1.71264473e+02] [-1.43744515e-01 9.89611063e-01 -2.73087219e-03 -6.24822690e+00] [-2.51583623e-02 -8.95674980e-04 9.99683077e-01 -1.39653960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:-6.25, Z:-1.40 [[ 9.89518812e-01 1.42123728e-01 2.55610287e-02 1.71297785e+02] [-1.42098915e-01 9.89848520e-01 -2.79379596e-03 -6.24853870e+00] [-2.56986111e-02 -8.67680779e-04 9.99669360e-01 -1.39707679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.33, Y:-6.25, Z:-1.40 [[ 9.89915537e-01 1.39338232e-01 2.55359861e-02 1.71331224e+02] [-1.39312424e-01 9.90244532e-01 -2.79562231e-03 -6.24598930e+00] [-2.56764077e-02 -7.90050181e-04 9.99669995e-01 -1.39771882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:-6.25, Z:-1.40 [[ 9.90089099e-01 1.38009656e-01 2.60175125e-02 1.71363104e+02] [-1.37982283e-01 9.90430588e-01 -2.85308755e-03 -6.24641676e+00] [-2.61622938e-02 -7.65144893e-04 9.99657416e-01 -1.39813823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.115898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:171.40, Y:-6.25, Z:-1.40 [[ 9.90325658e-01 1.36164833e-01 2.67250764e-02 1.71396221e+02] [-1.36135151e-01 9.90685926e-01 -2.93547249e-03 -6.24657693e+00] [-2.68758651e-02 -7.31148580e-04 9.99638511e-01 -1.39756027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:-6.25, Z:-1.40 [[ 9.90461834e-01 1.35058307e-01 2.72875223e-02 1.71428771e+02] [-1.35026803e-01 9.90837398e-01 -3.00234554e-03 -6.24787311e+00] [-2.74429893e-02 -7.10838236e-04 9.99623118e-01 -1.39728748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.175898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.46, Y:-6.25, Z:-1.40 [[ 9.90706197e-01 1.33197624e-01 2.75612744e-02 1.71461928e+02] [-1.33164619e-01 9.91089278e-01 -3.03771206e-03 -6.24814701e+00] [-2.77202996e-02 -6.60706451e-04 9.99615500e-01 -1.39750204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:-6.25, Z:-1.40 [[ 9.91388712e-01 1.28166952e-01 2.68636413e-02 1.71495475e+02] [-1.28133614e-01 9.91752480e-01 -2.96584660e-03 -6.24672781e+00] [-2.70222064e-02 -5.01828611e-04 9.99634708e-01 -1.39897441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:-6.25, Z:-1.40 [[ 9.91805556e-01 1.24971064e-01 2.65324816e-02 1.71527916e+02] [-1.24937270e-01 9.92160304e-01 -2.93416181e-03 -6.24809180e+00] [-2.66911603e-02 -4.04777839e-04 9.99643646e-01 -1.40071836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:-6.25, Z:-1.40 [[ 9.92282257e-01 1.21135864e-01 2.64957361e-02 1.71560545e+02] [-1.21100667e-01 9.92635892e-01 -2.93494596e-03 -6.24990246e+00] [-2.66561459e-02 -2.96356516e-04 9.99644618e-01 -1.40207483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:-6.25, Z:-1.40 [[ 9.92759997e-01 1.17194980e-01 2.63234658e-02 1.71593590e+02] [-1.17158720e-01 9.93108908e-01 -2.92088415e-03 -6.25296161e+00] [-2.64843814e-02 -1.84286632e-04 9.99649210e-01 -1.40292530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:-6.26, Z:-1.40 [[ 9.93216897e-01 1.13172324e-01 2.66874532e-02 1.71625587e+02] [-1.13133466e-01 9.93575372e-01 -2.96632929e-03 -6.25676316e+00] [-2.68517027e-02 -7.30356979e-05 9.99639425e-01 -1.40418233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:-6.26, Z:-1.40 [[ 9.93589384e-01 1.09790749e-01 2.69467706e-02 1.71657021e+02] [-1.09749756e-01 9.93954723e-01 -3.00001909e-03 -6.26088526e+00] [-2.71132443e-02 2.33856187e-05 9.99632368e-01 -1.40431370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:-6.26, Z:-1.40 [[ 9.93978936e-01 1.06072499e-01 2.74681437e-02 1.71689051e+02] [-1.06028349e-01 9.94358390e-01 -3.06294222e-03 -6.26352272e+00] [-2.76380730e-02 1.32098129e-04 9.99617987e-01 -1.40499419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:-6.27, Z:-1.41 [[ 9.93958656e-01 1.06123404e-01 2.80002386e-02 1.71721952e+02] [-1.06077403e-01 9.94352957e-01 -3.12738819e-03 -6.26575205e+00] [-2.81740091e-02 1.38301971e-04 9.99603024e-01 -1.40602648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:-6.27, Z:-1.41 [[ 9.93846698e-01 1.07027370e-01 2.85286427e-02 1.71755363e+02] [-1.06979830e-01 9.94256067e-01 -3.19194282e-03 -6.26751424e+00] [-2.87064014e-02 1.20312491e-04 9.99587879e-01 -1.40676987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:-6.27, Z:-1.41 [[ 9.93676414e-01 1.08426772e-01 2.91688236e-02 1.71787672e+02] [-1.08377514e-01 9.94104435e-01 -3.26908323e-03 -6.26873574e+00] [-2.93513131e-02 8.71663002e-05 9.99569154e-01 -1.40763825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:-6.27, Z:-1.41 [[ 9.93500848e-01 1.09840277e-01 2.98526051e-02 1.71820905e+02] [-1.09789153e-01 9.93949250e-01 -3.35129030e-03 -6.26939068e+00] [-3.00400811e-02 5.20175344e-05 9.99548694e-01 -1.40855703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:-6.27, Z:-1.41 [[ 9.93391573e-01 1.10766925e-01 3.00644388e-02 1.71852742e+02] [-1.10715328e-01 9.93846410e-01 -3.38061958e-03 -6.26924188e+00] [-3.02538955e-02 2.96847946e-05 9.99542246e-01 -1.40933296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.89, Y:-6.26, Z:-1.41 [[ 9.93351718e-01 1.11027898e-01 3.04166119e-02 1.71886210e+02] [-1.10975035e-01 9.93817290e-01 -3.42584361e-03 -6.26492449e+00] [-3.06089190e-02 2.75830541e-05 9.99531437e-01 -1.41063007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.595898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:171.92, Y:-6.26, Z:-1.41 [[ 9.93453359e-01 1.10213757e-01 3.00558108e-02 1.71919314e+02] [-1.10161597e-01 9.93907905e-01 -3.39091311e-03 -6.26410045e+00] [-3.02464332e-02 5.77179129e-05 9.99542470e-01 -1.41057446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:-6.26, Z:-1.41 [[ 9.93547854e-01 1.09406655e-01 2.98805322e-02 1.71951891e+02] [-1.09354565e-01 9.93997070e-01 -3.37684384e-03 -6.26442401e+00] [-3.00706107e-02 8.74833501e-05 9.99547773e-01 -1.41192731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.655898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:171.98, Y:-6.26, Z:-1.41 [[ 9.93754586e-01 1.07655686e-01 2.93611265e-02 1.71983750e+02] [-1.07604491e-01 9.94188228e-01 -3.32272542e-03 -6.26343151e+00] [-2.95481967e-02 1.42584543e-04 9.99563347e-01 -1.41207101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:-6.26, Z:-1.41 [[ 9.93869596e-01 1.06655426e-01 2.91178115e-02 1.72015775e+02] [-1.06604522e-01 9.94296027e-01 -3.29945120e-03 -6.26314136e+00] [-2.93036287e-02 1.75133847e-04 9.99570541e-01 -1.41363813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:-6.26, Z:-1.42 [[ 9.94135700e-01 1.04249619e-01 2.87441471e-02 1.72049504e+02] [-1.04198856e-01 9.94551133e-01 -3.26239824e-03 -6.25783669e+00] [-2.89276278e-02 2.48159338e-04 9.99581478e-01 -1.41628804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:-6.26, Z:-1.42 [[ 9.94229236e-01 1.03560032e-01 2.79918888e-02 1.72082470e+02] [-1.03511468e-01 9.94623169e-01 -3.18233405e-03 -6.25795761e+00] [-2.81709437e-02 2.66488048e-04 9.99603085e-01 -1.41743451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:-6.26, Z:-1.42 [[ 9.94323142e-01 1.02818330e-01 2.73839425e-02 1.72114592e+02] [-1.02771433e-01 9.94700110e-01 -3.11826509e-03 -6.25811036e+00] [-2.75594255e-02 2.86276136e-04 9.99620126e-01 -1.41814702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.805898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:172.15, Y:-6.26, Z:-1.42 [[ 9.94422238e-01 1.01957782e-01 2.70004244e-02 1.72147127e+02] [-1.01911743e-01 9.94788678e-01 -3.07937342e-03 -6.25783454e+00] [-2.71736826e-02 3.10537099e-04 9.99630679e-01 -1.41885293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.18, Y:-6.26, Z:-1.42 [[ 9.94431766e-01 1.01919814e-01 2.67920721e-02 1.72180530e+02] [-1.01874337e-01 9.94792568e-01 -3.06049038e-03 -6.25820591e+00] [-2.69644788e-02 3.14024274e-04 9.99636343e-01 -1.42103552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:-6.26, Z:-1.42 [[ 9.94410978e-01 1.02276679e-01 2.61970791e-02 1.72213651e+02] [-1.02233191e-01 9.94755945e-01 -2.99754987e-03 -6.25900416e+00] [-2.63662796e-02 3.02585498e-04 9.99652303e-01 -1.42232620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:-6.26, Z:-1.42 [[ 9.94226299e-01 1.04292581e-01 2.52413041e-02 1.72246038e+02] [-1.04252737e-01 9.94546629e-01 -2.89297530e-03 -6.25823375e+00] [-2.54053698e-02 2.44797089e-04 9.99677202e-01 -1.42349237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:-6.26, Z:-1.42 [[ 9.93969970e-01 1.06700577e-01 2.52722215e-02 1.72277811e+02] [-1.06661295e-01 9.94291180e-01 -2.90115163e-03 -6.25955395e+00] [-2.54375015e-02 1.88089733e-04 9.99676397e-01 -1.42399540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:-6.26, Z:-1.42 [[ 9.93601389e-01 1.10077696e-01 2.52820099e-02 1.72311019e+02] [-1.10039357e-01 9.93922980e-01 -2.90695093e-03 -6.26038148e+00] [-2.54483611e-02 1.06334374e-04 9.99676132e-01 -1.42461246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:-6.26, Z:-1.42 [[ 9.93094721e-01 1.14492528e-01 2.55799745e-02 1.72343771e+02] [-1.14454615e-01 9.93424109e-01 -2.94621328e-03 -6.26095041e+00] [-2.57490828e-02 -1.87727893e-06 9.99668437e-01 -1.42468693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.015898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.38, Y:-6.26, Z:-1.42 [[ 9.92550228e-01 1.19125943e-01 2.55549446e-02 1.72375958e+02] [-1.19089515e-01 9.92879145e-01 -2.94814927e-03 -6.26103665e+00] [-2.57241726e-02 -1.17139721e-04 9.99669072e-01 -1.42423236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:-6.26, Z:-1.42 [[ 9.91911404e-01 1.24329943e-01 2.55701349e-02 1.72407699e+02] [-1.24295080e-01 9.92240900e-01 -2.95450157e-03 -6.26165173e+00] [-2.57390667e-02 -2.47638171e-04 9.99668665e-01 -1.42467535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:-6.26, Z:-1.43 [[ 9.90730199e-01 1.33268841e-01 2.63265650e-02 1.72440169e+02] [-1.33234925e-01 9.91079803e-01 -3.04605009e-03 -6.25638867e+00] [-2.64976704e-02 -4.89804115e-04 9.99648755e-01 -1.42620747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:-6.26, Z:-1.43 [[ 9.90136333e-01 1.37529972e-01 2.67497539e-02 1.72473540e+02] [-1.37496402e-01 9.90497418e-01 -3.09903288e-03 -6.25527373e+00] [-2.69217721e-02 -6.09529874e-04 9.99637358e-01 -1.42717076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:-6.25, Z:-1.43 [[ 9.89540923e-01 1.41636716e-01 2.73459898e-02 1.72505565e+02] [-1.41603057e-01 9.89918433e-01 -3.17325673e-03 -6.25428002e+00] [-2.75197491e-02 -7.32208358e-04 9.99620992e-01 -1.42820310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:-6.25, Z:-1.43 [[ 9.89096541e-01 1.44633500e-01 2.77341439e-02 1.72538459e+02] [-1.44599913e-01 9.89484954e-01 -3.22340602e-03 -6.25354195e+00] [-2.79087306e-02 -8.22095053e-04 9.99610137e-01 -1.42887562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:-6.25, Z:-1.43 [[ 9.88757820e-01 1.46842412e-01 2.82007122e-02 1.72570831e+02] [-1.46808434e-01 9.89159495e-01 -3.28283815e-03 -6.25289281e+00] [-2.83770621e-02 -8.94170516e-04 9.99596890e-01 -1.42926719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:-6.25, Z:-1.43 [[ 9.88628129e-01 1.47666603e-01 2.84428721e-02 1.72603450e+02] [-1.47632238e-01 9.89036767e-01 -3.31599451e-03 -6.25201963e+00] [-2.86207079e-02 -9.20799423e-04 9.99589920e-01 -1.42972862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:-6.25, Z:-1.43 [[ 9.88809933e-01 1.46205240e-01 2.96470077e-02 1.72637477e+02] [-1.46167085e-01 9.89253860e-01 -3.46179056e-03 -6.24670860e+00] [-2.98345487e-02 -9.10363805e-04 9.99554436e-01 -1.43164812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:-6.25, Z:-1.43 [[ 9.89054132e-01 1.44361933e-01 3.05214249e-02 1.72670209e+02] [-1.44320439e-01 9.89524567e-01 -3.56968538e-03 -6.24668988e+00] [-3.07170264e-02 -8.74253370e-04 9.99527738e-01 -1.43300740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:-6.25, Z:-1.43 [[ 9.89283187e-01 1.42642271e-01 3.11762445e-02 1.72703560e+02] [-1.42597940e-01 9.89773959e-01 -3.65216384e-03 -6.24750774e+00] [-3.13783878e-02 -8.32643953e-04 9.99507230e-01 -1.43364307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:-6.25, Z:-1.44 [[ 9.89672867e-01 1.40153892e-01 3.00749478e-02 1.72737243e+02] [-1.40111322e-01 9.90129469e-01 -3.52868691e-03 -6.24548567e+00] [-3.02726513e-02 -7.21594996e-04 9.99541418e-01 -1.43549129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:-6.25, Z:-1.44 [[ 9.89762921e-01 1.39645214e-01 2.94715778e-02 1.72768806e+02] [-1.39603952e-01 9.90201365e-01 -3.46320186e-03 -6.24645995e+00] [-2.96664161e-02 -6.86599955e-04 9.99559619e-01 -1.43697083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:-6.25, Z:-1.44 [[ 9.89751633e-01 1.39725296e-01 2.94711280e-02 1.72802035e+02] [-1.39683955e-01 9.90190069e-01 -3.46702614e-03 -6.25049198e+00] [-2.96664495e-02 -6.85148945e-04 9.99559619e-01 -1.43749671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:-6.25, Z:-1.44 [[ 9.89845180e-01 1.39115723e-01 2.92119048e-02 1.72835392e+02] [-1.39074728e-01 9.90275913e-01 -3.44036540e-03 -6.25168595e+00] [-2.94064546e-02 -6.57208619e-04 9.99567321e-01 -1.43856437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:-6.25, Z:-1.44 [[ 9.89878117e-01 1.38945877e-01 2.89025369e-02 1.72868403e+02] [-1.38905515e-01 9.90299770e-01 -3.40940061e-03 -6.25325351e+00] [-2.90958978e-02 -6.39830709e-04 9.99576420e-01 -1.43959962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:-6.25, Z:-1.44 [[ 9.89885469e-01 1.39003499e-01 2.83687300e-02 1.72900493e+02] [-1.38964488e-01 9.90291693e-01 -3.35168150e-03 -6.25489717e+00] [-2.85592131e-02 -6.24465226e-04 9.99591907e-01 -1.44058380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.525898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:172.93, Y:-6.26, Z:-1.44 [[ 9.89879955e-01 1.39296137e-01 2.70972504e-02 1.72933534e+02] [-1.39260523e-01 9.90250588e-01 -3.20628268e-03 -6.25662171e+00] [-2.72796909e-02 -5.99742308e-04 9.99627660e-01 -1.44102915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.555898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:172.97, Y:-6.26, Z:-1.44 [[ 9.89575485e-01 1.41752047e-01 2.54306384e-02 1.72966591e+02] [-1.41721372e-01 9.89902000e-01 -3.01368300e-03 -6.25771857e+00] [-2.56010356e-02 -6.21798139e-04 9.99672046e-01 -1.44237273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.585898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:173.00, Y:-6.26, Z:-1.44 [[ 9.89314931e-01 1.43607021e-01 2.51592931e-02 1.72998364e+02] [-1.43577478e-01 9.89634574e-01 -2.98618341e-03 -6.25984755e+00] [-2.53273432e-02 -6.58032010e-04 9.99678995e-01 -1.44314720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:-6.26, Z:-1.45 [[ 9.89066149e-01 1.45273568e-01 2.53721091e-02 1.73030166e+02] [-1.45243956e-01 9.89391276e-01 -3.01596614e-03 -6.26212024e+00] [-2.55410836e-02 -7.02155479e-04 9.99673527e-01 -1.44512019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:-6.26, Z:-1.45 [[ 9.88851355e-01 1.46694382e-01 2.55686526e-02 1.73062905e+02] [-1.46664664e-01 9.89181586e-01 -3.04396135e-03 -6.26481272e+00] [-2.57385724e-02 -7.39992542e-04 9.99668434e-01 -1.44648015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:-6.27, Z:-1.45 [[ 9.88750014e-01 1.47342106e-01 2.57626254e-02 1.73095171e+02] [-1.47312032e-01 9.89085299e-01 -3.07178967e-03 -6.26737533e+00] [-2.59340381e-02 -7.57912627e-04 9.99663369e-01 -1.44811430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:-6.27, Z:-1.45 [[ 9.88661520e-01 1.47966559e-01 2.55792264e-02 1.73127935e+02] [-1.47937003e-01 9.88992069e-01 -3.05446197e-03 -6.27139679e+00] [-2.57496103e-02 -7.64285077e-04 9.99668132e-01 -1.44886991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:-6.28, Z:-1.45 [[ 9.88571416e-01 1.48730370e-01 2.46136838e-02 1.73159165e+02] [-1.48703147e-01 9.88877502e-01 -2.94293467e-03 -6.27716334e+00] [-2.47776219e-02 -7.50831152e-04 9.99692706e-01 -1.45065455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:-6.28, Z:-1.45 [[ 9.88521590e-01 1.49152520e-01 2.40539199e-02 1.73191790e+02] [-1.49126565e-01 9.88813924e-01 -2.87933028e-03 -6.28261364e+00] [-2.42143103e-02 -7.40798309e-04 9.99706516e-01 -1.45136893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:-6.29, Z:-1.45 [[ 9.88422026e-01 1.49831286e-01 2.39266303e-02 1.73224191e+02] [-1.49805696e-01 9.88711295e-01 -2.86855973e-03 -6.28784857e+00] [-2.40863296e-02 -7.48997873e-04 9.99709602e-01 -1.45209632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:-6.29, Z:-1.45 [[ 9.88288846e-01 1.50693774e-01 2.40113164e-02 1.73255981e+02] [-1.50668151e-01 9.88580192e-01 -2.88311286e-03 -6.29276195e+00] [-2.41715789e-02 -7.68392358e-04 9.99707529e-01 -1.45281377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:-6.30, Z:-1.45 [[ 9.88064049e-01 1.52147400e-01 2.40957310e-02 1.73288259e+02] [-1.52121924e-01 9.88357488e-01 -2.89755702e-03 -6.29773294e+00] [-2.42560519e-02 -8.02517028e-04 9.99705457e-01 -1.45324462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:-6.30, Z:-1.45 [[ 9.87407576e-01 1.56292096e-01 2.44757107e-02 1.73321129e+02] [-1.56266967e-01 9.87710456e-01 -2.94784135e-03 -6.30279908e+00] [-2.46356397e-02 -9.14024189e-04 9.99696079e-01 -1.45448134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:-6.31, Z:-1.46 [[ 9.87009557e-01 1.58865826e-01 2.39537889e-02 1.73353976e+02] [-1.58842407e-01 9.87299722e-01 -2.88937344e-03 -6.30693617e+00] [-2.41085918e-02 -9.53038295e-04 9.99708891e-01 -1.45534082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:-6.31, Z:-1.46 [[ 9.86626201e-01 1.61342214e-01 2.31825408e-02 1.73385268e+02] [-1.61320865e-01 9.86898037e-01 -2.80046955e-03 -6.31074562e+00] [-2.33306380e-02 -9.76810918e-04 9.99727326e-01 -1.45665725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:-6.31, Z:-1.46 [[ 9.86327846e-01 1.63271263e-01 2.23578577e-02 1.73417731e+02] [-1.63251815e-01 9.86580726e-01 -2.70468065e-03 -6.31448435e+00] [-2.24994281e-02 -9.82258996e-04 9.99746373e-01 -1.45834663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:-6.32, Z:-1.46 [[ 9.86097209e-01 1.64784227e-01 2.14114946e-02 1.73450558e+02] [-1.64766664e-01 9.86329163e-01 -2.59398816e-03 -6.31808349e+00] [-2.15462299e-02 -9.69976046e-04 9.99767383e-01 -1.45965463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.035898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:173.48, Y:-6.32, Z:-1.46 [[ 9.85997716e-01 1.65524089e-01 2.02553906e-02 1.73483239e+02] [-1.65508453e-01 9.86205309e-01 -2.45755727e-03 -6.32088836e+00] [-2.03827587e-02 -9.29292513e-04 9.99791818e-01 -1.45999081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:-6.32, Z:-1.46 [[ 9.86024510e-01 1.65347189e-01 2.03954341e-02 1.73514933e+02] [-1.65331225e-01 9.86234985e-01 -2.47809043e-03 -6.32212721e+00] [-2.05244360e-02 -9.28544217e-04 9.99788920e-01 -1.46145160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.095898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:173.55, Y:-6.32, Z:-1.46 [[ 9.86223309e-01 1.64118833e-01 2.07024869e-02 1.73546899e+02] [-1.64102058e-01 9.86440152e-01 -2.51814107e-03 -6.32368130e+00] [-2.08350387e-02 -9.13871280e-04 9.99782509e-01 -1.46075073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:-6.33, Z:-1.46 [[ 9.86379482e-01 1.63043101e-01 2.17362357e-02 1.73579645e+02] [-1.63024262e-01 9.86618507e-01 -2.64782943e-03 -6.32625322e+00] [-2.18770828e-02 -9.31769159e-04 9.99760234e-01 -1.46121281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:-6.33, Z:-1.46 [[ 9.86565965e-01 1.61732632e-01 2.30250268e-02 1.73612493e+02] [-1.61711032e-01 9.86834155e-01 -2.80929483e-03 -6.32845413e+00] [-2.31762375e-02 -9.51846187e-04 9.99730942e-01 -1.46221820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.185898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:173.64, Y:-6.33, Z:-1.46 [[ 9.86794363e-01 1.60231104e-01 2.37250676e-02 1.73644630e+02] [-1.60207632e-01 9.87079080e-01 -2.89914377e-03 -6.32999793e+00] [-2.38830509e-02 -9.40078176e-04 9.99714317e-01 -1.46264304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:-6.33, Z:-1.46 [[ 9.86964007e-01 1.59111291e-01 2.42001237e-02 1.73676285e+02] [-1.59086442e-01 9.87260217e-01 -2.96096866e-03 -6.33289723e+00] [-2.43629429e-02 -9.27542084e-04 9.99702749e-01 -1.46449982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:-6.33, Z:-1.47 [[ 9.87279234e-01 1.57272708e-01 2.33454505e-02 1.73708041e+02] [-1.57248997e-01 9.87554847e-01 -2.85946437e-03 -6.33483442e+00] [-2.35046286e-02 -8.47958897e-04 9.99723368e-01 -1.46656567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:-6.34, Z:-1.47 [[ 9.87405404e-01 1.56468769e-01 2.34113782e-02 1.73740287e+02] [-1.56444605e-01 9.87682560e-01 -2.87150635e-03 -6.33790730e+00] [-2.35723110e-02 -8.27242925e-04 9.99721792e-01 -1.46736512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:-6.34, Z:-1.47 [[ 9.87418479e-01 1.56355787e-01 2.36138585e-02 1.73772818e+02] [-1.56331075e-01 9.87700452e-01 -2.90036711e-03 -6.34104907e+00] [-2.37769079e-02 -8.27703812e-04 9.99716947e-01 -1.46742084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:-6.34, Z:-1.47 [[ 9.87374968e-01 1.56713466e-01 2.30556117e-02 1.73805536e+02] [-1.56689913e-01 9.87643776e-01 -2.83583578e-03 -6.34368271e+00] [-2.32151450e-02 -8.12548523e-04 9.99730162e-01 -1.46754874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:-6.35, Z:-1.47 [[ 9.87233348e-01 1.57677061e-01 2.25446388e-02 1.73838730e+02] [-1.57654700e-01 9.87490397e-01 -2.77699393e-03 -6.34553297e+00] [-2.27004826e-02 -8.12727255e-04 9.99741980e-01 -1.46843056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:-6.35, Z:-1.47 [[ 9.87021103e-01 1.59120906e-01 2.16767035e-02 1.73870615e+02] [-1.59100497e-01 9.87258772e-01 -2.67393036e-03 -6.34730878e+00] [-2.18259939e-02 -8.09548609e-04 9.99761457e-01 -1.46929007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:-6.35, Z:-1.47 [[ 9.86508412e-01 1.62325775e-01 2.12484335e-02 1.73903424e+02] [-1.62306829e-01 9.86736846e-01 -2.62473386e-03 -6.34559805e+00] [-2.13926743e-02 -8.59443829e-04 9.99770781e-01 -1.47080965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:-6.35, Z:-1.47 [[ 9.86225750e-01 1.64000778e-01 2.15061576e-02 1.73936491e+02] [-1.63981684e-01 9.86459796e-01 -2.66038302e-03 -6.34668763e+00] [-2.16512647e-02 -9.02877700e-04 9.99765176e-01 -1.47186214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.97, Y:-6.35, Z:-1.47 [[ 9.85917919e-01 1.65800994e-01 2.18148380e-02 1.73969233e+02] [-1.65781697e-01 9.86158772e-01 -2.70267136e-03 -6.34783291e+00] [-2.19609995e-02 -9.51888743e-04 9.99758375e-01 -1.47243212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.00, Y:-6.35, Z:-1.47 [[ 9.85664912e-01 1.67231735e-01 2.23210255e-02 1.74002523e+02] [-1.67211803e-01 9.85917107e-01 -2.76962330e-03 -6.34934783e+00] [-2.24698498e-02 -1.00241842e-03 9.99747019e-01 -1.47318189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:-6.35, Z:-1.47 [[ 9.85464223e-01 1.68420533e-01 2.22438646e-02 1.74034276e+02] [-1.68400959e-01 9.85714705e-01 -2.76371702e-03 -6.35049784e+00] [-2.23915711e-02 -1.02234389e-03 9.99748755e-01 -1.47376495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.07, Y:-6.35, Z:-1.47 [[ 9.85332067e-01 1.69272542e-01 2.16223092e-02 1.74066097e+02] [-1.69254190e-01 9.85568763e-01 -2.68930194e-03 -6.35186160e+00] [-2.17654975e-02 -1.00981099e-03 9.99762594e-01 -1.47471841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:-6.35, Z:-1.48 [[ 9.85340925e-01 1.69394666e-01 2.02165556e-02 1.74099257e+02] [-1.69378580e-01 9.85547846e-01 -2.51782551e-03 -6.35074839e+00] [-2.03508890e-02 -9.43334966e-04 9.99792454e-01 -1.47685249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:-6.35, Z:-1.48 [[ 9.85417328e-01 1.68964957e-01 2.00881168e-02 1.74131000e+02] [-1.68948912e-01 9.85621625e-01 -2.50542637e-03 -6.35238556e+00] [-2.02226116e-02 -9.24974929e-04 9.99795074e-01 -1.47793764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:-6.35, Z:-1.48 [[ 9.85566084e-01 1.68155137e-01 1.95791727e-02 1.74164154e+02] [-1.68139670e-01 9.85760149e-01 -2.44528714e-03 -6.35453590e+00] [-1.97115558e-02 -8.82043577e-04 9.99805319e-01 -1.47874833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:-6.36, Z:-1.48 [[ 9.85648913e-01 1.67736139e-01 1.89949393e-02 1.74196480e+02] [-1.67721438e-01 9.85831565e-01 -2.37572934e-03 -6.35759558e+00] [-1.91243064e-02 -8.44223501e-04 9.99816757e-01 -1.47871781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.725898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.23, Y:-6.36, Z:-1.48 [[ 9.85753606e-01 1.67205176e-01 1.82279227e-02 1.74228549e+02] [-1.67191493e-01 9.85921799e-01 -2.28283957e-03 -6.36054736e+00] [-1.83530089e-02 -7.97236271e-04 9.99831252e-01 -1.47918301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:-6.36, Z:-1.48 [[ 9.85685905e-01 1.67723787e-01 1.70888040e-02 1.74261446e+02] [-1.67711790e-01 9.85833740e-01 -2.14293113e-03 -6.36475083e+00] [-1.72061401e-02 -7.53736896e-04 9.99851679e-01 -1.47886436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:-6.37, Z:-1.48 [[ 9.85301725e-01 1.70043678e-01 1.62990429e-02 1.74294827e+02] [-1.70033036e-01 9.85436237e-01 -2.04670833e-03 -6.36552092e+00] [-1.64096973e-02 -7.54750494e-04 9.99865067e-01 -1.48027913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:-6.37, Z:-1.48 [[ 9.85288086e-01 1.70122723e-01 1.62986764e-02 1.74328028e+02] [-1.70112043e-01 9.85422596e-01 -2.04962226e-03 -6.36982060e+00] [-1.64097714e-02 -7.53132751e-04 9.99865067e-01 -1.48080494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.845898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:174.36, Y:-6.37, Z:-1.48 [[ 9.84499084e-01 1.74624232e-01 1.63686091e-02 1.74361645e+02] [-1.74614057e-01 9.84634799e-01 -2.05984108e-03 -6.36772131e+00] [-1.64768003e-02 -8.30277571e-04 9.99863904e-01 -1.48145533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.875898227 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:174.39, Y:-6.37, Z:-1.48 [[ 9.83950028e-01 1.77332163e-01 1.98908453e-02 1.74392788e+02] [-1.77528967e-01 9.84078050e-01 8.59405975e-03 -6.37311118e+00] [-1.80501411e-02 -1.19873266e-02 9.99765221e-01 -1.47945121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:-6.36, Z:-1.49 [[ 9.83437977e-01 1.80763682e-01 1.31998363e-02 1.74427268e+02] [-1.80591996e-01 9.83469254e-01 -1.32195825e-02 -6.36498179e+00] [-1.53712536e-02 1.06168546e-02 9.99825488e-01 -1.48620162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:-6.37, Z:-1.48 [[ 9.82922565e-01 1.83508413e-01 1.37073962e-02 1.74460196e+02] [-1.83502071e-01 9.83017801e-01 -1.72970552e-03 -6.37086862e+00] [-1.37920300e-02 -8.15169021e-04 9.99904553e-01 -1.48276338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:-6.37, Z:-1.48 [[ 9.82359820e-01 1.86549605e-01 1.29780193e-02 1.74491968e+02] [-1.86544154e-01 9.82445209e-01 -1.63999932e-03 -6.37076288e+00] [-1.30561341e-02 -8.09904187e-04 9.99914437e-01 -1.48340891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:-6.37, Z:-1.48 [[ 9.81818886e-01 1.89387203e-01 1.28125759e-02 1.74525432e+02] [-1.89382103e-01 9.81902129e-01 -1.62129100e-03 -6.37035921e+00] [-1.28877473e-02 -8.34658446e-04 9.99916601e-01 -1.48443250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:-6.36, Z:-1.49 [[ 9.81134122e-01 1.92834338e-01 1.38113256e-02 1.74558038e+02] [-1.92828711e-01 9.81230872e-01 -1.75049157e-03 -6.36403403e+00] [-1.38896540e-02 -9.45753116e-04 9.99903087e-01 -1.48559357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:-6.36, Z:-1.49 [[ 9.81018425e-01 1.93324950e-01 1.51100758e-02 1.74591343e+02] [-1.93318230e-01 9.81134233e-01 -1.91798138e-03 -6.36261907e+00] [-1.51958063e-02 -1.03947803e-03 9.99883997e-01 -1.48562560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:-6.36, Z:-1.49 [[ 9.81000342e-01 1.93324575e-01 1.62461856e-02 1.74624230e+02] [-1.93316754e-01 9.81134225e-01 -2.06538548e-03 -6.36132204e+00] [-1.63389785e-02 -1.11451601e-03 9.99865889e-01 -1.48532766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:-6.36, Z:-1.49 [[ 9.81162121e-01 1.92429031e-01 1.70868314e-02 1.74657179e+02] [-1.92420193e-01 9.81310215e-01 -2.17532069e-03 -6.35936230e+00] [-1.71860770e-02 -1.15350913e-03 9.99851643e-01 -1.48569247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.145898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:174.69, Y:-6.36, Z:-1.49 [[ 9.81487959e-01 1.90787481e-01 1.67786587e-02 1.74690677e+02] [-1.90778673e-01 9.81630747e-01 -2.13885016e-03 -6.35630374e+00] [-1.68785131e-02 -1.10175455e-03 9.99856941e-01 -1.48579018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:-6.36, Z:-1.49 [[ 9.81856831e-01 1.88717055e-01 1.85212710e-02 1.74722579e+02] [-1.88822794e-01 9.82002531e-01 4.12091865e-03 -6.35763435e+00] [-1.74102473e-02 -7.54339026e-03 9.99819974e-01 -1.48547116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:-6.35, Z:-1.49 [[ 9.82844240e-01 1.83970022e-01 1.31236655e-02 1.74756219e+02] [-1.83873872e-01 9.82915630e-01 -8.20147211e-03 -6.34704094e+00] [-1.44082809e-02 5.64767044e-03 9.99880245e-01 -1.48983064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.79, Y:-6.35, Z:-1.49 [[ 9.83338967e-01 1.81268222e-01 1.36494851e-02 1.74788980e+02] [-1.81261408e-01 9.83433402e-01 -1.74501168e-03 -6.35158775e+00] [-1.37396747e-02 -7.58186907e-04 9.99905319e-01 -1.48879254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:-6.35, Z:-1.49 [[ 9.83824357e-01 1.78581052e-01 1.40869456e-02 1.74822351e+02] [-1.78573481e-01 9.83924925e-01 -1.80368264e-03 -6.35326374e+00] [-1.41826005e-02 -7.41048001e-04 9.99899147e-01 -1.48879073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.86, Y:-6.35, Z:-1.49 [[ 9.84335358e-01 1.75693319e-01 1.46888125e-02 1.74855678e+02] [-1.75684723e-01 9.84444681e-01 -1.88363004e-03 -6.35458823e+00] [-1.47912645e-02 -7.26476305e-04 9.99890339e-01 -1.48944289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:-6.36, Z:-1.49 [[ 9.84321124e-01 1.75773076e-01 1.46884575e-02 1.74888874e+02] [-1.75764449e-01 9.84430445e-01 -1.88639442e-03 -6.35897676e+00] [-1.47913421e-02 -7.24890746e-04 9.99890339e-01 -1.48995511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.355898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.92, Y:-6.36, Z:-1.49 [[ 9.84837994e-01 1.72873600e-01 1.44514315e-02 1.74922320e+02] [-1.72864920e-01 9.84943791e-01 -1.85712323e-03 -6.36083393e+00] [-1.45548953e-02 -6.69180036e-04 9.99893848e-01 -1.49071639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.385898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:174.96, Y:-6.36, Z:-1.49 [[ 9.85258184e-01 1.70497085e-01 1.40376485e-02 1.74955055e+02] [-1.70488640e-01 9.85357989e-01 -1.80495697e-03 -6.36260805e+00] [-1.41398490e-02 -6.14910976e-04 9.99899838e-01 -1.49133872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.415898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:174.99, Y:-6.36, Z:-1.49 [[ 9.85559085e-01 1.68819653e-01 1.31611118e-02 1.74987647e+02] [-1.68812049e-01 9.85646803e-01 -1.69458984e-03 -6.36317665e+00] [-1.32582878e-02 -5.51635826e-04 9.99911953e-01 -1.49098942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44589822700001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.02, Y:-6.37, Z:-1.49 [[ 9.85401478e-01 1.69718231e-01 1.34033597e-02 1.75020317e+02] [-1.69710395e-01 9.85492463e-01 -1.72817195e-03 -6.36526410e+00] [-1.35022122e-02 -5.71746277e-04 9.99908678e-01 -1.49045820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.475898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:175.05, Y:-6.37, Z:-1.49 [[ 9.85132071e-01 1.71197143e-01 1.43645895e-02 1.75052325e+02] [-1.71188257e-01 9.85236591e-01 -1.85505923e-03 -6.36647363e+00] [-1.44701000e-02 -6.31570701e-04 9.99895103e-01 -1.49154915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.09, Y:-6.37, Z:-1.49 [[ 9.84713314e-01 1.73601808e-01 1.42162612e-02 1.75085461e+02] [-1.73593319e-01 9.84815709e-01 -1.83838953e-03 -6.36867539e+00] [-1.43195451e-02 -6.57561317e-04 9.99897254e-01 -1.49114130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:-6.37, Z:-1.49 [[ 9.84230422e-01 1.76399676e-01 1.31769223e-02 1.75117097e+02] [-1.76392602e-01 9.84318413e-01 -1.70638592e-03 -6.37013126e+00] [-1.32712932e-02 -6.44834682e-04 9.99911725e-01 -1.49189882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:-6.37, Z:-1.49 [[ 9.83552346e-01 1.80188099e-01 1.25312586e-02 1.75149966e+02] [-1.80181992e-01 9.83631950e-01 -1.62396702e-03 -6.37194187e+00] [-1.26187658e-02 -6.60650564e-04 9.99920162e-01 -1.49359794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.595898227 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:175.18, Y:-6.37, Z:-1.50 [[ 9.82144716e-01 1.87809987e-01 1.09162886e-02 1.75183715e+02] [-1.87805803e-01 9.82205159e-01 -1.41632700e-03 -6.36901625e+00] [-1.09880353e-02 -6.59104266e-04 9.99939412e-01 -1.49526027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.625898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:175.22, Y:-6.37, Z:-1.50 [[ 9.81498089e-01 1.91199586e-01 1.02087662e-02 1.75215685e+02] [-1.91196088e-01 9.81550965e-01 -1.32659417e-03 -6.36920722e+00] [-1.02740686e-02 -6.49826521e-04 9.99947009e-01 -1.49584263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:-6.37, Z:-1.50 [[ 9.80977246e-01 1.93861869e-01 1.00607614e-02 1.75247395e+02] [-1.93858603e-01 9.81028608e-01 -1.30822623e-03 -6.36957170e+00] [-1.01235100e-02 -6.67024988e-04 9.99948533e-01 -1.49646802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:-6.37, Z:-1.50 [[ 9.80623989e-01 1.95638814e-01 1.01018273e-02 1.75280738e+02] [-1.95635598e-01 9.80675779e-01 -1.31517179e-03 -6.36993674e+00] [-1.01639160e-02 -6.86588030e-04 9.99948110e-01 -1.49673305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.31, Y:-6.37, Z:-1.50 [[ 9.80423939e-01 1.96602616e-01 1.07847633e-02 1.75313079e+02] [-1.96598981e-01 9.80482974e-01 -1.40667747e-03 -6.37034421e+00] [-1.08508332e-02 -7.41133206e-04 9.99940853e-01 -1.49776018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:-6.37, Z:-1.50 [[ 9.80460156e-01 1.96408367e-01 1.10288661e-02 1.75346150e+02] [-1.96404541e-01 9.80521894e-01 -1.43961571e-03 -6.37075553e+00] [-1.10967972e-02 -7.54633536e-04 9.99938144e-01 -1.49800498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.775898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.38, Y:-6.37, Z:-1.50 [[ 9.80781099e-01 1.94896927e-01 9.14460616e-03 1.75378804e+02] [-1.94894219e-01 9.80823539e-01 -1.19494076e-03 -6.36633973e+00] [-9.20213526e-03 -6.10255567e-04 9.99957473e-01 -1.49927103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.805898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.41, Y:-6.37, Z:-1.50 [[ 9.80855452e-01 1.94556899e-01 8.37823415e-03 1.75411724e+02] [-1.94554604e-01 9.80891077e-01 -1.09592123e-03 -6.36661017e+00] [-8.43135415e-03 -5.55083712e-04 9.99964301e-01 -1.50079102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.835898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.44, Y:-6.37, Z:-1.50 [[ 9.80806478e-01 1.94823766e-01 7.89632641e-03 1.75443466e+02] [-1.94821722e-01 9.80838124e-01 -1.03469489e-03 -6.36675652e+00] [-7.94660114e-03 -5.23540456e-04 9.99968288e-01 -1.50129120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:-6.37, Z:-1.50 [[ 9.80641345e-01 1.95652879e-01 7.90593525e-03 1.75476757e+02] [-1.95650853e-01 9.80673070e-01 -1.03636201e-03 -6.36749534e+00] [-7.95590500e-03 -5.30503542e-04 9.99968211e-01 -1.50165981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.51, Y:-6.37, Z:-1.50 [[ 9.80437899e-01 1.96664688e-01 8.03289892e-03 1.75509275e+02] [-1.96662618e-01 9.80470654e-01 -1.05463307e-03 -6.36816451e+00] [-8.08343073e-03 -5.45768698e-04 9.99967180e-01 -1.50134924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.925898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.54, Y:-6.37, Z:-1.50 [[ 9.80144217e-01 1.98117182e-01 8.17900516e-03 1.75542662e+02] [-1.98115074e-01 9.80178178e-01 -1.07519191e-03 -6.36876284e+00] [-8.22989637e-03 -5.66541080e-04 9.99965973e-01 -1.50171249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.955898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.58, Y:-6.36, Z:-1.50 [[ 9.79890241e-01 1.99385832e-01 7.77213079e-03 1.75575777e+02] [-1.99383958e-01 9.79920910e-01 -1.02310446e-03 -6.36363084e+00] [-7.82006602e-03 -5.47108119e-04 9.99969273e-01 -1.50251244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:-6.36, Z:-1.50 [[ 9.80030740e-01 1.98698309e-01 7.66354821e-03 1.75609531e+02] [-1.98696457e-01 9.80060558e-01 -1.01001515e-03 -6.36267241e+00] [-7.71142964e-03 -5.32873976e-04 9.99970125e-01 -1.50342594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.64, Y:-6.36, Z:-1.50 [[ 9.80394774e-01 1.96907775e-01 7.30864113e-03 1.75641848e+02] [-1.96906031e-01 9.80421891e-01 -9.64545593e-04 -6.36210731e+00] [-7.35547828e-03 -4.93480055e-04 9.99972826e-01 -1.50464881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.045898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.68, Y:-6.36, Z:-1.51 [[ 9.80876335e-01 1.94496074e-01 7.27274185e-03 1.75675012e+02] [-1.94494272e-01 9.80903183e-01 -9.60958313e-04 -6.36256422e+00] [-7.32075825e-03 -4.71925366e-04 9.99973092e-01 -1.50521073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.075898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.71, Y:-6.36, Z:-1.51 [[ 9.81413722e-01 1.91761414e-01 7.39362484e-03 1.75707210e+02] [-1.91759464e-01 9.81441466e-01 -9.78431406e-04 -6.36342736e+00] [-7.44403539e-03 -4.57551525e-04 9.99972188e-01 -1.50566188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:-6.36, Z:-1.51 [[ 9.82674434e-01 1.85169260e-01 7.95620773e-03 1.75740457e+02] [-1.85166768e-01 9.82706546e-01 -1.05509747e-03 -6.36171100e+00] [-8.01398904e-03 -4.36407963e-04 9.99967792e-01 -1.50527582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:-6.37, Z:-1.50 [[ 9.83350681e-01 1.81552823e-01 7.74663151e-03 1.75771172e+02] [-1.81629920e-01 9.83307722e-01 1.07933739e-02 -6.36817054e+00] [-5.65775508e-03 -1.20206916e-02 9.99911742e-01 -1.49886234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:-6.36, Z:-1.51 [[ 9.83979321e-01 1.78151103e-01 6.84690786e-03 1.75804352e+02] [-1.78054971e-01 9.83938049e-01 -1.27414124e-02 -6.35976137e+00] [-9.00682983e-03 1.13181604e-02 9.99895383e-01 -1.50819915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:-6.37, Z:-1.51 [[ 9.84502706e-01 1.75176446e-01 8.22400812e-03 1.75836122e+02] [-1.75173421e-01 9.84536987e-01 -1.09224664e-03 -6.36806891e+00] [-8.28817606e-03 -3.65307862e-04 9.99965586e-01 -1.50684899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.87, Y:-6.37, Z:-1.51 [[ 9.84925914e-01 1.72793812e-01 7.95254842e-03 1.75867886e+02] [-1.72790895e-01 9.84957963e-01 -1.05770677e-03 -6.37115842e+00] [-8.01569107e-03 -3.32365154e-04 9.99967819e-01 -1.50700134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.90, Y:-6.37, Z:-1.51 [[ 9.85208824e-01 1.71195605e-01 7.45902148e-03 1.75899975e+02] [-1.71192984e-01 9.85237015e-01 -9.93248969e-04 -6.37468582e+00] [-7.51894391e-03 -2.98374494e-04 9.99971688e-01 -1.50691614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.285898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.93, Y:-6.38, Z:-1.51 [[ 9.85632113e-01 1.68724720e-01 7.82982256e-03 1.75932904e+02] [-1.68721742e-01 9.85663170e-01 -1.04406887e-03 -6.37847805e+00] [-7.89372795e-03 -2.91993494e-04 9.99968801e-01 -1.50696515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:-6.38, Z:-1.51 [[ 9.85726591e-01 1.68142462e-01 8.43800762e-03 1.75965278e+02] [-1.68138967e-01 9.85762658e-01 -1.12695834e-03 -6.38269303e+00] [-8.50736236e-03 -3.07885087e-04 9.99963764e-01 -1.50707316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:-6.39, Z:-1.51 [[ 9.85766360e-01 1.67848388e-01 9.57086269e-03 1.75996998e+02] [-1.67843853e-01 9.85812761e-01 -1.28082933e-03 -6.38693563e+00] [-9.65006372e-03 -3.43812002e-04 9.99953378e-01 -1.50795081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:-6.39, Z:-1.51 [[ 9.85639663e-01 1.68548137e-01 1.02946532e-02 1.76029557e+02] [-1.68542918e-01 9.85693352e-01 -1.37869837e-03 -6.39135663e+00] [-1.03797483e-02 -3.76191099e-04 9.99946058e-01 -1.50789290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:-6.40, Z:-1.51 [[ 9.85395608e-01 1.69941533e-01 1.07410786e-02 1.76061490e+02] [-1.69935911e-01 9.85454063e-01 -1.44067024e-03 -6.39552735e+00] [-1.08296693e-02 -4.05664855e-04 9.99941275e-01 -1.50861137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.09, Y:-6.40, Z:-1.51 [[ 9.85083353e-01 1.71760982e-01 1.04380175e-02 1.76093840e+02] [-1.71755757e-01 9.85138567e-01 -1.40171068e-03 -6.39970551e+00] [-1.05236528e-02 -4.11987736e-04 9.99944540e-01 -1.50856076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.465898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:176.13, Y:-6.40, Z:-1.51 [[ 9.84448187e-01 1.75415052e-01 9.55649902e-03 1.76126091e+02] [-1.75410828e-01 9.84494485e-01 -1.28493460e-03 -6.40331064e+00] [-9.63371745e-03 -4.11361873e-04 9.99953510e-01 -1.50922920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.16, Y:-6.41, Z:-1.51 [[ 9.83938704e-01 1.78247340e-01 9.61838586e-03 1.76158071e+02] [-1.78243180e-01 9.83985616e-01 -1.29499340e-03 -6.40900762e+00] [-9.69518246e-03 -4.40217555e-04 9.99952904e-01 -1.51033150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:-6.41, Z:-1.51 [[ 9.83463807e-01 1.80843417e-01 9.72623877e-03 1.76188584e+02] [-1.80839273e-01 9.83511789e-01 -1.31117540e-03 -6.41343802e+00] [-9.80298793e-03 -4.69392397e-04 9.99951839e-01 -1.51088809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:-6.42, Z:-1.51 [[ 9.83032826e-01 1.83145809e-01 1.02017471e-02 1.76220868e+02] [-1.83141357e-01 9.83085626e-01 -1.37684485e-03 -6.41823991e+00] [-1.02813543e-02 -5.14878120e-04 9.99947013e-01 -1.51102298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:-6.42, Z:-1.51 [[ 9.82630694e-01 1.85266801e-01 1.06363658e-02 1.76253141e+02] [-1.85262067e-01 9.82688100e-01 -1.43726568e-03 -6.42307637e+00] [-1.07185077e-02 -5.58213731e-04 9.99942399e-01 -1.51102624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.615898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.28, Y:-6.43, Z:-1.51 [[ 9.81824420e-01 1.89426329e-01 1.17675423e-02 1.76284031e+02] [-1.89420806e-01 9.81894711e-01 -1.59232178e-03 -6.42677068e+00] [-1.18561152e-02 -6.65636927e-04 9.99929492e-01 -1.51252204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:-6.43, Z:-1.51 [[ 9.81435340e-01 1.91437937e-01 1.16700478e-02 1.76315210e+02] [-1.91432624e-01 9.81504483e-01 -1.58105636e-03 -6.43094524e+00] [-1.17568784e-02 -6.82323298e-04 9.99930653e-01 -1.51347149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:-6.43, Z:-1.51 [[ 9.81046532e-01 1.93442780e-01 1.12957386e-02 1.76346421e+02] [-1.93437921e-01 9.81111322e-01 -1.53156783e-03 -6.43491092e+00] [-1.13786478e-02 -6.82484878e-04 9.99935028e-01 -1.51417476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.38, Y:-6.44, Z:-1.51 [[ 9.80730802e-01 1.95097824e-01 1.01947935e-02 1.76378343e+02] [-1.95093960e-01 9.80783583e-01 -1.38178256e-03 -6.43936396e+00] [-1.02684689e-02 -6.33785914e-04 9.99947077e-01 -1.51466451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:-6.44, Z:-1.52 [[ 9.80606790e-01 1.95795592e-01 8.62615427e-03 1.76409041e+02] [-1.95792843e-01 9.80644580e-01 -1.17028396e-03 -6.44399163e+00] [-8.68832788e-03 -5.41350866e-04 9.99962109e-01 -1.51584770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:-6.45, Z:-1.52 [[ 9.80600308e-01 1.95828065e-01 8.62587874e-03 1.76440574e+02] [-1.95825299e-01 9.80638097e-01 -1.17231094e-03 -6.44832544e+00] [-8.68843670e-03 -5.39596820e-04 9.99962109e-01 -1.51633449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:-6.45, Z:-1.52 [[ 9.80910247e-01 1.94221574e-01 9.64711767e-03 1.76472619e+02] [-1.94218040e-01 9.80957509e-01 -1.31077866e-03 -6.45353781e+00] [-9.71799401e-03 -5.87888071e-04 9.99952606e-01 -1.51647661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:-6.46, Z:-1.52 [[ 9.81120642e-01 1.93125749e-01 1.02337980e-02 1.76503950e+02] [-1.93121695e-01 9.81173824e-01 -1.39230960e-03 -6.45852496e+00] [-1.03100255e-02 -6.10344730e-04 9.99946664e-01 -1.51613882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.855898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:176.54, Y:-6.46, Z:-1.52 [[ 9.81347256e-01 1.91953460e-01 1.05561351e-02 1.76535454e+02] [-1.91949060e-01 9.81403837e-01 -1.43791284e-03 -6.46231679e+00] [-1.06358439e-02 -6.15148402e-04 9.99943249e-01 -1.51610768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.57, Y:-6.47, Z:-1.52 [[ 9.81545540e-01 1.90952897e-01 1.02637439e-02 1.76567988e+02] [-1.90948665e-01 9.81599026e-01 -1.39974326e-03 -6.46714904e+00] [-1.03421661e-02 -5.85936456e-04 9.99946347e-01 -1.51611502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:-6.47, Z:-1.52 [[ 9.82064863e-01 1.88296317e-01 9.64894446e-03 1.76600310e+02] [-1.88292434e-01 9.82112124e-01 -1.31751379e-03 -6.47077492e+00] [-9.72442833e-03 -5.22939234e-04 9.99952580e-01 -1.51746279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.63, Y:-6.48, Z:-1.52 [[ 9.82237174e-01 1.87368955e-01 1.01493165e-02 1.76633085e+02] [-1.87364589e-01 9.82289461e-01 -1.38784352e-03 -6.47608956e+00] [-1.02296054e-02 -5.38431019e-04 9.99947531e-01 -1.51836502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:-6.48, Z:-1.52 [[ 9.82411416e-01 1.86434659e-01 1.04845988e-02 1.76665792e+02] [-1.86429925e-01 9.82467212e-01 -1.43571732e-03 -6.48188826e+00] [-1.05684420e-02 -5.44177890e-04 9.99944004e-01 -1.51872032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:-6.49, Z:-1.52 [[ 9.82635098e-01 1.85250442e-01 1.05136979e-02 1.76696854e+02] [-1.85245590e-01 9.82691199e-01 -1.44198392e-03 -6.48770279e+00] [-1.05988466e-02 -5.30672160e-04 9.99943690e-01 -1.51872241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:-6.49, Z:-1.52 [[ 9.82882526e-01 1.83979963e-01 9.65989946e-03 1.76729298e+02] [-1.83975800e-01 9.82929880e-01 -1.32545077e-03 -6.49345008e+00] [-9.73886020e-03 -4.74425335e-04 9.99952464e-01 -1.51890234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:-6.50, Z:-1.52 [[ 9.83182579e-01 1.82423322e-01 8.58766142e-03 1.76761548e+02] [-1.82419961e-01 9.83219999e-01 -1.17962442e-03 -6.49879382e+00] [-8.65875146e-03 -4.06774685e-04 9.99962430e-01 -1.51887876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:-6.51, Z:-1.52 [[ 9.83913802e-01 1.78456019e-01 8.19017625e-03 1.76793074e+02] [-1.78452812e-01 9.83947826e-01 -1.12654385e-03 -6.50694406e+00] [-8.25974465e-03 -3.53137943e-04 9.99965825e-01 -1.52049164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.83, Y:-6.51, Z:-1.52 [[ 9.84234078e-01 1.76683589e-01 8.13568164e-03 1.76825871e+02] [-1.76680353e-01 9.84267645e-01 -1.12037441e-03 -6.51358613e+00] [-8.20563998e-03 -3.34704429e-04 9.99966277e-01 -1.52030433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:-6.52, Z:-1.52 [[ 9.84363561e-01 1.75945132e-01 8.46705583e-03 1.76857055e+02] [-1.75941581e-01 9.84399916e-01 -1.16826997e-03 -6.51940504e+00] [-8.54052046e-03 -3.39704806e-04 9.99963471e-01 -1.52052298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.185898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:176.89, Y:-6.52, Z:-1.52 [[ 9.84328368e-01 1.76159048e-01 8.10263333e-03 1.76889510e+02] [-1.76155800e-01 9.84361663e-01 -1.11841452e-03 -6.52284688e+00] [-8.17294046e-03 -3.26438717e-04 9.99966548e-01 -1.52027281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.215898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:176.92, Y:-6.53, Z:-1.52 [[ 9.84313942e-01 1.76239654e-01 8.10232107e-03 1.76922670e+02] [-1.76236390e-01 9.84347235e-01 -1.12067112e-03 -6.52756853e+00] [-8.17300404e-03 -3.24831612e-04 9.99966548e-01 -1.52078514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:-6.53, Z:-1.52 [[ 9.83874872e-01 1.78715791e-01 7.13462352e-03 1.76954995e+02] [-1.78713329e-01 9.83900693e-01 -9.86389730e-04 -6.53159355e+00] [-7.19604445e-03 -3.04568250e-04 9.99974062e-01 -1.52177851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.99, Y:-6.53, Z:-1.52 [[ 9.82639082e-01 1.85424086e-01 6.19222691e-03 1.76988396e+02] [-1.85422359e-01 9.82658544e-01 -8.56867493e-04 -6.53389637e+00] [-6.24372855e-03 -3.06185834e-04 9.99980461e-01 -1.52234396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:-6.54, Z:-1.52 [[ 9.82077231e-01 1.88329727e-01 7.49837812e-03 1.77019768e+02] [-1.88327262e-01 9.82105779e-01 -1.03982842e-03 -6.53737849e+00] [-7.56003109e-03 -3.90957206e-04 9.99971346e-01 -1.52288397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-6.54, Z:-1.52 [[ 9.82061432e-01 1.88412107e-01 7.49808599e-03 1.77052104e+02] [-1.88409629e-01 9.82089979e-01 -1.04192957e-03 -6.54197560e+00] [-7.56010726e-03 -3.89472756e-04 9.99971346e-01 -1.52338355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:-6.54, Z:-1.52 [[ 9.81642524e-01 1.90402732e-01 1.11693387e-02 1.77083962e+02] [-1.90397346e-01 9.81705881e-01 -1.55336113e-03 -6.54361303e+00] [-1.12607697e-02 -6.01767099e-04 9.99936414e-01 -1.52274413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.12, Y:-6.55, Z:-1.52 [[ 9.81624922e-01 1.90414156e-01 1.24483646e-02 1.77116961e+02] [-1.90407439e-01 9.81703622e-01 -1.73350658e-03 -6.54754168e+00] [-1.25506888e-02 -6.68607964e-04 9.99921013e-01 -1.52324422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.15, Y:-6.55, Z:-1.52 [[ 9.81672476e-01 1.90147922e-01 1.27638971e-02 1.77148717e+02] [-1.90140806e-01 9.81755217e-01 -1.77992652e-03 -6.55212362e+00] [-1.28694719e-02 -6.79632804e-04 9.99916954e-01 -1.52391260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.18, Y:-6.56, Z:-1.52 [[ 9.81787943e-01 1.89329005e-01 1.57150761e-02 1.77179714e+02] [-1.89421519e-01 9.81885043e-01 4.60989853e-03 -6.56047765e+00] [-1.45576107e-02 -7.50271638e-03 9.99865884e-01 -1.52490047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:-6.56, Z:-1.53 [[ 9.82063220e-01 1.88156784e-01 1.22006593e-02 1.77212535e+02] [-1.88061811e-01 9.82120209e-01 -8.52345161e-03 -6.55985265e+00] [-1.35862593e-02 6.07609025e-03 9.99889241e-01 -1.52664746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.24, Y:-6.57, Z:-1.53 [[ 9.82253577e-01 1.87064283e-01 1.35964684e-02 1.77244546e+02] [-1.87055817e-01 9.82347444e-01 -1.90305369e-03 -6.56885604e+00] [-1.37124494e-02 -6.74017205e-04 9.99905753e-01 -1.52656346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:-6.58, Z:-1.53 [[ 9.82447314e-01 1.86014742e-01 1.39925220e-02 1.77276672e+02] [-1.86005632e-01 9.82546721e-01 -1.96117602e-03 -6.57637437e+00] [-1.41131143e-02 -6.75935789e-04 9.99900177e-01 -1.52674852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:-6.58, Z:-1.53 [[ 9.82400816e-01 1.86271914e-01 1.38351538e-02 1.77308341e+02] [-1.86262995e-01 9.82498003e-01 -1.94177594e-03 -6.58304836e+00] [-1.39547093e-02 -6.69374929e-04 9.99902404e-01 -1.52667172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.34, Y:-6.59, Z:-1.53 [[ 9.82284939e-01 1.86922468e-01 1.32773873e-02 1.77340420e+02] [-1.86914284e-01 9.82374455e-01 -1.86576114e-03 -6.58956402e+00] [-1.33921188e-02 -6.49024261e-04 9.99910111e-01 -1.52663540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.37, Y:-6.60, Z:-1.53 [[ 9.82115420e-01 1.87836282e-01 1.29163646e-02 1.77372788e+02] [-1.87828584e-01 9.82200143e-01 -1.81738439e-03 -6.59595161e+00] [-1.30278259e-02 -6.41181245e-04 9.99914929e-01 -1.52772335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:-6.60, Z:-1.53 [[ 9.81869110e-01 1.89145563e-01 1.25302249e-02 1.77405387e+02] [-1.89138396e-01 9.81948853e-01 -1.76536303e-03 -6.60221246e+00] [-1.26379506e-02 -6.36591215e-04 9.99919935e-01 -1.52842285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.44, Y:-6.61, Z:-1.53 [[ 9.81595194e-01 1.90535482e-01 1.29269449e-02 1.77438144e+02] [-1.90527941e-01 9.81680079e-01 -1.82383434e-03 -6.60834837e+00] [-1.30376294e-02 -6.72677167e-04 9.99914780e-01 -1.52910999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.725898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:177.47, Y:-6.62, Z:-1.53 [[ 9.81033115e-01 1.93284676e-01 1.46649564e-02 1.77469883e+02] [-1.93275229e-01 9.81142391e-01 -2.07224939e-03 -6.61616099e+00] [-1.47889444e-02 -8.01427531e-04 9.99890316e-01 -1.52980182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.50, Y:-6.62, Z:-1.53 [[ 9.80680931e-01 1.95090243e-01 1.43076708e-02 1.77501269e+02] [-1.95081403e-01 9.80784965e-01 -2.02445787e-03 -6.62325344e+00] [-1.44277004e-02 -8.05813277e-04 9.99895591e-01 -1.52976705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.53, Y:-6.63, Z:-1.53 [[ 9.80527421e-01 1.95941681e-01 1.31466362e-02 1.77533219e+02] [-1.95934263e-01 9.80615264e-01 -1.86244965e-03 -6.62921907e+00] [-1.32567237e-02 -7.49693536e-04 9.99911845e-01 -1.53045147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:-6.64, Z:-1.53 [[ 9.80359887e-01 1.96865885e-01 1.17607593e-02 1.77565731e+02] [-1.96860004e-01 9.80430191e-01 -1.66706050e-03 -6.63547442e+00] [-1.18587908e-02 -6.80903867e-04 9.99929450e-01 -1.53129329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:-6.64, Z:-1.53 [[ 9.80168267e-01 1.97860198e-01 1.10231949e-02 1.77598365e+02] [-1.97855073e-01 9.80230036e-01 -1.56438626e-03 -6.64169328e+00] [-1.11147965e-02 -6.47633256e-04 9.99938019e-01 -1.53249717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.63, Y:-6.65, Z:-1.53 [[ 9.79838617e-01 1.99499812e-01 1.07754470e-02 1.77630828e+02] [-1.99494993e-01 9.79897650e-01 -1.53115358e-03 -6.64808621e+00] [-1.08643001e-02 -6.49364321e-04 9.99940771e-01 -1.53277459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.66, Y:-6.65, Z:-1.53 [[ 9.78950439e-01 2.03803890e-01 1.09550452e-02 1.77662535e+02] [-2.03799154e-01 9.79011479e-01 -1.55880427e-03 -6.65344520e+00] [-1.10428054e-02 -7.06636825e-04 9.99938777e-01 -1.53214060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.70, Y:-6.66, Z:-1.53 [[ 9.78436943e-01 2.06262910e-01 1.08055785e-02 1.77695452e+02] [-2.06258432e-01 9.78496341e-01 -1.53928992e-03 -6.65678166e+00] [-1.08907174e-02 -7.22643546e-04 9.99940433e-01 -1.53305149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.73, Y:-6.66, Z:-1.53 [[ 9.77834773e-01 2.09123529e-01 1.03202071e-02 1.77727808e+02] [-2.09119583e-01 9.77888968e-01 -1.47203253e-03 -6.65981612e+00] [-1.03998533e-02 -7.18752819e-04 9.99945662e-01 -1.53426105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:-6.66, Z:-1.54 [[ 9.77321417e-01 2.11506141e-01 1.03923567e-02 1.77761119e+02] [-2.11502255e-01 9.77376383e-01 -1.48412170e-03 -6.66270399e+00] [-1.04711448e-02 -7.47542952e-04 9.99944897e-01 -1.53538301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.79, Y:-6.67, Z:-1.54 [[ 9.76881986e-01 2.13521532e-01 1.04948201e-02 1.77793428e+02] [-2.13517663e-01 9.76938051e-01 -1.50081626e-03 -6.66569063e+00] [-1.05732457e-02 -7.74709097e-04 9.99943802e-01 -1.53578565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.83, Y:-6.67, Z:-1.54 [[ 9.76470396e-01 2.15422835e-01 9.92818520e-03 1.77826633e+02] [-2.15419454e-01 9.76520578e-01 -1.42134302e-03 -6.66730453e+00] [-1.00012669e-02 -7.50824864e-04 9.99949704e-01 -1.53613598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.86, Y:-6.67, Z:-1.54 [[ 9.76513425e-01 2.15231015e-01 9.85602967e-03 1.77858031e+02] [-2.15227655e-01 9.76562881e-01 -1.41289037e-03 -6.67091371e+00] [-9.92913056e-03 -7.41583742e-04 9.99950430e-01 -1.53694993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.89, Y:-6.68, Z:-1.54 [[ 9.76781152e-01 2.14027085e-01 9.53879583e-03 1.77889720e+02] [-2.14023865e-01 9.76827473e-01 -1.36906244e-03 -6.67515201e+00] [-9.61077426e-03 -7.04255560e-04 9.99953567e-01 -1.53753413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.92, Y:-6.68, Z:-1.54 [[ 9.77197331e-01 2.12122879e-01 9.44776181e-03 1.77922034e+02] [-2.12119619e-01 9.77242767e-01 -1.35730094e-03 -6.67927265e+00] [-9.52067147e-03 -6.77704778e-04 9.99954448e-01 -1.53795534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:-6.68, Z:-1.54 [[ 9.77643773e-01 2.10052187e-01 9.52531746e-03 1.77953750e+02] [-2.10048758e-01 9.77689952e-01 -1.37029626e-03 -6.68285763e+00] [-9.60064089e-03 -6.61119497e-04 9.99953694e-01 -1.53865637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.99, Y:-6.69, Z:-1.54 [[ 9.78106914e-01 2.07887641e-01 9.46538533e-03 1.77986078e+02] [-2.07884139e-01 9.78152507e-01 -1.36319984e-03 -6.68656565e+00] [-9.54198279e-03 -6.34348290e-04 9.99954273e-01 -1.53945800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.02, Y:-6.69, Z:-1.54 [[ 9.79150964e-01 2.02901370e-01 9.71720729e-03 1.78017662e+02] [-2.02897415e-01 9.79198997e-01 -1.40145476e-03 -6.68878316e+00] [-9.79943672e-03 -5.99360463e-04 9.99951805e-01 -1.54014116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.265898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.05, Y:-6.69, Z:-1.54 [[ 9.79678964e-01 2.00317988e-01 1.00911913e-02 1.78049577e+02] [-2.00313564e-01 9.79730755e-01 -1.45758612e-03 -6.69251554e+00] [-1.01786311e-02 -5.93436020e-04 9.99948020e-01 -1.54076955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.08, Y:-6.70, Z:-1.54 [[ 9.80222499e-01 1.97641591e-01 1.00824110e-02 1.78081863e+02] [-1.97637025e-01 9.80274188e-01 -1.45713267e-03 -6.69698032e+00] [-1.01715173e-02 -5.64343495e-04 9.99948110e-01 -1.54120284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.11, Y:-6.70, Z:-1.54 [[ 9.80725555e-01 1.95144830e-01 9.79191950e-03 1.78114702e+02] [-1.95140382e-01 9.80774298e-01 -1.41691122e-03 -6.70203551e+00] [-9.88016587e-03 -5.21197869e-04 9.99951054e-01 -1.54149696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.15, Y:-6.71, Z:-1.54 [[ 9.81209103e-01 1.92691700e-01 9.92998079e-03 1.78145860e+02] [-1.92686980e-01 9.81259220e-01 -1.43887202e-03 -6.70710985e+00] [-1.00211439e-02 -5.01543692e-04 9.99949661e-01 -1.54214056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.18, Y:-6.71, Z:-1.54 [[ 9.81702350e-01 1.90158276e-01 1.00162772e-02 1.78178001e+02] [-1.90153325e-01 9.81753330e-01 -1.45310291e-03 -6.71294545e+00] [-1.01098330e-02 -4.78113866e-04 9.99948780e-01 -1.54220359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.21, Y:-6.72, Z:-1.54 [[ 9.82549369e-01 1.85685142e-01 1.08519448e-02 1.78209423e+02] [-1.85679029e-01 9.82609185e-01 -1.57692307e-03 -6.72111011e+00] [-1.09560319e-02 -4.65573810e-04 9.99939872e-01 -1.54272687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.24, Y:-6.73, Z:-1.54 [[ 9.82743062e-01 1.84651998e-01 1.09414140e-02 1.78241904e+02] [-1.84645709e-01 9.82803862e-01 -1.59092000e-03 -6.72720417e+00] [-1.10470304e-02 -4.56819555e-04 9.99938875e-01 -1.54301463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.27, Y:-6.73, Z:-1.54 [[ 9.82731703e-01 1.84723995e-01 1.07445890e-02 1.78272921e+02] [-1.84717910e-01 9.82790337e-01 -1.56460695e-03 -6.73293386e+00] [-1.08486987e-02 -4.47129171e-04 9.99941051e-01 -1.54352299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.31, Y:-6.74, Z:-1.54 [[ 9.82522128e-01 1.85816821e-01 1.10623844e-02 1.78305842e+02] [-1.85810428e-01 9.82584290e-01 -1.61195933e-03 -6.73888912e+00] [-1.11692543e-02 -4.71720660e-04 9.99937511e-01 -1.54476278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.34, Y:-6.75, Z:-1.54 [[ 9.82189713e-01 1.86849828e-01 1.97613292e-02 1.78336027e+02] [-1.87229228e-01 9.82122906e-01 1.94888390e-02 -6.75396529e+00] [-1.57665678e-02 -2.28416356e-02 9.99614763e-01 -1.54428817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:-6.74, Z:-1.55 [[ 9.81821199e-01 1.89646314e-01 7.83636632e-03 1.78369021e+02] [-1.89415285e-01 9.81608580e-01 -2.38001393e-02 -6.73810383e+00] [-1.22058531e-02 2.18831538e-02 9.99686023e-01 -1.54737988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:-6.75, Z:-1.54 [[ 9.81474082e-01 1.91288137e-01 1.08385508e-02 1.78400639e+02] [-1.91282294e-01 9.81533789e-01 -1.58287945e-03 -6.75284758e+00] [-1.09411899e-02 -5.19667696e-04 9.99940008e-01 -1.54451471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:-6.76, Z:-1.55 [[ 9.80633785e-01 1.95630371e-01 9.28106727e-03 1.78432420e+02] [-1.95626267e-01 9.80677584e-01 -1.35682017e-03 -6.75651196e+00] [-9.36716986e-03 -4.85076847e-04 9.99956009e-01 -1.54516332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:-6.76, Z:-1.55 [[ 9.80321728e-01 1.97237492e-01 8.16589791e-03 1.78465294e+02] [-1.97234362e-01 9.80355639e-01 -1.19473938e-03 -6.76083889e+00] [-8.24113146e-03 -4.39366694e-04 9.99965945e-01 -1.54641352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.50, Y:-6.77, Z:-1.55 [[ 9.80143328e-01 1.98118151e-01 8.26169516e-03 1.78496900e+02] [-1.98114961e-01 9.80178043e-01 -1.21090639e-03 -6.76543963e+00] [-8.33783472e-03 -4.49903598e-04 9.99965138e-01 -1.54825215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.53, Y:-6.77, Z:-1.55 [[ 9.80102441e-01 1.98317497e-01 8.32923443e-03 1.78529891e+02] [-1.98314257e-01 9.80137727e-01 -1.22137950e-03 -6.77015699e+00] [-8.40601783e-03 -4.54728905e-04 9.99964565e-01 -1.54926700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:-6.77, Z:-1.55 [[ 9.80186120e-01 1.97917542e-01 7.98857322e-03 1.78562544e+02] [-1.97914537e-01 9.80218578e-01 -1.17280406e-03 -6.77444067e+00] [-8.06266638e-03 -4.31488517e-04 9.99967403e-01 -1.54993035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:-6.78, Z:-1.55 [[ 9.80373621e-01 1.97007258e-01 7.46343767e-03 1.78594616e+02] [-1.97004599e-01 9.80401951e-01 -1.09702105e-03 -6.77822626e+00] [-7.53328996e-03 -3.94841044e-04 9.99971546e-01 -1.55065363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:-6.78, Z:-1.55 [[ 9.80790997e-01 1.94942800e-01 6.80628920e-03 1.78627479e+02] [-1.94940533e-01 9.80814552e-01 -1.00128351e-03 -6.78262637e+00] [-6.87090051e-03 -3.44771798e-04 9.99976336e-01 -1.55091314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:-6.79, Z:-1.55 [[ 9.80954900e-01 1.94104630e-01 7.13276396e-03 1.78659292e+02] [-1.94102104e-01 9.80980768e-01 -1.05135928e-03 -6.78811866e+00] [-7.20117797e-03 -3.53148453e-04 9.99974009e-01 -1.55145844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.865898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:178.69, Y:-6.79, Z:-1.55 [[ 9.81099531e-01 1.93361981e-01 7.40639199e-03 1.78691037e+02] [-1.93359233e-01 9.81127420e-01 -1.09218240e-03 -6.79298834e+00] [-7.47780082e-03 -3.60554634e-04 9.99971976e-01 -1.55156755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.72, Y:-6.80, Z:-1.55 [[ 9.81116872e-01 1.93293627e-01 6.87433402e-03 1.78723578e+02] [-1.93291252e-01 9.81140898e-01 -1.01452507e-03 -6.79943622e+00] [-6.94079149e-03 -3.33380968e-04 9.99975857e-01 -1.55149597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:-6.81, Z:-1.55 [[ 9.81152104e-01 1.93090911e-01 7.51321508e-03 1.78755091e+02] [-1.93088054e-01 9.81180804e-01 -1.11067900e-03 -6.80510840e+00] [-7.58628443e-03 -3.60967048e-04 9.99971159e-01 -1.55245705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:-6.81, Z:-1.55 [[ 9.81137510e-01 1.93151926e-01 7.84341711e-03 1.78787535e+02] [-1.93148802e-01 9.81168789e-01 -1.16104486e-03 -6.81167743e+00] [-7.91997412e-03 -3.75801959e-04 9.99968566e-01 -1.55288842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.82, Y:-6.82, Z:-1.55 [[ 9.81186459e-01 1.92867334e-01 8.67895414e-03 1.78819873e+02] [-1.92863481e-01 9.81224756e-01 -1.28663335e-03 -6.81895974e+00] [-8.76415421e-03 -4.11426082e-04 9.99961509e-01 -1.55304890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.85, Y:-6.83, Z:-1.55 [[ 9.81209176e-01 1.92706295e-01 9.63514573e-03 1.78850831e+02] [-1.92701517e-01 9.81256378e-01 -1.43064444e-03 -6.82720759e+00] [-9.73024239e-03 -4.52945746e-04 9.99952557e-01 -1.55335481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:-6.84, Z:-1.55 [[ 9.81253970e-01 1.92449268e-01 1.01943494e-02 1.78882482e+02] [-1.92443885e-01 9.81306809e-01 -1.51562463e-03 -6.83612206e+00] [-1.02954653e-02 -4.74627520e-04 9.99946888e-01 -1.55354560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.075898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:178.91, Y:-6.85, Z:-1.55 [[ 9.81401572e-01 1.91785360e-01 8.32646361e-03 1.78914248e+02] [-1.91781736e-01 9.81436819e-01 -1.23897413e-03 -6.84874513e+00] [-8.40951506e-03 -3.80932489e-04 9.99964567e-01 -1.55379502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.105898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.94, Y:-6.86, Z:-1.55 [[ 9.81480492e-01 1.91419963e-01 7.37844278e-03 1.78944801e+02] [-1.91417099e-01 9.81508169e-01 -1.09909392e-03 -6.85794139e+00] [-7.45239038e-03 -3.33620870e-04 9.99972175e-01 -1.55497473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.135898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.98, Y:-6.86, Z:-1.56 [[ 9.81456932e-01 1.91540733e-01 7.37819372e-03 1.78977900e+02] [-1.91537859e-01 9.81484609e-01 -1.10076223e-03 -6.86304413e+00] [-7.45242438e-03 -3.32852711e-04 9.99972175e-01 -1.55548951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:-6.87, Z:-1.56 [[ 9.81466120e-01 1.91512598e-01 6.86874190e-03 1.79009188e+02] [-1.91510105e-01 9.81490106e-01 -1.02500552e-03 -6.87340113e+00] [-6.93790369e-03 -3.09425296e-04 9.99975885e-01 -1.55700241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.04, Y:-6.88, Z:-1.56 [[ 9.81457206e-01 1.91575600e-01 6.36720293e-03 1.79041423e+02] [-1.91573454e-01 9.81477818e-01 -9.50997215e-04 -6.88383517e+00] [-6.43145630e-03 -2.86423988e-04 9.99979277e-01 -1.55738847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:-6.89, Z:-1.56 [[ 9.81370329e-01 1.92015211e-01 6.51427906e-03 1.79072501e+02] [-1.92012964e-01 9.81391905e-01 -9.74442045e-04 -6.89425419e+00] [-6.58016843e-03 -2.94537522e-04 9.99978307e-01 -1.55778602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:-6.91, Z:-1.56 [[ 9.81102790e-01 1.93345737e-01 7.39871377e-03 1.79103590e+02] [-1.93342864e-01 9.81130628e-01 -1.10847597e-03 -6.90771079e+00] [-7.47342379e-03 -3.42959643e-04 9.99972015e-01 -1.55722419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:-6.92, Z:-1.56 [[ 9.80758773e-01 1.95068556e-01 7.77737837e-03 1.79135749e+02] [-1.95065423e-01 9.80789539e-01 -1.16678337e-03 -6.91639488e+00] [-7.85557409e-03 -3.72764569e-04 9.99969075e-01 -1.55770867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.17, Y:-6.93, Z:-1.56 [[ 9.80350336e-01 1.97077761e-01 8.57753478e-03 1.79166785e+02] [-1.97074009e-01 9.80387767e-01 -1.28887247e-03 -6.92520108e+00] [-8.66331827e-03 -4.26862599e-04 9.99962382e-01 -1.55835814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:-6.93, Z:-1.56 [[ 9.79887693e-01 1.99358644e-01 8.73157108e-03 1.79199206e+02] [-1.99354832e-01 9.79926490e-01 -1.31357361e-03 -6.93441209e+00] [-8.81817006e-03 -4.53526272e-04 9.99961016e-01 -1.55856424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.23, Y:-6.94, Z:-1.56 [[ 9.79464116e-01 2.01440396e-01 8.47419132e-03 1.79230107e+02] [-2.01436869e-01 9.79500668e-01 -1.27647897e-03 -6.94272707e+00] [-8.55761049e-03 -4.56749224e-04 9.99963279e-01 -1.55959924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.26, Y:-6.95, Z:-1.56 [[ 9.79068708e-01 2.03391743e-01 7.50096962e-03 1.79261811e+02] [-2.03389030e-01 9.79097352e-01 -1.13079888e-03 -6.95067477e+00] [-7.57417465e-03 -4.18485130e-04 9.99971228e-01 -1.55998517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.29, Y:-6.96, Z:-1.56 [[ 9.78472150e-01 2.06242684e-01 7.49716828e-03 1.79293071e+02] [-2.06240045e-01 9.78500773e-01 -1.13175277e-03 -6.96028797e+00] [-7.56940069e-03 -4.38827756e-04 9.99971255e-01 -1.56149383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:-6.97, Z:-1.56 [[ 9.78196849e-01 2.07528402e-01 7.93019417e-03 1.79324013e+02] [-2.07525479e-01 9.78228878e-01 -1.19872508e-03 -6.96804402e+00] [-8.00631445e-03 -4.73128245e-04 9.99967837e-01 -1.56231718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.36, Y:-6.98, Z:-1.56 [[ 9.78113859e-01 2.07919491e-01 7.92241554e-03 1.79356135e+02] [-2.07916577e-01 9.78145828e-01 -1.19882530e-03 -6.97555491e+00] [-7.99853685e-03 -4.74613872e-04 9.99967899e-01 -1.56337729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:-6.98, Z:-1.56 [[ 9.78065834e-01 2.08168163e-01 7.29661976e-03 1.79388071e+02] [-2.08165690e-01 9.78092953e-01 -1.10526087e-03 -6.98348497e+00] [-7.36685249e-03 -4.37887993e-04 9.99972769e-01 -1.56359715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.555898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:179.42, Y:-6.99, Z:-1.56 [[ 9.78087199e-01 2.08081217e-01 6.90201628e-03 1.79419327e+02] [-2.08078992e-01 9.78111465e-01 -1.04676889e-03 -6.99064284e+00] [-6.96875420e-03 -4.12333338e-04 9.99975633e-01 -1.56313690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:-7.00, Z:-1.56 [[ 9.78113836e-01 2.07947535e-01 7.15167839e-03 1.79450180e+02] [-2.07945129e-01 9.78139889e-01 -1.08651746e-03 -6.99909253e+00] [-7.22128053e-03 -4.24418927e-04 9.99973836e-01 -1.56453318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.48, Y:-7.01, Z:-1.57 [[ 9.78282008e-01 2.07095759e-01 8.69823034e-03 1.79481585e+02] [-2.07092159e-01 9.78320545e-01 -1.32241889e-03 -7.00959261e+00] [-8.78352479e-03 -5.07636689e-04 9.99961295e-01 -1.56507702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.51, Y:-7.02, Z:-1.57 [[ 9.78355815e-01 2.06728335e-01 9.12657508e-03 1.79512466e+02] [-2.06724338e-01 9.78398241e-01 -1.38949308e-03 -7.01683425e+00] [-9.21667259e-03 -5.27266559e-04 9.99957387e-01 -1.56581704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:-7.02, Z:-1.57 [[ 9.78402379e-01 2.06526190e-01 8.70158413e-03 1.79544172e+02] [-2.06522535e-01 9.78440945e-01 -1.32621055e-03 -7.02342205e+00] [-8.78788341e-03 -4.99505655e-04 9.99961261e-01 -1.56626017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.57, Y:-7.03, Z:-1.57 [[ 9.78463498e-01 2.06088633e-01 1.16901133e-02 1.79574678e+02] [-2.06189686e-01 9.78477602e-01 8.20949004e-03 -7.03419402e+00] [-9.74663142e-03 -1.04430671e-02 9.99897968e-01 -1.56604372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:-7.03, Z:-1.57 [[ 9.78525893e-01 2.06060725e-01 5.10433013e-03 1.79607518e+02] [-2.05998293e-01 9.78494040e-01 -1.06825301e-02 -7.03147424e+00] [-7.19580651e-03 9.40164903e-03 9.99929912e-01 -1.56985163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:-7.05, Z:-1.57 [[ 9.78636325e-01 2.05225402e-01 1.23886051e-02 1.79636090e+02] [-2.05378302e-01 9.78600655e-01 1.26692680e-02 -7.04811588e+00] [-9.52344149e-03 -1.49429566e-02 9.99842994e-01 -1.56732907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:-7.04, Z:-1.57 [[ 9.79005481e-01 2.03776118e-01 4.85408649e-03 1.79669522e+02] [-2.03681869e-01 9.78917397e-01 -1.53109526e-02 -7.04160692e+00] [-7.87175618e-03 1.40008171e-02 9.99870998e-01 -1.57321584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.825898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.70, Y:-7.05, Z:-1.57 [[ 9.79254000e-01 2.02518828e-01 6.90846999e-03 1.79701135e+02] [-2.02516401e-01 9.79278301e-01 -1.05634307e-03 -7.05403471e+00] [-6.97924412e-03 -3.64650299e-04 9.99975578e-01 -1.56950261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.73, Y:-7.06, Z:-1.57 [[ 9.79436225e-01 2.01642987e-01 6.69226492e-03 1.79733621e+02] [-2.01640682e-01 9.79459027e-01 -1.02441434e-03 -7.06052387e+00] [-6.76136526e-03 -3.46084347e-04 9.99977082e-01 -1.57009169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:-7.07, Z:-1.57 [[ 9.79540773e-01 2.01147736e-01 6.28196649e-03 1.79765424e+02] [-2.01145688e-01 9.79560864e-01 -9.62719238e-04 -7.06572587e+00] [-6.34721732e-03 -3.20567725e-04 9.99979805e-01 -1.57055860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.915898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:179.80, Y:-7.07, Z:-1.57 [[ 9.79668743e-01 2.00545133e-01 5.55001782e-03 1.79798004e+02] [-2.00543522e-01 9.79684425e-01 -8.51047662e-04 -7.06920637e+00] [-5.60793948e-03 -2.79275325e-04 9.99984236e-01 -1.56947055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:-7.07, Z:-1.57 [[ 9.79670314e-01 2.00541441e-01 5.40429070e-03 1.79829171e+02] [-2.00539904e-01 9.79685183e-01 -8.30372677e-04 -7.07390256e+00] [-5.46102765e-03 -2.70284475e-04 9.99985052e-01 -1.57053452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.86, Y:-7.08, Z:-1.57 [[ 9.79750244e-01 2.00138028e-01 5.85047933e-03 1.79861759e+02] [-2.00136219e-01 9.79767669e-01 -8.99089253e-04 -7.07785637e+00] [-5.91205245e-03 -2.90009898e-04 9.99982482e-01 -1.57092642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.89, Y:-7.08, Z:-1.57 [[ 9.79849404e-01 1.99632725e-01 6.47465548e-03 1.79893263e+02] [-1.99630483e-01 9.79870744e-01 -9.97213116e-04 -7.08201908e+00] [-6.54340186e-03 -3.15419924e-04 9.99978542e-01 -1.57180511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:-7.09, Z:-1.57 [[ 9.80113498e-01 1.98277893e-01 7.96290693e-03 1.79925459e+02] [-1.98274451e-01 9.80145773e-01 -1.22729657e-03 -7.08681518e+00] [-8.04815535e-03 -3.75951068e-04 9.99967542e-01 -1.57170799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.065898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:179.96, Y:-7.09, Z:-1.57 [[ 9.80347267e-01 1.97106797e-01 8.25509753e-03 1.79957955e+02] [-1.97103043e-01 9.80381950e-01 -1.27398882e-03 -7.09119333e+00] [-8.34426046e-03 -3.78153387e-04 9.99965115e-01 -1.57067111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:-7.10, Z:-1.57 [[ 9.80619032e-01 1.95715112e-01 9.05034046e-03 1.79990315e+02] [-1.95710522e-01 9.80660714e-01 -1.39869572e-03 -7.09750774e+00] [-9.14905923e-03 -3.99659214e-04 9.99958067e-01 -1.57191767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:-7.10, Z:-1.57 [[ 9.81150223e-01 1.92991902e-01 9.91797586e-03 1.80022933e+02] [-1.92986229e-01 9.81200265e-01 -1.53493682e-03 -7.10252469e+00] [-1.00277509e-02 -4.08029159e-04 9.99949638e-01 -1.57289128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.05, Y:-7.11, Z:-1.57 [[ 9.81728528e-01 1.89982617e-01 1.07565417e-02 1.80054022e+02] [-1.89975739e-01 9.81787370e-01 -1.66705797e-03 -7.10794519e+00] [-1.08773489e-02 -4.06883593e-04 9.99940757e-01 -1.57347559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.09, Y:-7.11, Z:-1.57 [[ 9.82334925e-01 1.86758278e-01 1.18084927e-02 1.80086256e+02] [-1.86749728e-01 9.82405813e-01 -1.83239738e-03 -7.11348743e+00] [-1.19429472e-02 -4.05204860e-04 9.99928598e-01 -1.57428580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:-7.12, Z:-1.57 [[ 9.83325610e-01 1.81360880e-01 1.33782096e-02 1.80117365e+02] [-1.81349367e-01 9.83416537e-01 -2.07889866e-03 -7.11977831e+00] [-1.35333834e-02 -3.81895544e-04 9.99908347e-01 -1.57410216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:-7.12, Z:-1.57 [[ 9.83660793e-01 1.79502701e-01 1.37921952e-02 1.80148582e+02] [-1.79490245e-01 9.83757413e-01 -2.14582226e-03 -7.12494182e+00] [-1.39533551e-02 -3.64803267e-04 9.99902581e-01 -1.57463625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.18, Y:-7.13, Z:-1.57 [[ 9.83897864e-01 1.78242429e-01 1.32147416e-02 1.80180014e+02] [-1.78230863e-01 9.83986548e-01 -2.05732883e-03 -7.12951421e+00] [-1.33698312e-02 -3.31073348e-04 9.99910565e-01 -1.57494072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.21, Y:-7.13, Z:-1.58 [[ 9.83998448e-01 1.77750759e-01 1.23175167e-02 1.80212959e+02] [-1.77740649e-01 9.84075494e-01 -1.91952745e-03 -7.13356422e+00] [-1.24625638e-02 -3.00511383e-04 9.99922294e-01 -1.57565434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:-7.14, Z:-1.58 [[ 9.83996144e-01 1.77822201e-01 1.14391360e-02 1.80244428e+02] [-1.77813463e-01 9.84062593e-01 -1.78461003e-03 -7.13727102e+00] [-1.15741691e-02 -2.77982998e-04 9.99932978e-01 -1.57669322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.365898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:180.28, Y:-7.14, Z:-1.58 [[ 9.84065304e-01 1.77475012e-01 1.08673100e-02 1.80276319e+02] [-1.77467085e-01 9.84125273e-01 -1.69715903e-03 -7.14088198e+00] [-1.09959977e-02 -2.58474500e-04 9.99939509e-01 -1.57662483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:-7.14, Z:-1.58 [[ 9.84579178e-01 1.74525014e-01 1.20358526e-02 1.80308587e+02] [-1.74515043e-01 9.84652709e-01 -1.88195998e-03 -7.14480421e+00] [-1.21795840e-02 -2.47498713e-04 9.99925795e-01 -1.57734215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:-7.15, Z:-1.58 [[ 9.85103416e-01 1.71547323e-01 1.19488850e-02 1.80340188e+02] [-1.71537249e-01 9.85175859e-01 -1.87060025e-03 -7.14892977e+00] [-1.20926495e-02 -2.06944149e-04 9.99926860e-01 -1.57797263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.37, Y:-7.15, Z:-1.58 [[ 9.85777590e-01 1.67694166e-01 1.10094972e-02 1.80372075e+02] [-1.67685352e-01 9.85839057e-01 -1.72545437e-03 -7.15328576e+00] [-1.11429410e-02 -1.45217162e-04 9.99937905e-01 -1.57870931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.40, Y:-7.16, Z:-1.58 [[ 9.86626882e-01 1.62728873e-01 9.31182180e-03 1.80404277e+02] [-1.62722336e-01 9.86670821e-01 -1.46050328e-03 -7.15895182e+00] [-9.42536891e-03 -7.42695979e-05 9.99955577e-01 -1.58000427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.515898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.44, Y:-7.16, Z:-1.58 [[ 9.87644739e-01 1.56512312e-01 7.85906530e-03 1.80436576e+02] [-1.56507444e-01 9.87676008e-01 -1.23443062e-03 -7.16444126e+00] [-7.95541383e-03 -1.08233184e-05 9.99968355e-01 -1.58090756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:-7.17, Z:-1.58 [[ 9.88508044e-01 1.50966623e-01 7.80555474e-03 1.80468886e+02] [-1.50961650e-01 9.88538860e-01 -1.22583682e-03 -7.17279972e+00] [-7.90115463e-03 3.34101331e-05 9.99968785e-01 -1.58220672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.50, Y:-7.18, Z:-1.58 [[ 9.90037196e-01 1.40495597e-01 9.34549034e-03 1.80499375e+02] [-1.40487977e-01 9.90081293e-01 -1.47010531e-03 -7.18357336e+00] [-9.45933848e-03 1.42529902e-04 9.99955249e-01 -1.58269036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.53, Y:-7.19, Z:-1.58 [[ 9.90546184e-01 1.36855422e-01 9.42610514e-03 1.80531183e+02] [-1.36847488e-01 9.90591016e-01 -1.48466428e-03 -7.19167677e+00] [-9.54059943e-03 1.80689724e-04 9.99954471e-01 -1.58325242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.56, Y:-7.20, Z:-1.58 [[ 9.90774472e-01 1.35243095e-01 8.67467184e-03 1.80563660e+02] [-1.35236301e-01 9.90812430e-01 -1.36772413e-03 -7.20023433e+00] [-8.77994793e-03 1.81975619e-04 9.99961439e-01 -1.58386466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.59, Y:-7.21, Z:-1.58 [[ 9.90834618e-01 1.34879520e-01 7.36715981e-03 1.80594430e+02] [-1.34874602e-01 9.90861993e-01 -1.16265307e-03 -7.20788123e+00] [-7.45665675e-03 1.58354169e-04 9.99972186e-01 -1.58415228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:-7.22, Z:-1.58 [[ 9.90803236e-01 1.35196247e-01 5.56079391e-03 1.80625681e+02] [-1.35193445e-01 9.90818833e-01 -8.78513582e-04 -7.21533146e+00] [-5.62851107e-03 1.18651215e-04 9.99984153e-01 -1.58469092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.66, Y:-7.22, Z:-1.59 [[ 9.90692975e-01 1.36058737e-01 3.93055308e-03 1.80656662e+02] [-1.36057346e-01 9.90700769e-01 -6.20252993e-04 -7.22262523e+00] [-3.97839280e-03 7.96996623e-05 9.99992083e-01 -1.58568872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.69, Y:-7.23, Z:-1.59 [[ 9.90444307e-01 1.37899612e-01 1.94186134e-03 1.80688931e+02] [-1.37899279e-01 9.90446210e-01 -3.05238582e-04 -7.23098465e+00] [-1.96540149e-03 3.45405376e-05 9.99998068e-01 -1.58633820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:-7.24, Z:-1.59 [[ 9.90248112e-01 1.39303028e-01 1.82859370e-03 1.80720520e+02] [-1.39302734e-01 9.90249800e-01 -2.87786425e-04 -7.23711595e+00] [-1.85085407e-03 3.02518617e-05 9.99998287e-01 -1.58707570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.75, Y:-7.24, Z:-1.59 [[ 9.90079331e-01 1.40483657e-01 2.69446852e-03 1.80751790e+02] [-1.40483018e-01 9.90082997e-01 -4.25840640e-04 -7.24333781e+00] [-2.72757112e-03 4.30889471e-05 9.99996279e-01 -1.58676356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.78, Y:-7.25, Z:-1.59 [[ 9.89907160e-01 1.41657612e-01 4.11522091e-03 1.80784567e+02] [-1.41656124e-01 9.89915712e-01 -6.52260596e-04 -7.24951793e+00] [-4.16611952e-03 6.27311884e-05 9.99991320e-01 -1.58672922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.82, Y:-7.25, Z:-1.59 [[ 9.89730991e-01 1.42845534e-01 5.26484528e-03 1.80815825e+02] [-1.42843102e-01 9.89744991e-01 -8.37087441e-04 -7.25482821e+00] [-5.33042845e-03 7.64445508e-05 9.99985790e-01 -1.58695232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.85, Y:-7.26, Z:-1.59 [[ 9.89398049e-01 1.45079316e-01 6.59482657e-03 1.80847858e+02] [-1.45075545e-01 9.89420025e-01 -1.04917548e-03 -7.26040271e+00] [-6.67726713e-03 8.13041149e-05 9.99977703e-01 -1.58761495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:-7.27, Z:-1.59 [[ 9.89169368e-01 1.46626080e-01 6.68981029e-03 1.80879221e+02] [-1.46622225e-01 9.89191987e-01 -1.06575740e-03 -7.26603099e+00] [-6.77377456e-03 7.33397028e-05 9.99977055e-01 -1.58822183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.91, Y:-7.27, Z:-1.59 [[ 9.88914494e-01 1.48341592e-01 6.54942005e-03 1.80910575e+02] [-1.48337923e-01 9.88936180e-01 -1.04508274e-03 -7.27183023e+00] [-6.63198768e-03 6.19700979e-05 9.99978006e-01 -1.58873521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:-7.28, Z:-1.59 [[ 9.88686631e-01 1.49842398e-01 6.78244185e-03 1.80942777e+02] [-1.49838498e-01 9.88709893e-01 -1.08247454e-03 -7.27840838e+00] [-6.86806794e-03 5.39572082e-05 9.99976413e-01 -1.58976538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.98, Y:-7.28, Z:-1.59 [[ 9.88673978e-01 1.49925874e-01 6.78208399e-03 1.80975818e+02] [-1.49921960e-01 9.88697238e-01 -1.08471068e-03 -7.28383263e+00] [-6.86805391e-03 5.56418964e-05 9.99976413e-01 -1.59028586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.055898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:181.01, Y:-7.29, Z:-1.59 [[ 9.88476878e-01 1.51263914e-01 5.71753765e-03 1.81007230e+02] [-1.51261159e-01 9.88493413e-01 -9.13798535e-04 -7.28957200e+00] [-5.78997305e-03 3.84273520e-05 9.99983237e-01 -1.58951746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.04, Y:-7.30, Z:-1.59 [[ 9.88147618e-01 1.53417237e-01 5.23804317e-03 1.81038093e+02] [-1.53414947e-01 9.88161500e-01 -8.38540194e-04 -7.29660454e+00] [-5.30467912e-03 2.50073785e-05 9.99985930e-01 -1.59097824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.07, Y:-7.30, Z:-1.59 [[ 9.87296945e-01 1.58821546e-01 4.52314529e-03 1.81070699e+02] [-1.58819898e-01 9.87307306e-01 -7.23585791e-04 -7.30103869e+00] [-4.58065541e-03 -3.97143391e-06 9.99989509e-01 -1.59079139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.10, Y:-7.31, Z:-1.59 [[ 9.86771303e-01 1.62020418e-01 5.63729243e-03 1.81103060e+02] [-1.62017900e-01 9.86787405e-01 -9.03652908e-04 -7.30547520e+00] [-5.70921940e-03 -2.16435217e-05 9.99983702e-01 -1.59118898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.14, Y:-7.31, Z:-1.59 [[ 9.86289021e-01 1.64879398e-01 6.98216251e-03 1.81135400e+02] [-1.64875592e-01 9.86313734e-01 -1.12128647e-03 -7.30998661e+00] [-7.07147982e-03 -4.52756401e-05 9.99974996e-01 -1.59132508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.17, Y:-7.31, Z:-1.59 [[ 9.85957916e-01 1.66797297e-01 8.10246534e-03 1.81167484e+02] [-1.66792218e-01 9.85991206e-01 -1.30334854e-03 -7.31470392e+00] [-8.20635458e-03 -6.63813532e-05 9.99966325e-01 -1.59169622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.20, Y:-7.32, Z:-1.59 [[ 9.85732051e-01 1.68062492e-01 9.34460073e-03 1.81200168e+02] [-1.68055774e-01 9.85776339e-01 -1.50524410e-03 -7.32018494e+00] [-9.46466137e-03 -8.66467487e-05 9.99955205e-01 -1.59228537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.23, Y:-7.33, Z:-1.59 [[ 9.85635067e-01 1.68567845e-01 1.04113841e-02 1.81232610e+02] [-1.68559510e-01 9.85690048e-01 -1.67926936e-03 -7.32597942e+00] [-1.05454685e-02 -9.97910276e-05 9.99944390e-01 -1.59261222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:-7.33, Z:-1.59 [[ 9.85979809e-01 1.66498028e-01 1.10554367e-02 1.81264291e+02] [-1.66488473e-01 9.86041784e-01 -1.78551347e-03 -7.33091661e+00] [-1.11984070e-02 -8.01225408e-05 9.99937293e-01 -1.59315521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.325898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:181.30, Y:-7.34, Z:-1.59 [[ 9.86343617e-01 1.64377127e-01 1.03164437e-02 1.81297380e+02] [-1.64368674e-01 9.86397566e-01 -1.66779267e-03 -7.33548265e+00] [-1.04502619e-02 -5.06835233e-05 9.99945393e-01 -1.59320163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.33, Y:-7.34, Z:-1.59 [[ 9.86755148e-01 1.61895458e-01 1.02048177e-02 1.81328957e+02] [-1.61887034e-01 9.86807915e-01 -1.65168198e-03 -7.34120506e+00] [-1.03375947e-02 -2.22219691e-05 9.99946565e-01 -1.59456084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:-7.35, Z:-1.59 [[ 9.87190909e-01 1.59275206e-01 9.24764360e-03 1.81361011e+02] [-1.59268161e-01 9.87234222e-01 -1.49799191e-03 -7.34715790e+00] [-9.36818321e-03 5.94880488e-06 9.99956118e-01 -1.59477400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.415898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.39, Y:-7.35, Z:-1.59 [[ 9.87576274e-01 1.56918742e-01 8.34340474e-03 1.81392689e+02] [-1.56912908e-01 9.87611517e-01 -1.35335712e-03 -7.35268825e+00] [-8.45240971e-03 2.73554852e-05 9.99964277e-01 -1.59487204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:-7.36, Z:-1.60 [[ 9.87943475e-01 1.54601253e-01 8.13276920e-03 1.81424726e+02] [-1.54595628e-01 9.87976948e-01 -1.31959415e-03 -7.35868498e+00] [-8.23899940e-03 4.63938711e-05 9.99966058e-01 -1.59589759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.46, Y:-7.36, Z:-1.60 [[ 9.88660321e-01 1.49907892e-01 8.85400338e-03 1.81456756e+02] [-1.49901019e-01 9.88699962e-01 -1.43862607e-03 -7.36391233e+00] [-8.96961421e-03 9.50883856e-05 9.99959768e-01 -1.59545145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:-7.37, Z:-1.60 [[ 9.88996844e-01 1.47604205e-01 9.91167028e-03 1.81489509e+02] [-1.47595454e-01 9.89046501e-01 -1.61273098e-03 -7.36890649e+00] [-1.00411487e-02 1.32068381e-04 9.99949578e-01 -1.59587360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.535898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.52, Y:-7.37, Z:-1.60 [[ 9.89389080e-01 1.44923714e-01 1.03133449e-02 1.81521390e+02] [-1.44914066e-01 9.89442817e-01 -1.68065075e-03 -7.37304557e+00] [-1.04480312e-02 1.68268755e-04 9.99945404e-01 -1.59590606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:-7.38, Z:-1.60 [[ 9.89738569e-01 1.42580544e-01 9.39969599e-03 1.81553336e+02] [-1.42572419e-01 9.89783187e-01 -1.53233175e-03 -7.37919528e+00] [-9.52214175e-03 1.76470437e-04 9.99954648e-01 -1.59628945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.59, Y:-7.38, Z:-1.60 [[ 9.90006129e-01 1.40808314e-01 7.80280315e-03 1.81585611e+02] [-1.40802652e-01 9.90036864e-01 -1.27302895e-03 -7.38428480e+00] [-7.90431583e-03 1.61651084e-04 9.99968747e-01 -1.59732235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.62, Y:-7.39, Z:-1.60 [[ 9.90187928e-01 1.39584904e-01 6.62736504e-03 1.81616818e+02] [-1.39580785e-01 9.90210095e-01 -1.08221242e-03 -7.38861450e+00] [-6.71354429e-03 1.46540858e-04 9.99977453e-01 -1.59761925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.65, Y:-7.39, Z:-1.60 [[ 9.90128059e-01 1.39973289e-01 7.34202352e-03 1.81649063e+02] [-1.39968234e-01 9.90155267e-01 -1.20047009e-03 -7.39346329e+00] [-7.43777701e-03 1.60969057e-04 9.99972326e-01 -1.59764966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.68, Y:-7.40, Z:-1.60 [[ 9.90045070e-01 1.40495289e-01 8.47541602e-03 1.81681281e+02] [-1.40488553e-01 9.90081330e-01 -1.38790980e-03 -7.39817500e+00] [-8.58634595e-03 1.83394319e-04 9.99963120e-01 -1.59738801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.715898227 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:181.71, Y:-7.40, Z:-1.60 [[ 9.89995232e-01 1.40801930e-01 9.17912058e-03 1.81714488e+02] [-1.40794024e-01 9.90037766e-01 -1.50512393e-03 -7.40208419e+00] [-9.29960039e-03 1.97700184e-04 9.99956738e-01 -1.59748103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:-7.41, Z:-1.60 [[ 9.89921074e-01 1.41321383e-01 9.19423177e-03 1.81745950e+02] [-1.41313455e-01 9.89963751e-01 -1.50957033e-03 -7.40741612e+00] [-9.31529074e-03 1.95086818e-04 9.99956593e-01 -1.59873198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:-7.41, Z:-1.60 [[ 9.89914886e-01 1.41490677e-01 6.99330432e-03 1.81778751e+02] [-1.41486090e-01 9.89939577e-01 -1.14877078e-03 -7.41159520e+00] [-7.08548908e-03 1.47730009e-04 9.99974887e-01 -1.59845541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:-7.42, Z:-1.60 [[ 9.90049966e-01 1.40575194e-01 6.29922937e-03 1.81810710e+02] [-1.40571447e-01 9.90069995e-01 -1.03581920e-03 -7.41670630e+00] [-6.38228847e-03 1.40020976e-04 9.99979623e-01 -1.59906935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:-7.42, Z:-1.60 [[ 9.90234887e-01 1.39249126e-01 6.67449331e-03 1.81843220e+02] [-1.39244880e-01 9.90257368e-01 -1.09884293e-03 -7.42120076e+00] [-6.76247909e-03 1.58723583e-04 9.99977122e-01 -1.60011310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:-7.43, Z:-1.60 [[ 9.90389879e-01 1.38097094e-01 7.55508382e-03 1.81875874e+02] [-1.38091607e-01 9.90418677e-01 -1.24566352e-03 -7.42594386e+00] [-7.65471863e-03 1.90398879e-04 9.99970684e-01 -1.60058260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:-7.43, Z:-1.60 [[ 9.90597687e-01 1.36548079e-01 8.41690892e-03 1.81907555e+02] [-1.36541195e-01 9.90633419e-01 -1.38987402e-03 -7.43114636e+00] [-8.52785589e-03 2.27551188e-04 9.99963611e-01 -1.60117449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.925898227 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:181.94, Y:-7.44, Z:-1.60 [[ 9.91145610e-01 1.32525678e-01 8.20517915e-03 1.81939668e+02] [-1.32518987e-01 9.91179539e-01 -1.35627941e-03 -7.43693462e+00] [-8.31254754e-03 2.56928358e-04 9.99965417e-01 -1.60129237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.97, Y:-7.45, Z:-1.60 [[ 9.91427369e-01 1.30215894e-01 1.07514528e-02 1.81969139e+02] [-1.30282590e-01 9.91460214e-01 5.75243737e-03 -7.44719466e+00] [-9.91057890e-03 -7.10385095e-03 9.99925655e-01 -1.60135792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.00, Y:-7.45, Z:-1.60 [[ 9.91801981e-01 1.27661359e-01 5.60419393e-03 1.82002262e+02] [-1.27611297e-01 9.91787565e-01 -8.53133277e-03 -7.44621368e+00] [-6.64729139e-03 7.74623429e-03 9.99947903e-01 -1.60446348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:-7.45, Z:-1.60 [[ 9.92014229e-01 1.25957351e-01 6.52045061e-03 1.82032819e+02] [-1.25952968e-01 9.92035626e-01 -1.08014816e-03 -7.45465891e+00] [-6.60457190e-03 2.50252240e-04 9.99978158e-01 -1.60323772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.07, Y:-7.46, Z:-1.60 [[ 9.92053142e-01 1.25649127e-01 6.54676793e-03 1.82065901e+02] [-1.25644694e-01 9.92074711e-01 -1.08559650e-03 -7.45972460e+00] [-6.63128716e-03 2.54402763e-04 9.99977980e-01 -1.60386009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.075898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.10, Y:-7.46, Z:-1.60 [[ 9.92012003e-01 1.25972431e-01 6.56756006e-03 1.82098907e+02] [-1.25967969e-01 9.92033710e-01 -1.09033122e-03 -7.46358097e+00] [-6.65259265e-03 2.54319451e-04 9.99977839e-01 -1.60370755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:-7.47, Z:-1.60 [[ 9.91691546e-01 1.28378828e-01 8.17029984e-03 1.82129983e+02] [-1.28371984e-01 9.91725157e-01 -1.35880285e-03 -7.46875065e+00] [-8.27713341e-03 2.98675693e-04 9.99965699e-01 -1.60382716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.16, Y:-7.47, Z:-1.60 [[ 9.91563563e-01 1.29286651e-01 9.30926084e-03 1.82161145e+02] [-1.29277786e-01 9.91607206e-01 -1.55029684e-03 -7.47358134e+00] [-9.43156281e-03 3.33737229e-04 9.99955466e-01 -1.60452938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.19, Y:-7.48, Z:-1.61 [[ 9.91480915e-01 1.29830781e-01 1.04672106e-02 1.82193325e+02] [-1.29819582e-01 9.91536096e-01 -1.74528819e-03 -7.47847106e+00] [-1.06052092e-02 3.71571028e-04 9.99943694e-01 -1.60514109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19589822700001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:182.23, Y:-7.48, Z:-1.61 [[ 9.91493137e-01 1.29692388e-01 1.10110855e-02 1.82225151e+02] [-1.29679960e-01 9.91554199e-01 -1.83826793e-03 -7.48254053e+00] [-1.11564974e-02 3.94712911e-04 9.99937686e-01 -1.60522551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.26, Y:-7.49, Z:-1.61 [[ 9.91602074e-01 1.28894481e-01 1.05612798e-02 1.82257637e+02] [-1.28882984e-01 9.91658238e-01 -1.76487596e-03 -7.48843879e+00] [-1.07006629e-02 3.88885401e-04 9.99942671e-01 -1.60606525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:-7.49, Z:-1.61 [[ 9.91842720e-01 1.27124223e-01 9.35148659e-03 1.82288999e+02] [-1.27115113e-01 9.91886738e-01 -1.56456469e-03 -7.49389975e+00] [-9.47450959e-03 3.63086824e-04 9.99955050e-01 -1.60687645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:-7.50, Z:-1.61 [[ 9.92438948e-01 1.22570086e-01 6.44273352e-03 1.82321427e+02] [-1.22565669e-01 9.92459821e-01 -1.07741955e-03 -7.50004962e+00] [-6.52621357e-03 2.79615181e-04 9.99978665e-01 -1.60828649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:-7.51, Z:-1.61 [[ 9.92693005e-01 1.20491235e-01 6.51608836e-03 1.82354278e+02] [-1.20486664e-01 9.92714346e-01 -1.09099678e-03 -7.50586249e+00] [-6.60006995e-03 2.97923125e-04 9.99978175e-01 -1.60928666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.38, Y:-7.51, Z:-1.61 [[ 9.92829825e-01 1.19224193e-01 8.63314605e-03 1.82384813e+02] [-1.19244512e-01 9.92863145e-01 1.87650647e-03 -7.51363074e+00] [-8.34780757e-03 -2.89250688e-03 9.99960973e-01 -1.60903147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.42, Y:-7.52, Z:-1.61 [[ 9.92912465e-01 1.18595546e-01 7.74169789e-03 1.82417508e+02] [-1.18562567e-01 9.92935975e-01 -4.58995558e-03 -7.51697454e+00] [-8.23135863e-03 3.63954854e-03 9.99959498e-01 -1.61046374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.45, Y:-7.52, Z:-1.61 [[ 9.92820497e-01 1.19285095e-01 8.86152621e-03 1.82448649e+02] [-1.19276546e-01 9.92859954e-01 -1.48893072e-03 -7.52436611e+00] [-8.97586175e-03 4.21268705e-04 9.99959627e-01 -1.60883614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:-7.53, Z:-1.61 [[ 9.92650233e-01 1.20686134e-01 8.96502814e-03 1.82481083e+02] [-1.20677427e-01 9.92690629e-01 -1.50794827e-03 -7.52988723e+00] [-9.08148787e-03 4.14988671e-04 9.99958676e-01 -1.60917093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:-7.53, Z:-1.61 [[ 9.92264988e-01 1.23967298e-01 6.50400124e-03 1.82512570e+02] [-1.23962781e-01 9.92286265e-01 -1.09454030e-03 -7.53356509e+00] [-6.58951830e-03 2.79819939e-04 9.99978250e-01 -1.61008704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:-7.54, Z:-1.61 [[ 9.92081480e-01 1.25454923e-01 5.94968259e-03 1.82545603e+02] [-1.25451166e-01 9.92099290e-01 -1.00193441e-03 -7.53833604e+00] [-6.02837347e-03 2.47605948e-04 9.99981799e-01 -1.61106791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:-7.54, Z:-1.61 [[ 9.91951153e-01 1.26471684e-01 6.15010704e-03 1.82578351e+02] [-1.26467682e-01 9.91970186e-01 -1.03694826e-03 -7.54307656e+00] [-6.23186742e-03 2.50812241e-04 9.99980550e-01 -1.61110180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.555898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:182.61, Y:-7.55, Z:-1.61 [[ 9.91966291e-01 1.26352098e-01 6.16639665e-03 1.82609724e+02] [-1.26348064e-01 9.91985425e-01 -1.04099132e-03 -7.54652669e+00] [-6.24850704e-03 2.53516015e-04 9.99980446e-01 -1.61078486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:-7.55, Z:-1.61 [[ 9.92252721e-01 1.24096022e-01 5.89199383e-03 1.82642942e+02] [-1.24092295e-01 9.92270181e-01 -9.95419148e-04 -7.54958198e+00] [-5.96997734e-03 2.56556321e-04 9.99982147e-01 -1.61162024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.67, Y:-7.55, Z:-1.61 [[ 9.92570505e-01 1.21532063e-01 5.80948077e-03 1.82674509e+02] [-1.21528385e-01 9.92587470e-01 -9.83281571e-04 -7.55380377e+00] [-5.88591805e-03 2.69959471e-04 9.99982641e-01 -1.61304231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.71, Y:-7.56, Z:-1.61 [[ 9.92865396e-01 1.19117962e-01 5.40527518e-03 1.82706524e+02] [-1.19114743e-01 9.92880074e-01 -9.14816430e-04 -7.55892946e+00] [-5.47576109e-03 2.64441613e-04 9.99984973e-01 -1.61320132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:-7.56, Z:-1.61 [[ 9.93096036e-01 1.17176826e-01 5.46398630e-03 1.82738616e+02] [-1.17173501e-01 9.93111028e-01 -9.25693489e-04 -7.56455927e+00] [-5.53481487e-03 2.79068128e-04 9.99984644e-01 -1.61398079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.77, Y:-7.57, Z:-1.61 [[ 9.93307092e-01 1.15121950e-01 9.37860742e-03 1.82770014e+02] [-1.15171874e-01 9.93333158e-01 4.96761597e-03 -7.57331667e+00] [-8.74420009e-03 -6.01451997e-03 9.99943681e-01 -1.61312179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.80, Y:-7.57, Z:-1.62 [[ 9.93407713e-01 1.14525690e-01 4.99812715e-03 1.82801964e+02] [-1.14487055e-01 9.93396940e-01 -7.43190634e-03 -7.57263858e+00] [-5.81626841e-03 6.81069223e-03 9.99959892e-01 -1.61536893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.83, Y:-7.58, Z:-1.61 [[ 9.93538658e-01 1.13363076e-01 5.45423057e-03 1.82834118e+02] [-1.13359694e-01 9.93553583e-01 -9.26267903e-04 -7.58120965e+00] [-5.52407490e-03 3.01993062e-04 9.99984697e-01 -1.61432123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.86, Y:-7.59, Z:-1.61 [[ 9.93726353e-01 1.11523558e-01 8.39235461e-03 1.82864913e+02] [-1.11573944e-01 9.93739239e-01 5.79488219e-03 -7.59015552e+00] [-7.69354620e-03 -6.69489524e-03 9.99947993e-01 -1.61420494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:-7.59, Z:-1.62 [[ 9.93894279e-01 1.10116672e-01 6.96283215e-03 1.82896662e+02] [-1.10106552e-01 9.93918120e-01 -1.82163274e-03 -7.59350496e+00] [-7.12107718e-03 1.04385692e-03 9.99974100e-01 -1.61659697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:-7.60, Z:-1.62 [[ 9.94024345e-01 1.09063124e-01 4.56477318e-03 1.82927196e+02] [-1.09027462e-01 9.94010868e-01 -7.44359982e-03 -7.59825502e+00] [-5.34925640e-03 6.90143380e-03 9.99961877e-01 -1.61748773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:-7.61, Z:-1.62 [[ 9.94121131e-01 1.08072917e-01 6.58956994e-03 1.82958669e+02] [-1.08067835e-01 9.94142888e-01 -1.12343583e-03 -7.60858620e+00] [-6.67238707e-03 4.04710740e-04 9.99977657e-01 -1.61593985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:-7.62, Z:-1.62 [[ 9.93990518e-01 1.09138892e-01 8.45890914e-03 1.82989603e+02] [-1.09130535e-01 9.94026377e-01 -1.44473414e-03 -7.61576264e+00] [-8.56605549e-03 5.12926756e-04 9.99963179e-01 -1.61580894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:-7.62, Z:-1.62 [[ 9.93982264e-01 1.09214067e-01 8.45853485e-03 1.83022584e+02] [-1.09205694e-01 9.94018120e-01 -1.44692149e-03 -7.62155546e+00] [-8.56596109e-03 5.14494133e-04 9.99963179e-01 -1.61633366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.06, Y:-7.63, Z:-1.62 [[ 9.93721592e-01 1.11535149e-01 8.79245752e-03 1.83055183e+02] [-1.11526192e-01 9.93760357e-01 -1.50401333e-03 -7.62745646e+00] [-8.90534607e-03 5.13981212e-04 9.99960215e-01 -1.61699157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.09, Y:-7.63, Z:-1.62 [[ 9.93363010e-01 1.14674981e-01 8.92071372e-03 1.83087724e+02] [-1.14665865e-01 9.93402941e-01 -1.52841461e-03 -7.63323899e+00] [-9.03713416e-03 4.95369186e-04 9.99959042e-01 -1.61722195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:-7.64, Z:-1.62 [[ 9.92978369e-01 1.17977686e-01 8.67320513e-03 1.83118763e+02] [-1.17969194e-01 9.93016143e-01 -1.48605507e-03 -7.63862591e+00] [-8.78795405e-03 4.52449522e-04 9.99961283e-01 -1.61730394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:-7.64, Z:-1.62 [[ 9.92287977e-01 1.23632118e-01 8.92578207e-03 1.83150933e+02] [-1.23623338e-01 9.92328034e-01 -1.53087807e-03 -7.64320595e+00] [-9.04656947e-03 4.15636931e-04 9.99958993e-01 -1.61728629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.18, Y:-7.66, Z:-1.62 [[ 9.92019295e-01 1.24995305e-01 1.65496986e-02 1.83181051e+02] [-1.25272671e-01 9.91977722e-01 1.69397970e-02 -7.65600966e+00] [-1.42995372e-02 -1.88778304e-02 9.99719536e-01 -1.61534401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.22, Y:-7.64, Z:-1.62 [[ 9.91951328e-01 1.26527049e-01 4.84440012e-03 1.83215279e+02] [-1.26393962e-01 9.91741305e-01 -2.17658111e-02 -7.64218689e+00] [-7.55835554e-03 2.09783223e-02 9.99751360e-01 -1.62264478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.155898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:183.25, Y:-7.65, Z:-1.62 [[ 9.91961519e-01 1.26276273e-01 8.16384161e-03 1.83246758e+02] [-1.26268984e-01 9.91995046e-01 -1.40430560e-03 -7.65463113e+00] [-8.27582091e-03 3.62177138e-04 9.99965689e-01 -1.61907929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:-7.66, Z:-1.62 [[ 9.92135293e-01 1.24508308e-01 1.28546490e-02 1.83278350e+02] [-1.24629961e-01 9.92161209e-01 9.13826966e-03 -7.66379934e+00] [-1.16160936e-02 -1.06684742e-02 9.99875617e-01 -1.61908638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.31, Y:-7.66, Z:-1.62 [[ 9.92302937e-01 1.23701554e-01 5.72772555e-03 1.83312122e+02] [-1.23624994e-01 9.92253943e-01 -1.22054821e-02 -7.65865973e+00] [-7.19319536e-03 1.14034457e-02 9.99909106e-01 -1.62275046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:-7.67, Z:-1.62 [[ 9.92467227e-01 1.22336742e-01 6.52117365e-03 1.83344301e+02] [-1.22331993e-01 9.92488600e-01 -1.12378286e-03 -7.66852050e+00] [-6.60967043e-03 3.17569487e-04 9.99978105e-01 -1.62045634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.38, Y:-7.67, Z:-1.62 [[ 9.92618351e-01 1.21150744e-01 5.59515468e-03 1.83376473e+02] [-1.21147225e-01 9.92634081e-01 -9.64891977e-04 -7.67375092e+00] [-5.67083861e-03 2.79932019e-04 9.99983881e-01 -1.62103518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.41, Y:-7.68, Z:-1.62 [[ 9.92769231e-01 1.19924032e-01 5.24211836e-03 1.83409290e+02] [-1.19920922e-01 9.92783035e-01 -9.04863469e-04 -7.67937481e+00] [-5.31280105e-03 2.69680946e-04 9.99985851e-01 -1.62151523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.335898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:183.44, Y:-7.68, Z:-1.62 [[ 9.92995237e-01 1.18015697e-01 5.72313019e-03 1.83441985e+02] [-1.18011950e-01 9.93011682e-01 -9.89281995e-04 -7.68381106e+00] [-5.79988594e-03 3.06954555e-04 9.99983133e-01 -1.62251420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.47, Y:-7.69, Z:-1.62 [[ 9.93503839e-01 1.13569258e-01 7.22124374e-03 1.83474785e+02] [-1.13563159e-01 9.93529992e-01 -1.25042380e-03 -7.68986250e+00] [-7.31653194e-03 4.22233594e-04 9.99973145e-01 -1.62262591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.51, Y:-7.70, Z:-1.62 [[ 9.93793857e-01 1.10895903e-01 8.71029195e-03 1.83506619e+02] [-1.10927125e-01 9.93823437e-01 3.18567311e-03 -7.69721123e+00] [-8.30321419e-03 -4.13211001e-03 9.99956990e-01 -1.62228529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:-7.70, Z:-1.62 [[ 9.94080119e-01 1.08390211e-01 7.50188964e-03 1.83537855e+02] [-1.08385524e-01 9.94108403e-01 -1.02975774e-03 -7.70164220e+00] [-7.56930719e-03 2.10565460e-04 9.99971330e-01 -1.62414563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.57, Y:-7.71, Z:-1.63 [[ 9.94360482e-01 1.05957600e-01 4.49659845e-03 1.83569280e+02] [-1.05930997e-01 9.94356616e-01 -5.79173376e-03 -7.70606685e+00] [-5.08490063e-03 5.28274202e-03 9.99973118e-01 -1.62563311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.60, Y:-7.72, Z:-1.62 [[ 9.94608917e-01 1.03377961e-01 8.13016593e-03 1.83600040e+02] [-1.03424274e-01 9.94622137e-01 5.49763884e-03 -7.71916289e+00] [-7.51810832e-03 -6.30885713e-03 9.99951837e-01 -1.62495195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.63, Y:-7.72, Z:-1.63 [[ 9.94797740e-01 1.01766149e-01 4.59431900e-03 1.83632652e+02] [-1.01729463e-01 9.94782949e-01 -7.61583871e-03 -7.72025339e+00] [-5.34538478e-03 7.10884153e-03 9.99960445e-01 -1.62777138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.66, Y:-7.73, Z:-1.63 [[ 9.94974671e-01 9.99771049e-02 5.47561309e-03 1.83663454e+02] [-9.99733700e-02 9.94989657e-01 -9.52301723e-04 -7.73175299e+00] [-5.54338676e-03 4.00100600e-04 9.99984555e-01 -1.62647059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.70, Y:-7.74, Z:-1.63 [[ 9.94886510e-01 1.00892603e-01 4.63844753e-03 1.83695266e+02] [-1.00889932e-01 9.94897266e-01 -8.06993564e-04 -7.73916638e+00] [-4.69619845e-03 3.34894355e-04 9.99988917e-01 -1.62622571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.73, Y:-7.75, Z:-1.63 [[ 9.94702986e-01 1.02704074e-01 4.22410599e-03 1.83726968e+02] [-1.02701872e-01 9.94711910e-01 -7.35609545e-04 -7.74635532e+00] [-4.27731863e-03 2.97889420e-04 9.99990808e-01 -1.62679761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.76, Y:-7.75, Z:-1.63 [[ 9.94390710e-01 1.05662154e-01 4.75652882e-03 1.83758757e+02] [-1.05659390e-01 9.94402034e-01 -8.29460879e-04 -7.75337431e+00] [-4.81754456e-03 3.22236258e-04 9.99988344e-01 -1.62717952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.79, Y:-7.76, Z:-1.63 [[ 9.94031341e-01 1.08958177e-01 5.45979585e-03 1.83790760e+02] [-1.08954576e-01 9.94046272e-01 -9.53535709e-04 -7.75975546e+00] [-5.53118523e-03 3.52974635e-04 9.99984641e-01 -1.62752680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.82, Y:-7.77, Z:-1.63 [[ 9.93653816e-01 1.12302037e-01 6.35189517e-03 1.83823429e+02] [-1.12297221e-01 9.93674041e-01 -1.11103912e-03 -7.76568732e+00] [-6.43648530e-03 3.90688088e-04 9.99979209e-01 -1.62832644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.86, Y:-7.77, Z:-1.63 [[ 9.92923218e-01 1.18522642e-01 7.47434915e-03 1.83855809e+02] [-1.18516134e-01 9.92951264e-01 -1.30928412e-03 -7.77116223e+00] [-7.57684424e-03 4.14187634e-04 9.99971210e-01 -1.62928964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.89, Y:-7.78, Z:-1.63 [[ 9.92646617e-01 1.20838187e-01 7.12923368e-03 1.83887588e+02] [-1.20832316e-01 9.92672146e-01 -1.25016259e-03 -7.77684743e+00] [-7.22805907e-03 3.79527854e-04 9.99973805e-01 -1.63005957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.92, Y:-7.78, Z:-1.63 [[ 9.92519579e-01 1.21940676e-01 5.94609005e-03 1.83920287e+02] [-1.21936607e-01 9.92537342e-01 -1.04345653e-03 -7.78241926e+00] [-6.02895621e-03 3.10604987e-04 9.99981777e-01 -1.63059217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.95, Y:-7.79, Z:-1.63 [[ 9.92492491e-01 1.22201468e-01 5.04544741e-03 1.83952278e+02] [-1.22198538e-01 9.92505281e-01 -8.86091104e-04 -7.78764634e+00] [-5.11591483e-03 2.62892469e-04 9.99986879e-01 -1.63136365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.845898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.99, Y:-7.79, Z:-1.63 [[ 9.92545810e-01 1.21809496e-01 3.90658081e-03 1.83985264e+02] [-1.21807736e-01 9.92553477e-01 -6.86043420e-04 -7.79195748e+00] [-3.96105697e-03 2.05077757e-04 9.99992134e-01 -1.63107621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.02, Y:-7.80, Z:-1.63 [[ 9.92562718e-01 1.21669236e-01 3.98092301e-03 1.84017412e+02] [-1.21667405e-01 9.92570679e-01 -6.99894920e-04 -7.79850962e+00] [-4.03650313e-03 2.10341034e-04 9.99991831e-01 -1.63253977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.05, Y:-7.80, Z:-1.63 [[ 9.92605667e-01 1.21261599e-01 5.44194094e-03 1.84048921e+02] [-1.21258155e-01 9.92620541e-01 -9.59634335e-04 -7.80488587e+00] [-5.51814915e-03 2.92658763e-04 9.99984732e-01 -1.63267783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.08, Y:-7.81, Z:-1.63 [[ 9.92513688e-01 1.21976228e-01 6.19509207e-03 1.84079824e+02] [-1.21971775e-01 9.92532968e-01 -1.09295548e-03 -7.81092003e+00] [-6.28214770e-03 3.29146903e-04 9.99980213e-01 -1.63303333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:-7.82, Z:-1.63 [[ 9.92417971e-01 1.22716704e-01 6.86890628e-03 1.84111875e+02] [-1.22711237e-01 9.92441676e-01 -1.21333428e-03 -7.81628681e+00] [-6.96588524e-03 3.61242759e-04 9.99975673e-01 -1.63337282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.995898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.14, Y:-7.82, Z:-1.63 [[ 9.92228124e-01 1.24272435e-01 6.30178634e-03 1.84144478e+02] [-1.24267859e-01 9.92248083e-01 -1.11412931e-03 -7.82061549e+00] [-6.39139098e-03 3.22360939e-04 9.99979523e-01 -1.63314264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.18, Y:-7.83, Z:-1.63 [[ 9.91998252e-01 1.26120476e-01 5.75274459e-03 1.84177117e+02] [-1.26116688e-01 9.92014891e-01 -1.01794159e-03 -7.82658223e+00] [-5.83519158e-03 2.84279186e-04 9.99982935e-01 -1.63421577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.21, Y:-7.83, Z:-1.63 [[ 9.91757348e-01 1.28014101e-01 5.45464365e-03 1.84208573e+02] [-1.28010719e-01 9.91772314e-01 -9.66235094e-04 -7.83179101e+00] [-5.53345627e-03 2.60017902e-04 9.99984657e-01 -1.63466124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.24, Y:-7.84, Z:-1.63 [[ 9.91242739e-01 1.31934040e-01 5.58934133e-03 1.84241516e+02] [-1.31930545e-01 9.91258467e-01 -9.91110983e-04 -7.83552260e+00] [-5.67124319e-03 2.45026717e-04 9.99983888e-01 -1.63492465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.27, Y:-7.84, Z:-1.64 [[ 9.91068892e-01 1.33221172e-01 5.87970262e-03 1.84273542e+02] [-1.33217320e-01 9.91086301e-01 -1.04381224e-03 -7.84095788e+00] [-5.96635061e-03 2.51211612e-04 9.99982170e-01 -1.63545924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.30, Y:-7.85, Z:-1.64 [[ 9.91015618e-01 1.33581552e-01 6.63435364e-03 1.84304785e+02] [-1.33576643e-01 9.91037784e-01 -1.17957310e-03 -7.84625713e+00] [-6.73246433e-03 2.82780673e-04 9.99977297e-01 -1.63695492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.34, Y:-7.85, Z:-1.64 [[ 9.91011442e-01 1.33596379e-01 6.95198843e-03 1.84336484e+02] [-1.33590979e-01 9.91035781e-01 -1.23748369e-03 -7.85230624e+00] [-7.05499262e-03 2.97637560e-04 9.99975069e-01 -1.63673956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.37, Y:-7.86, Z:-1.64 [[ 9.91057575e-01 1.33242462e-01 7.16443159e-03 1.84367491e+02] [-1.33236708e-01 9.91083422e-01 -1.27667619e-03 -7.85837891e+00] [-7.27065686e-03 3.10694326e-04 9.99973520e-01 -1.63699796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.40, Y:-7.86, Z:-1.64 [[ 9.91134473e-01 1.32680465e-01 6.95341186e-03 1.84400110e+02] [-1.32675023e-01 9.91158817e-01 -1.24024469e-03 -7.86450741e+00] [-7.05649171e-03 3.06705189e-04 9.99975056e-01 -1.63683186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.43, Y:-7.87, Z:-1.64 [[ 9.91083001e-01 1.33086343e-01 6.51994419e-03 1.84433118e+02] [-1.33081559e-01 9.91104406e-01 -1.16403655e-03 -7.86882667e+00] [-6.61686278e-03 2.85972504e-04 9.99978067e-01 -1.63671369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.47, Y:-7.87, Z:-1.64 [[ 9.90898518e-01 1.34477149e-01 6.00196812e-03 1.84466288e+02] [-1.34473112e-01 9.90916662e-01 -1.07302523e-03 -7.87273457e+00] [-6.09174758e-03 2.56155774e-04 9.99981412e-01 -1.63642792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.50, Y:-7.88, Z:-1.64 [[ 9.90605930e-01 1.36630271e-01 5.66215964e-03 1.84498075e+02] [-1.36626709e-01 9.90622085e-01 -1.01302018e-03 -7.87611862e+00] [-5.74746961e-03 2.29901565e-04 9.99983457e-01 -1.63590042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.53, Y:-7.88, Z:-1.64 [[ 9.90212169e-01 1.39453349e-01 5.71172969e-03 1.84529764e+02] [-1.39449771e-01 9.90228618e-01 -1.02206071e-03 -7.87965555e+00] [-5.79844799e-03 2.15557560e-04 9.99983166e-01 -1.63575803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.56, Y:-7.88, Z:-1.64 [[ 9.89784487e-01 1.42442005e-01 6.07824218e-03 1.84562323e+02] [-1.42438001e-01 9.89803127e-01 -1.08880135e-03 -7.88345032e+00] [-6.17135416e-03 2.11906024e-04 9.99980935e-01 -1.63522007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.59, Y:-7.88, Z:-1.63 [[ 9.88823994e-01 1.48905472e-01 7.36683195e-03 1.84594588e+02] [-1.48899754e-01 9.88851413e-01 -1.32171812e-03 -7.88434209e+00] [-7.48151325e-03 2.10027125e-04 9.99971991e-01 -1.63495487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.63, Y:-7.89, Z:-1.64 [[ 9.88409978e-01 1.51602467e-01 7.89984663e-03 1.84627336e+02] [-1.51595966e-01 9.88441526e-01 -1.41886631e-03 -7.88714033e+00] [-8.02364009e-03 2.04836740e-04 9.99967789e-01 -1.63505460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.66, Y:-7.89, Z:-1.64 [[ 9.88005750e-01 1.54183538e-01 8.48965365e-03 1.84659159e+02] [-1.54176109e-01 9.88042204e-01 -1.52667568e-03 -7.88967515e+00] [-8.62352436e-03 1.99462591e-04 9.99962797e-01 -1.63549787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.505898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.69, Y:-7.89, Z:-1.64 [[ 9.87620850e-01 1.56577404e-01 9.41138929e-03 1.84692404e+02] [-1.56568364e-01 9.87665671e-01 -1.69429417e-03 -7.89255947e+00] [-9.56059429e-03 1.99794424e-04 9.99954277e-01 -1.63588767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.72, Y:-7.89, Z:-1.64 [[ 9.86944764e-01 1.60675661e-01 1.11070181e-02 1.84724582e+02] [-1.60663300e-01 9.87007242e-01 -2.00214478e-03 -7.89378163e+00] [-1.12844032e-02 1.91516132e-04 9.99936311e-01 -1.63597745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:-7.90, Z:-1.64 [[ 9.86673769e-01 1.62326412e-01 1.11807890e-02 1.84756688e+02] [-1.62313968e-01 9.86737100e-01 -2.01759290e-03 -7.89687104e+00] [-1.13600079e-02 1.75907762e-04 9.99935458e-01 -1.63592801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.595898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.79, Y:-7.90, Z:-1.64 [[ 9.86421321e-01 1.63852911e-01 1.11893099e-02 1.84789257e+02] [-1.63840535e-01 9.86484768e-01 -2.02017647e-03 -7.89995067e+00] [-1.13690956e-02 1.59482630e-04 9.99935357e-01 -1.63658272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.82, Y:-7.90, Z:-1.64 [[ 9.86108997e-01 1.65739820e-01 1.09251026e-02 1.84822165e+02] [-1.65728115e-01 9.86169506e-01 -1.97439141e-03 -7.90277439e+00] [-1.11012383e-02 1.36368479e-04 9.99938370e-01 -1.63652911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.655898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.85, Y:-7.90, Z:-1.64 [[ 9.85790314e-01 1.67601349e-01 1.12803087e-02 1.84854689e+02] [-1.67588968e-01 9.85854844e-01 -2.04074365e-03 -7.90462141e+00] [-1.14627784e-02 1.21290031e-04 9.99934293e-01 -1.63714477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.685898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:184.89, Y:-7.91, Z:-1.64 [[ 9.85453518e-01 1.69547372e-01 1.16212173e-02 1.84887937e+02] [-1.69534343e-01 9.85522033e-01 -2.10442516e-03 -7.90732762e+00] [-1.18097655e-02 1.03617725e-04 9.99930257e-01 -1.63692677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.92, Y:-7.91, Z:-1.64 [[ 9.84949349e-01 1.72421351e-01 1.20689026e-02 1.84920657e+02] [-1.72407487e-01 9.85023285e-01 -2.18777924e-03 -7.90716656e+00] [-1.22653699e-02 7.40825742e-05 9.99924775e-01 -1.63795705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:-7.91, Z:-1.64 [[ 9.84771027e-01 1.73450046e-01 1.18787879e-02 1.84953750e+02] [-1.73436666e-01 9.84842667e-01 -2.15523770e-03 -7.91020752e+00] [-1.20725633e-02 6.21982684e-05 9.99927122e-01 -1.63888115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.99, Y:-7.91, Z:-1.64 [[ 9.84639967e-01 1.74189324e-01 1.19253998e-02 1.84985669e+02] [-1.74175867e-01 9.84712180e-01 -2.16584285e-03 -7.91337556e+00] [-1.21203531e-02 5.54585897e-05 9.99926544e-01 -1.63964830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.02, Y:-7.92, Z:-1.64 [[ 9.84674873e-01 1.73984146e-01 1.20378796e-02 1.85018139e+02] [-1.73970395e-01 9.84748452e-01 -2.18824481e-03 -7.91723136e+00] [-1.22350032e-02 6.04750042e-05 9.99925148e-01 -1.63993509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.05, Y:-7.92, Z:-1.64 [[ 9.84661948e-01 1.74057310e-01 1.20374634e-02 1.85051063e+02] [-1.74043537e-01 9.84735522e-01 -2.19053205e-03 -7.92337637e+00] [-1.22349959e-02 6.18908573e-05 9.99925148e-01 -1.64043526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.08, Y:-7.93, Z:-1.64 [[ 9.84841168e-01 1.73062764e-01 1.17112493e-02 1.85083430e+02] [-1.73049649e-01 9.84910795e-01 -2.13177983e-03 -7.92691308e+00] [-1.19034676e-02 7.28369440e-05 9.99929149e-01 -1.64040702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.12, Y:-7.93, Z:-1.64 [[ 9.84840160e-01 1.73116135e-01 1.09847056e-02 1.85116169e+02] [-1.73104582e-01 9.84901416e-01 -2.00113810e-03 -7.93187793e+00] [-1.11652814e-02 6.92982900e-05 9.99937664e-01 -1.64139591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.925898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.15, Y:-7.94, Z:-1.64 [[ 9.84814625e-01 1.73317126e-01 1.00662076e-02 1.85148605e+02] [-1.73307419e-01 9.84866067e-01 -1.83534513e-03 -7.93716711e+00] [-1.02319630e-02 6.29262677e-05 9.99947650e-01 -1.64212140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:-7.94, Z:-1.64 [[ 9.84717810e-01 1.73914420e-01 9.19835666e-03 1.85181457e+02] [-1.73906328e-01 9.84760769e-01 -1.67848204e-03 -7.94275207e+00] [-9.35009301e-03 5.31787271e-05 9.99956286e-01 -1.64271269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.21, Y:-7.95, Z:-1.64 [[ 9.84538294e-01 1.74936603e-01 9.02951341e-03 1.85214206e+02] [-1.74928835e-01 9.84579699e-01 -1.64919153e-03 -7.94845711e+00] [-9.17877956e-03 4.41699572e-05 9.99957873e-01 -1.64300114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.25, Y:-7.95, Z:-1.64 [[ 9.84221975e-01 1.76698338e-01 9.20878591e-03 1.85246550e+02] [-1.76690320e-01 9.84265054e-01 -1.68356018e-03 -7.95352147e+00] [-9.36136845e-03 2.98935918e-05 9.99956181e-01 -1.64317227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.28, Y:-7.96, Z:-1.64 [[ 9.83240125e-01 1.82056167e-01 9.71639124e-03 1.85279535e+02] [-1.82047484e-01 9.83288133e-01 -1.77817320e-03 -7.95632947e+00] [-9.87773960e-03 -2.04733389e-05 9.99951214e-01 -1.64391609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.31, Y:-7.96, Z:-1.64 [[ 9.82711197e-01 1.84839897e-01 1.06261601e-02 1.85312185e+02] [-1.84829652e-01 9.82768645e-01 -1.94672987e-03 -7.96091802e+00] [-1.08028903e-02 -5.09562380e-05 9.99941646e-01 -1.64492405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.35, Y:-7.97, Z:-1.64 [[ 9.82285755e-01 1.87077385e-01 1.08050000e-02 1.85345106e+02] [-1.87066907e-01 9.82345177e-01 -1.98138718e-03 -7.96676782e+00] [-1.09849124e-02 -7.49695265e-05 9.99939661e-01 -1.64489537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.38, Y:-7.97, Z:-1.65 [[ 9.81993097e-01 1.88605220e-01 1.08456328e-02 1.85377213e+02] [-1.88594736e-01 9.82052984e-01 -1.99070654e-03 -7.97247406e+00] [-1.10264436e-02 -9.05691650e-05 9.99939203e-01 -1.64573410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.165898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.41, Y:-7.98, Z:-1.65 [[ 9.81825435e-01 1.89510437e-01 1.02278871e-02 1.85409960e+02] [-1.89501146e-01 9.81878702e-01 -1.87882578e-03 -7.97857672e+00] [-1.03986016e-02 -9.35173936e-05 9.99945929e-01 -1.64678272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.44, Y:-7.99, Z:-1.65 [[ 9.81674545e-01 1.90410481e-01 7.67707019e-03 1.85441634e+02] [-1.90405267e-01 9.81704560e-01 -1.41111597e-03 -7.98559958e+00] [-7.80530609e-03 -7.64979794e-05 9.99969535e-01 -1.64776176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.47, Y:-7.99, Z:-1.65 [[ 9.81625476e-01 1.90686938e-01 7.06514359e-03 1.85473556e+02] [-1.90682522e-01 9.81650899e-01 -1.29976902e-03 -7.99274768e+00] [-7.18335353e-03 -7.13130093e-05 9.99974197e-01 -1.64823788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.255898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:185.51, Y:-8.00, Z:-1.65 [[ 9.81587853e-01 1.90903398e-01 6.41712547e-03 1.85505615e+02] [-1.90899753e-01 9.81608827e-01 -1.18141830e-03 -7.99916345e+00] [-6.52464377e-03 -6.53618160e-05 9.99978712e-01 -1.64756030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.54, Y:-8.01, Z:-1.65 [[ 9.81428404e-01 1.91703329e-01 6.93694275e-03 1.85537562e+02] [-1.91699082e-01 9.81452917e-01 -1.27831964e-03 -8.00723185e+00] [-7.05334082e-03 -7.52263514e-05 9.99975122e-01 -1.64792040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.57, Y:-8.01, Z:-1.65 [[ 9.81136733e-01 1.93187617e-01 7.01823405e-03 1.85570151e+02] [-1.93183298e-01 9.81161830e-01 -1.29463103e-03 -8.01424457e+00] [-7.13613005e-03 -8.55955430e-05 9.99974534e-01 -1.64797299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.60, Y:-8.02, Z:-1.65 [[ 9.80720150e-01 1.95266998e-01 7.66731103e-03 1.85601517e+02] [-1.95261892e-01 9.80750115e-01 -1.41629314e-03 -8.02037551e+00] [-7.79627148e-03 -1.08146439e-04 9.99969603e-01 -1.64902990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.375898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:185.63, Y:-8.03, Z:-1.65 [[ 9.79776343e-01 1.99967779e-01 7.15579655e-03 1.85633792e+02] [-1.99963447e-01 9.79802464e-01 -1.32312598e-03 -8.02684961e+00] [-7.27584966e-03 -1.34530211e-04 9.99973522e-01 -1.64943420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.67, Y:-8.03, Z:-1.65 [[ 9.79326226e-01 2.02139432e-01 7.73264687e-03 1.85666050e+02] [-2.02134429e-01 9.79356740e-01 -1.43130691e-03 -8.03434221e+00] [-7.86234339e-03 -1.61317768e-04 9.99969078e-01 -1.65087339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.70, Y:-8.04, Z:-1.65 [[ 9.78950658e-01 2.03947949e-01 7.80022038e-03 1.85698532e+02] [-2.03942906e-01 9.78981717e-01 -1.44498236e-03 -8.04160389e+00] [-7.93097433e-03 -1.76233181e-04 9.99968534e-01 -1.65125293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.73, Y:-8.05, Z:-1.65 [[ 9.78679736e-01 2.05248983e-01 7.66998498e-03 1.85729710e+02] [-2.05244131e-01 9.78709774e-01 -1.42284497e-03 -8.04804541e+00] [-7.79872675e-03 -1.81709858e-04 9.99969573e-01 -1.65099900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.76, Y:-8.05, Z:-1.65 [[ 9.78451529e-01 2.06331191e-01 7.74890132e-03 1.85761810e+02] [-2.06326269e-01 9.78482193e-01 -1.43794884e-03 -8.05444718e+00] [-7.87885565e-03 -1.91838657e-04 9.99968943e-01 -1.65094559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:-8.06, Z:-1.65 [[ 9.78287407e-01 2.07087118e-01 8.28700889e-03 1.85793170e+02] [-2.07081501e-01 9.78322483e-01 -1.53971582e-03 -8.06106401e+00] [-8.42622243e-03 -2.09801644e-04 9.99964477e-01 -1.65134104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.555898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:185.83, Y:-8.07, Z:-1.65 [[ 9.78205223e-01 2.07470664e-01 8.39430081e-03 1.85825088e+02] [-2.07464902e-01 9.78241216e-01 -1.56111827e-03 -8.06768667e+00] [-8.53553728e-03 -2.14428750e-04 9.99963549e-01 -1.65197429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.86, Y:-8.08, Z:-1.65 [[ 9.78159888e-01 2.07686283e-01 8.34515928e-03 1.85856454e+02] [-2.07680581e-01 9.78195462e-01 -1.55370358e-03 -8.07526700e+00] [-8.48587986e-03 -2.13357009e-04 9.99963972e-01 -1.65295909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.89, Y:-8.08, Z:-1.65 [[ 9.78183833e-01 2.07586615e-01 8.01162462e-03 1.85888251e+02] [-2.07581345e-01 9.78216620e-01 -1.49300008e-03 -8.08167395e+00] [-8.14703119e-03 -2.02635279e-04 9.99966792e-01 -1.65407598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.645898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.92, Y:-8.09, Z:-1.65 [[ 9.78249526e-01 2.07249860e-01 8.68103391e-03 1.85919905e+02] [-2.07243642e-01 9.78288020e-01 -1.61958556e-03 -8.08795932e+00] [-8.82821035e-03 -2.14730284e-04 9.99961008e-01 -1.65273940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.95, Y:-8.09, Z:-1.65 [[ 9.78286272e-01 2.07074876e-01 8.71579087e-03 1.85952673e+02] [-2.07068589e-01 9.78325074e-01 -1.62756215e-03 -8.09399789e+00] [-8.86390398e-03 -2.12544811e-04 9.99960692e-01 -1.65231817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.98, Y:-8.10, Z:-1.65 [[ 9.78295506e-01 2.07023440e-01 8.89939951e-03 1.85984995e+02] [-2.07016867e-01 9.78335959e-01 -1.66361798e-03 -8.09991631e+00] [-9.05101048e-03 -2.14815811e-04 9.99959016e-01 -1.65188084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:-8.11, Z:-1.65 [[ 9.78273733e-01 2.07149942e-01 8.33100770e-03 1.86016635e+02] [-2.07144174e-01 9.78309185e-01 -1.55890324e-03 -8.10545684e+00] [-8.47322807e-03 -2.00685619e-04 9.99964081e-01 -1.65175034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.765898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.05, Y:-8.12, Z:-1.65 [[ 9.78152270e-01 2.07113901e-01 1.79434757e-02 1.86045520e+02] [-2.07483606e-01 9.77990647e-01 2.20192624e-02 -8.12113877e+00] [-1.29880561e-02 -2.52611685e-02 9.99596510e-01 -1.65063641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.08, Y:-8.10, Z:-1.66 [[ 9.78040599e-01 2.08391520e-01 3.09217804e-03 1.86080537e+02] [-2.08243478e-01 9.77731515e-01 -2.59949893e-02 -8.10385736e+00] [-8.44045527e-03 2.47802290e-02 9.99657291e-01 -1.65716163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.11, Y:-8.12, Z:-1.65 [[ 9.78009708e-01 2.08323171e-01 9.92304062e-03 1.86110245e+02] [-2.08315006e-01 9.78060016e-01 -1.86081018e-03 -8.11918177e+00] [-1.00929791e-02 -2.47227855e-04 9.99949034e-01 -1.65329318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.14, Y:-8.12, Z:-1.65 [[ 9.78153818e-01 2.07590868e-01 1.10063771e-02 1.86141241e+02] [-2.07580752e-01 9.78215703e-01 -2.06625341e-03 -8.12483107e+00] [-1.11955462e-02 -2.63598360e-04 9.99937293e-01 -1.65333450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.17, Y:-8.13, Z:-1.65 [[ 9.78470093e-01 2.06076952e-01 1.13387284e-02 1.86172812e+02] [-2.06066090e-01 9.78535756e-01 -2.13074810e-03 -8.13077383e+00] [-1.15344493e-02 -2.51654142e-04 9.99933444e-01 -1.65429602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.915898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:186.21, Y:-8.14, Z:-1.66 [[ 9.78968399e-01 2.03697645e-01 1.13200036e-02 1.86205143e+02] [-2.03686638e-01 9.79033820e-01 -2.12916229e-03 -8.13675480e+00] [-1.15163717e-02 -2.21350869e-04 9.99933660e-01 -1.65546515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94589822700001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:186.24, Y:-8.14, Z:-1.66 [[ 9.79496635e-01 2.01195531e-01 1.03295823e-02 1.86237929e+02] [-2.01186208e-01 9.79551085e-01 -1.94460931e-03 -8.14305512e+00] [-1.05096003e-02 -1.73431221e-04 9.99944758e-01 -1.65650357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.975898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.27, Y:-8.15, Z:-1.66 [[ 9.79977659e-01 1.98888163e-01 9.34268049e-03 1.86270789e+02] [-1.98880417e-01 9.80022184e-01 -1.76034691e-03 -8.14922755e+00] [-9.50614630e-03 -1.32975544e-04 9.99954807e-01 -1.65701665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.005898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.30, Y:-8.16, Z:-1.66 [[ 9.80427264e-01 1.96516491e-01 1.19853431e-02 1.86300834e+02] [-1.96605949e-01 9.80459025e-01 6.79712304e-03 -8.15705282e+00] [-1.04153911e-02 -9.02047452e-03 9.99905071e-01 -1.65538122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.035898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:186.33, Y:-8.15, Z:-1.66 [[ 9.80670767e-01 1.95573795e-01 5.97800122e-03 1.86334654e+02] [-1.95507442e-01 9.80649340e-01 -1.01839442e-02 -8.15343319e+00] [-7.85403557e-03 8.81835264e-03 9.99930273e-01 -1.65756354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.065898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:186.37, Y:-8.16, Z:-1.66 [[ 9.80861148e-01 1.94552725e-01 7.78753386e-03 1.86365635e+02] [-1.94547186e-01 9.80892059e-01 -1.46992104e-03 -8.16223168e+00] [-7.92470727e-03 -7.32543591e-05 9.99968596e-01 -1.65722354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.095898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.40, Y:-8.17, Z:-1.66 [[ 9.81115999e-01 1.93236210e-01 8.43584829e-03 1.86398508e+02] [-1.93229647e-01 9.81152263e-01 -1.59396328e-03 -8.16775732e+00] [-8.58486306e-03 -6.61931181e-05 9.99963147e-01 -1.65810938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.43, Y:-8.17, Z:-1.66 [[ 9.81874341e-01 1.89268641e-01 1.00080228e-02 1.86430798e+02] [-1.89259173e-01 9.81925344e-01 -1.89348692e-03 -8.17184455e+00] [-1.01855089e-02 -3.49438895e-05 9.99948126e-01 -1.65862283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.155898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:186.46, Y:-8.18, Z:-1.66 [[ 9.82166975e-01 1.87752818e-01 9.84438377e-03 1.86462504e+02] [-1.87743562e-01 9.82216310e-01 -1.86442909e-03 -8.17629168e+00] [-1.00193661e-02 -1.70389960e-05 9.99949805e-01 -1.65943303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:-8.18, Z:-1.66 [[ 9.82307045e-01 1.87078024e-01 8.64188016e-03 1.86494737e+02] [-1.87070855e-01 9.82345058e-01 -1.63781736e-03 -8.18194909e+00] [-8.79570790e-03 -7.80437331e-06 9.99961317e-01 -1.65901030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.215898227 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:186.53, Y:-8.19, Z:-1.66 [[ 9.82380763e-01 1.86726949e-01 7.81554932e-03 1.86526136e+02] [-1.86721064e-01 9.82411852e-01 -1.48255143e-03 -8.18582090e+00] [-7.95492059e-03 -2.89768069e-06 9.99968359e-01 -1.66080858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.245898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:186.56, Y:-8.19, Z:-1.66 [[ 9.82396776e-01 1.86670156e-01 7.12939800e-03 1.86559240e+02] [-1.86665250e-01 9.82422645e-01 -1.35335419e-03 -8.19086560e+00] [-7.25671287e-03 -1.28006444e-06 9.99973670e-01 -1.66074994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.275898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:186.59, Y:-8.19, Z:-1.66 [[ 9.82778434e-01 1.84652462e-01 7.07236392e-03 1.86591578e+02] [-1.84647571e-01 9.82803881e-01 -1.34399806e-03 -8.19245442e+00] [-7.19891926e-03 1.49574876e-05 9.99974087e-01 -1.66055303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.62, Y:-8.20, Z:-1.66 [[ 9.83125034e-01 1.82808780e-01 6.79095219e-03 1.86623088e+02] [-1.82804219e-01 9.83148488e-01 -1.29167465e-03 -8.19559914e+00] [-6.91264385e-03 2.84629796e-05 9.99976107e-01 -1.66086762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.335898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.66, Y:-8.20, Z:-1.66 [[ 9.83512729e-01 1.80731748e-01 6.22475307e-03 1.86656287e+02] [-1.80727869e-01 9.83532426e-01 -1.18477155e-03 -8.19945175e+00] [-6.33637232e-03 4.02515454e-05 9.99979924e-01 -1.66176577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.69, Y:-8.21, Z:-1.66 [[ 9.83870831e-01 1.78772082e-01 6.22337051e-03 1.86688147e+02] [-1.78768157e-01 9.83890512e-01 -1.18585093e-03 -8.20531372e+00] [-6.33511224e-03 5.41836632e-05 9.99979932e-01 -1.66164153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.395898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:186.72, Y:-8.21, Z:-1.66 [[ 9.84259126e-01 1.76624150e-01 6.15481931e-03 1.86720865e+02] [-1.76620262e-01 9.84278368e-01 -1.17377441e-03 -8.20992490e+00] [-6.26537241e-03 6.82323712e-05 9.99980370e-01 -1.66271993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.425898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:186.75, Y:-8.21, Z:-1.66 [[ 9.84677028e-01 1.74264102e-01 6.57060502e-03 1.86753358e+02] [-1.74259609e-01 9.84698946e-01 -1.25456415e-03 -8.21478361e+00] [-6.68869333e-03 9.03494339e-05 9.99977626e-01 -1.66282662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.79, Y:-8.22, Z:-1.66 [[ 9.85577289e-01 1.69041046e-01 7.90771796e-03 1.86786681e+02] [-1.69034353e-01 9.85609000e-01 -1.51202636e-03 -8.21848986e+00] [-8.04951251e-03 1.53542849e-04 9.99967590e-01 -1.66372994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.485898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.82, Y:-8.22, Z:-1.66 [[ 9.86061707e-01 1.66194213e-01 7.86087042e-03 1.86818347e+02] [-1.66187496e-01 9.86093024e-01 -1.50470329e-03 -8.22348727e+00] [-8.00162247e-03 1.77351920e-04 9.99967971e-01 -1.66444254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.515898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:186.85, Y:-8.23, Z:-1.67 [[ 9.86502311e-01 1.63556304e-01 7.90725559e-03 1.86851155e+02] [-1.63549406e-01 9.86533980e-01 -1.51571716e-03 -8.22937637e+00] [-8.04868143e-03 2.02031528e-04 9.99967588e-01 -1.66545378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.545898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.88, Y:-8.24, Z:-1.67 [[ 9.86883537e-01 1.61265149e-01 7.37812839e-03 1.86883731e+02] [-1.61259081e-01 9.86911095e-01 -1.41402145e-03 -8.23531966e+00] [-7.50958915e-03 2.05684283e-04 9.99971781e-01 -1.66583476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.92, Y:-8.24, Z:-1.67 [[ 9.87217652e-01 1.59228005e-01 6.91008289e-03 1.86915695e+02] [-1.59222620e-01 9.87241814e-01 -1.32609258e-03 -8.24100990e+00] [-7.03307384e-03 2.08900497e-04 9.99975246e-01 -1.66623151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:-8.25, Z:-1.67 [[ 9.87520745e-01 1.57353599e-01 6.52867492e-03 1.86948651e+02] [-1.57348750e-01 9.87542303e-01 -1.25303635e-03 -8.24637163e+00] [-6.64451245e-03 2.10120547e-04 9.99977903e-01 -1.66638654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.98, Y:-8.25, Z:-1.67 [[ 9.87763968e-01 1.55834757e-01 6.15402888e-03 1.86981357e+02] [-1.55830413e-01 9.87783116e-01 -1.18214260e-03 -8.25043260e+00] [-6.26306473e-03 2.08693004e-04 9.99980365e-01 -1.66545384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.01, Y:-8.26, Z:-1.67 [[ 9.87701185e-01 1.56235551e-01 6.06801740e-03 1.87013400e+02] [-1.56231328e-01 9.87719804e-01 -1.16688172e-03 -8.25552977e+00] [-6.17580937e-03 2.04516043e-04 9.99980909e-01 -1.66571992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:-8.26, Z:-1.67 [[ 9.87623031e-01 1.56734817e-01 5.91154722e-03 1.87046439e+02] [-1.56730812e-01 9.87640703e-01 -1.13771642e-03 -8.26060373e+00] [-6.01680443e-03 1.97113342e-04 9.99981879e-01 -1.66608692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:-8.27, Z:-1.67 [[ 9.87603200e-01 1.56859737e-01 5.91124737e-03 1.87079293e+02] [-1.56855724e-01 9.87620870e-01 -1.13927106e-03 -8.26711663e+00] [-6.01677703e-03 1.97934758e-04 9.99981879e-01 -1.66658760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.755898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.11, Y:-8.27, Z:-1.67 [[ 9.87528004e-01 1.57343184e-01 5.61809673e-03 1.87111512e+02] [-1.57339568e-01 9.87543968e-01 -1.08279513e-03 -8.27189495e+00] [-5.71848797e-03 1.85341602e-04 9.99983632e-01 -1.66732233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.14, Y:-8.28, Z:-1.67 [[ 9.87542207e-01 1.57252016e-01 5.67381474e-03 1.87143233e+02] [-1.57248315e-01 9.87558488e-01 -1.09537850e-03 -8.27549515e+00] [-5.77547438e-03 1.89534698e-04 9.99983304e-01 -1.66852372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.815898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:187.17, Y:-8.28, Z:-1.67 [[ 9.87669626e-01 1.56436880e-01 6.01771499e-03 1.87174873e+02] [-1.56432696e-01 9.87687936e-01 -1.16265344e-03 -8.27990163e+00] [-6.12550637e-03 2.06950102e-04 9.99981217e-01 -1.66891474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.21, Y:-8.29, Z:-1.67 [[ 9.87713510e-01 1.56108001e-01 7.23289955e-03 1.87206149e+02] [-1.56101942e-01 9.87739960e-01 -1.39822716e-03 -8.28666125e+00] [-7.36249836e-03 2.51978189e-04 9.99972865e-01 -1.66941828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.24, Y:-8.29, Z:-1.67 [[ 9.87739775e-01 1.55933056e-01 7.41746875e-03 1.87238948e+02] [-1.55926669e-01 9.87767591e-01 -1.43522674e-03 -8.29306502e+00] [-7.55053453e-03 2.61049339e-04 9.99971460e-01 -1.66962947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.27, Y:-8.30, Z:-1.67 [[ 9.87715885e-01 1.56127964e-01 6.43349160e-03 1.87271212e+02] [-1.56123153e-01 9.87736811e-01 -1.24653586e-03 -8.29897286e+00] [-6.54921558e-03 2.26806278e-04 9.99978528e-01 -1.67004789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.30, Y:-8.30, Z:-1.67 [[ 9.87668469e-01 1.56474189e-01 5.17918031e-03 1.87303922e+02] [-1.56471080e-01 9.87682032e-01 -1.00263593e-03 -8.30449695e+00] [-5.27226998e-03 1.79879963e-04 9.99986085e-01 -1.67060208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:-8.31, Z:-1.67 [[ 9.87756660e-01 1.55952493e-01 3.94985532e-03 1.87336000e+02] [-1.55950680e-01 9.87764547e-01 -7.64884540e-04 -8.30886779e+00] [-4.02081271e-03 1.39537177e-04 9.99991907e-01 -1.67101282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.995898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:187.37, Y:-8.31, Z:-1.67 [[ 9.87909563e-01 1.54978101e-01 4.06000124e-03 1.87367187e+02] [-1.54976170e-01 9.87917894e-01 -7.87715888e-04 -8.31349330e+00] [-4.13302658e-03 1.48988615e-04 9.99991448e-01 -1.67151922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.025898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:187.40, Y:-8.32, Z:-1.67 [[ 9.88085522e-01 1.53840660e-01 4.47807578e-03 1.87400253e+02] [-1.53838300e-01 9.88095655e-01 -8.68766727e-04 -8.31871198e+00] [-4.55841886e-03 1.69516260e-04 9.99989596e-01 -1.67131016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.43, Y:-8.32, Z:-1.67 [[ 9.88216336e-01 1.52933018e-01 6.32176083e-03 1.87432401e+02] [-1.52928281e-01 9.88236526e-01 -1.22887282e-03 -8.32393559e+00] [-6.43533019e-03 2.47616185e-04 9.99979262e-01 -1.67179951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.46, Y:-8.33, Z:-1.67 [[ 9.88258819e-01 1.52664569e-01 6.16730470e-03 1.87464780e+02] [-1.52660048e-01 9.88278033e-01 -1.19998306e-03 -8.32952870e+00] [-6.27820665e-03 2.44392805e-04 9.99980262e-01 -1.67211476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.115898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.50, Y:-8.33, Z:-1.67 [[ 9.88276430e-01 1.52558490e-01 5.96693390e-03 1.87496582e+02] [-1.52554249e-01 9.88294415e-01 -1.16217940e-03 -8.33488545e+00] [-6.07438778e-03 2.38273387e-04 9.99981522e-01 -1.67272694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:-8.34, Z:-1.67 [[ 9.88339026e-01 1.52152478e-01 5.96605686e-03 1.87528829e+02] [-1.52148225e-01 9.88357003e-01 -1.16296479e-03 -8.33958838e+00] [-6.07354205e-03 2.41678525e-04 9.99981527e-01 -1.67325832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:-8.34, Z:-1.67 [[ 9.88377542e-01 1.51883500e-01 6.42159671e-03 1.87560713e+02] [-1.51878557e-01 9.88398368e-01 -1.25334552e-03 -8.34450288e+00] [-6.53745821e-03 2.63475722e-04 9.99978596e-01 -1.67380426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:-8.35, Z:-1.67 [[ 9.88544256e-01 1.50735261e-01 7.68990373e-03 1.87593021e+02] [-1.50728123e-01 9.88574112e-01 -1.50283037e-03 -8.34677462e+00] [-7.82856928e-03 3.26529575e-04 9.99969303e-01 -1.67457177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.63, Y:-8.35, Z:-1.67 [[ 9.88654737e-01 1.50006731e-01 7.73257279e-03 1.87626006e+02] [-1.49999480e-01 9.88684919e-01 -1.51251935e-03 -8.35150891e+00] [-7.87196618e-03 3.35477519e-04 9.99968959e-01 -1.67497907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.265898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:187.66, Y:-8.35, Z:-1.68 [[ 9.88803064e-01 1.49069209e-01 6.84634549e-03 1.87657628e+02] [-1.49063495e-01 9.88826718e-01 -1.34023975e-03 -8.35499888e+00] [-6.96963782e-03 3.04692983e-04 9.99975665e-01 -1.67593124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.69, Y:-8.36, Z:-1.68 [[ 9.88942292e-01 1.48186164e-01 5.83130641e-03 1.87688622e+02] [-1.48181998e-01 9.88959448e-01 -1.14240034e-03 -8.35926045e+00] [-5.93621349e-03 2.65673377e-04 9.99982345e-01 -1.67561403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:-8.36, Z:-1.68 [[ 9.89108074e-01 1.47106362e-01 4.99353439e-03 1.87720332e+02] [-1.47103285e-01 9.89120652e-01 -9.79901418e-04 -8.36199897e+00] [-5.08335772e-03 2.34663091e-04 9.99987052e-01 -1.67644273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:-8.36, Z:-1.68 [[ 9.89274909e-01 1.45986959e-01 4.79189627e-03 1.87750339e+02] [-1.45984111e-01 9.89286488e-01 -9.40548252e-04 -8.36417274e+00] [-4.87786601e-03 2.30920068e-04 9.99988076e-01 -1.67709195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:-8.36, Z:-1.68 [[ 9.89706811e-01 1.42996990e-01 5.68244062e-03 1.87782261e+02] [-1.42992937e-01 9.89723081e-01 -1.11532817e-03 -8.36313637e+00] [-5.78353120e-03 2.91299011e-04 9.99983233e-01 -1.67751083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.81, Y:-8.37, Z:-1.68 [[ 9.90010670e-01 1.40875418e-01 5.74362399e-03 1.87814200e+02] [-1.40871248e-01 9.90027284e-01 -1.12616289e-03 -8.36649981e+00] [-5.84499312e-03 3.05801793e-04 9.99982871e-01 -1.67803139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:-8.37, Z:-1.68 [[ 9.90374830e-01 1.38283816e-01 5.93986652e-03 1.87845302e+02] [-1.38279303e-01 9.90392586e-01 -1.16586212e-03 -8.37017032e+00] [-6.04401963e-03 3.33279900e-04 9.99981679e-01 -1.67871444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:-8.37, Z:-1.68 [[ 9.90792676e-01 1.35252683e-01 6.04854298e-03 1.87876136e+02] [-1.35247940e-01 9.90811073e-01 -1.18823942e-03 -8.37381638e+00] [-6.15367593e-03 3.59245935e-04 9.99981001e-01 -1.67945882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.91, Y:-8.38, Z:-1.68 [[ 9.91241150e-01 1.31942779e-01 5.66450456e-03 1.87906066e+02] [-1.31938554e-01 9.91257270e-01 -1.11481211e-03 -8.37733082e+00] [-5.76207273e-03 3.57681096e-04 9.99983335e-01 -1.67931037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.94, Y:-8.38, Z:-1.68 [[ 9.91985067e-01 1.26228875e-01 5.64782273e-03 1.87936312e+02] [-1.26224583e-01 9.92001068e-01 -1.11159303e-03 -8.37929917e+00] [-5.74296132e-03 3.89789624e-04 9.99983433e-01 -1.67954916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.97, Y:-8.38, Z:-1.68 [[ 9.92333681e-01 1.23478864e-01 5.18028958e-03 1.87967946e+02] [-1.23475223e-01 9.92347133e-01 -1.01815409e-03 -8.38443312e+00] [-5.26636602e-03 3.70711190e-04 9.99986064e-01 -1.67992524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.00, Y:-8.39, Z:-1.68 [[ 9.92677415e-01 1.20697515e-01 4.86401631e-03 1.87998834e+02] [-1.20694268e-01 9.92689266e-01 -9.56778149e-04 -8.38997182e+00] [-4.94393752e-03 3.62713172e-04 9.99987713e-01 -1.68099170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:-8.40, Z:-1.68 [[ 9.92993196e-01 1.18092219e-01 4.32909684e-03 1.88029501e+02] [-1.18089614e-01 9.93002576e-01 -8.53309053e-04 -8.39593987e+00] [-4.39957347e-03 3.36108709e-04 9.99990265e-01 -1.68117571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.06, Y:-8.40, Z:-1.68 [[ 9.93263638e-01 1.15790161e-01 4.47047340e-03 1.88060873e+02] [-1.15787359e-01 9.93273633e-01 -8.81291957e-04 -8.40140272e+00] [-4.54244830e-03 3.57730944e-04 9.99989619e-01 -1.68132151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:-8.41, Z:-1.68 [[ 9.93170183e-01 1.16576205e-01 4.79339088e-03 1.88090560e+02] [-1.16572992e-01 9.93181677e-01 -9.45206047e-04 -8.40737288e+00] [-4.87089653e-03 3.79970546e-04 9.99988065e-01 -1.68141187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.12, Y:-8.41, Z:-1.68 [[ 9.93000644e-01 1.17997105e-01 5.13852455e-03 1.88121465e+02] [-1.17993432e-01 9.93013859e-01 -1.01322469e-03 -8.41372220e+00] [-5.22218367e-03 3.99820623e-04 9.99986284e-01 -1.68168777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:-8.42, Z:-1.68 [[ 9.92820826e-01 1.19494265e-01 5.28476463e-03 1.88152171e+02] [-1.19490400e-01 9.92834809e-01 -1.04219421e-03 -8.42012122e+00] [-5.37143451e-03 4.03233478e-04 9.99985492e-01 -1.68218387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.18, Y:-8.43, Z:-1.68 [[ 9.92619525e-01 1.21179520e-01 4.69057586e-03 1.88183759e+02] [-1.21176502e-01 9.92630547e-01 -9.23559665e-04 -8.42711925e+00] [-4.76792540e-03 3.48355783e-04 9.99988573e-01 -1.68262922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.21, Y:-8.43, Z:-1.68 [[ 9.92454856e-01 1.22528522e-01 4.48559704e-03 1.88213978e+02] [-1.22525772e-01 9.92464938e-01 -8.84014188e-04 -8.43352670e+00] [-4.56011474e-03 3.27742935e-04 9.99989549e-01 -1.68332093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.24, Y:-8.44, Z:-1.68 [[ 9.92151976e-01 1.24962089e-01 4.35128927e-03 1.88243265e+02] [-1.24959515e-01 9.92161469e-01 -8.59626982e-04 -8.44076834e+00] [-4.42460234e-03 3.09145613e-04 9.99990164e-01 -1.68455154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.27, Y:-8.45, Z:-1.68 [[ 9.92003460e-01 1.26104883e-01 5.16663332e-03 1.88273887e+02] [-1.26101268e-01 9.92016849e-01 -1.02088080e-03 -8.44828097e+00] [-5.25412536e-03 3.61198274e-04 9.99986132e-01 -1.68469885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.895898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.31, Y:-8.46, Z:-1.69 [[ 9.91859902e-01 1.27182139e-01 6.21593710e-03 1.88305349e+02] [-1.27176934e-01 9.91879288e-01 -1.22715743e-03 -8.45530410e+00] [-6.32153177e-03 4.26644430e-04 9.99979928e-01 -1.68577581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.34, Y:-8.46, Z:-1.69 [[ 9.91812089e-01 1.27526650e-01 6.76272268e-03 1.88336136e+02] [-1.27520485e-01 9.91835036e-01 -1.33692010e-03 -8.46352277e+00] [-6.87799823e-03 4.63587840e-04 9.99976239e-01 -1.68593152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.37, Y:-8.48, Z:-1.69 [[ 9.91706429e-01 1.28047783e-01 1.10509974e-02 1.88365934e+02] [-1.28169784e-01 9.91689641e-01 1.11427785e-02 -8.47817508e+00] [-9.53235153e-03 -1.24667690e-02 9.99876849e-01 -1.68669406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.40, Y:-8.47, Z:-1.69 [[ 9.91596484e-01 1.29360142e-01 1.53814481e-03 1.88399546e+02] [-1.29329142e-01 9.91514886e-01 -1.31226857e-02 -8.47472376e+00] [-3.22264596e-03 1.28134820e-02 9.99912711e-01 -1.68757974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.43, Y:-8.49, Z:-1.69 [[ 9.91504658e-01 1.30031266e-01 3.22237162e-03 1.88428519e+02] [-1.30029881e-01 9.91509871e-01 -6.36622863e-04 -8.48737614e+00] [-3.27779414e-03 2.12209937e-04 9.99994606e-01 -1.68744342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:-8.49, Z:-1.69 [[ 9.91456929e-01 1.30401037e-01 2.95429856e-03 1.88459244e+02] [-1.30399868e-01 9.91461311e-01 -5.85593207e-04 -8.49481503e+00] [-3.00543468e-03 1.95350301e-04 9.99995465e-01 -1.68787363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.49, Y:-8.50, Z:-1.69 [[ 9.91442398e-01 1.30500887e-01 3.38982242e-03 1.88489485e+02] [-1.30499348e-01 9.91448167e-01 -6.72051566e-04 -8.50196472e+00] [-3.44853656e-03 2.23930799e-04 9.99994029e-01 -1.68838234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.52, Y:-8.51, Z:-1.69 [[ 9.91475281e-01 1.30236577e-01 3.89891272e-03 1.88520300e+02] [-1.30234545e-01 9.91482914e-01 -7.71628011e-04 -8.50902116e+00] [-3.96619954e-03 2.57276973e-04 9.99992102e-01 -1.68940203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.55, Y:-8.52, Z:-1.69 [[ 9.91522355e-01 1.29883997e-01 3.68322014e-03 1.88550972e+02] [-1.29882180e-01 9.91529166e-01 -7.29298964e-04 -8.51816103e+00] [-3.74674446e-03 2.44731566e-04 9.99992951e-01 -1.68967582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.58, Y:-8.53, Z:-1.69 [[ 9.91458443e-01 1.30379976e-01 3.34929174e-03 1.88582049e+02] [-1.30378476e-01 9.91464075e-01 -6.63409050e-04 -8.52673440e+00] [-3.40719769e-03 2.21066952e-04 9.99994171e-01 -1.68996969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.61, Y:-8.54, Z:-1.69 [[ 9.91377604e-01 1.31004490e-01 2.87565975e-03 1.88613574e+02] [-1.31003386e-01 9.91381757e-01 -5.69724165e-04 -8.53529903e+00] [-2.92551304e-03 1.88090612e-04 9.99995703e-01 -1.68949730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:-8.54, Z:-1.69 [[ 9.91323939e-01 1.31411543e-01 2.80269630e-03 1.88645282e+02] [-1.31410495e-01 9.91327884e-01 -5.55683823e-04 -8.54322007e+00] [-2.85141426e-03 1.82558968e-04 9.99995918e-01 -1.69002916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.255898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:188.68, Y:-8.55, Z:-1.69 [[ 9.91331026e-01 1.31367977e-01 2.29171982e-03 1.88676989e+02] [-1.31367275e-01 9.91333663e-01 -4.54939141e-04 -8.55006128e+00] [-2.33162344e-03 1.49938296e-04 9.99997271e-01 -1.69029625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.71, Y:-8.56, Z:-1.69 [[ 9.91357383e-01 1.31179268e-01 1.59349646e-03 1.88708624e+02] [-1.31178931e-01 9.91358658e-01 -3.14901170e-04 -8.55902364e+00] [-1.62103502e-03 1.03146438e-04 9.99998681e-01 -1.69059965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:-8.57, Z:-1.69 [[ 9.91358675e-01 1.31168993e-01 1.63454591e-03 1.88739977e+02] [-1.31168636e-01 9.91360017e-01 -3.24448056e-04 -8.56628925e+00] [-1.66298098e-03 1.07243238e-04 9.99998611e-01 -1.69103508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.77, Y:-8.57, Z:-1.69 [[ 9.91352409e-01 1.31200084e-01 2.63412390e-03 1.88770484e+02] [-1.31199153e-01 9.91355894e-01 -5.23971734e-04 -8.57321282e+00] [-2.68009939e-03 1.73845817e-04 9.99996393e-01 -1.69060032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.80, Y:-8.58, Z:-1.69 [[ 9.91375448e-01 1.30973098e-01 4.55737779e-03 1.88802440e+02] [-1.30970299e-01 9.91385876e-01 -9.08507661e-04 -8.58023617e+00] [-4.63711004e-03 3.03791055e-04 9.99989202e-01 -1.69044143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.405898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:188.83, Y:-8.59, Z:-1.69 [[ 9.91498735e-01 1.29963579e-01 6.30290781e-03 1.88834407e+02] [-1.29958189e-01 9.91518676e-01 -1.25899124e-03 -8.58579513e+00] [-6.41307381e-03 4.29173734e-04 9.99979344e-01 -1.68884276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.87, Y:-8.59, Z:-1.69 [[ 9.91548606e-01 1.29568731e-01 6.58068070e-03 1.88865281e+02] [-1.29562838e-01 9.91570340e-01 -1.31584444e-03 -8.59321516e+00] [-6.69570010e-03 4.52112055e-04 9.99977481e-01 -1.68973329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.90, Y:-8.60, Z:-1.69 [[ 9.91591529e-01 1.29285709e-01 5.60761841e-03 1.88897474e+02] [-1.29281422e-01 9.91607309e-01 -1.12172721e-03 -8.60022383e+00] [-5.70557870e-03 3.87334310e-04 9.99983648e-01 -1.68979107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.93, Y:-8.61, Z:-1.69 [[ 9.91640911e-01 1.28935840e-01 4.88385182e-03 1.88929269e+02] [-1.28932578e-01 9.91652879e-01 -9.78293585e-04 -8.60659708e+00] [-4.96922282e-03 3.40428337e-04 9.99987595e-01 -1.68988412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:-8.61, Z:-1.69 [[ 9.91667884e-01 1.28740869e-01 4.53836991e-03 1.88961801e+02] [-1.28738052e-01 9.91678218e-01 -9.08759033e-04 -8.61193150e+00] [-4.61759702e-03 3.16926246e-04 9.99989289e-01 -1.68978508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.99, Y:-8.61, Z:-1.69 [[ 9.91701255e-01 1.28448595e-01 5.43873997e-03 1.88994211e+02] [-1.28444535e-01 9.91716094e-01 -1.09081084e-03 -8.61490274e+00] [-5.53379908e-03 3.83182050e-04 9.99984615e-01 -1.69010981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:-8.62, Z:-1.69 [[ 9.91714885e-01 1.28327529e-01 5.79936443e-03 1.89026393e+02] [-1.28322904e-01 9.91731756e-01 -1.16424520e-03 -8.62036809e+00] [-5.90081858e-03 4.10408005e-04 9.99982506e-01 -1.69041361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.615898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.06, Y:-8.63, Z:-1.69 [[ 9.91769601e-01 1.27892266e-01 6.05204175e-03 1.89058611e+02] [-1.27887213e-01 9.91787972e-01 -1.21626356e-03 -8.62603252e+00] [-6.15789291e-03 4.32274468e-04 9.99980947e-01 -1.69074314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.645898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.09, Y:-8.63, Z:-1.69 [[ 9.91753325e-01 1.28018436e-01 6.05170707e-03 1.89091420e+02] [-1.28013375e-01 9.91771694e-01 -1.21792527e-03 -8.63279413e+00] [-6.15782865e-03 4.33181991e-04 9.99980947e-01 -1.69126234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.12, Y:-8.64, Z:-1.69 [[ 9.91776676e-01 1.27802289e-01 6.75275405e-03 1.89123867e+02] [-1.27795978e-01 9.91799546e-01 -1.35963672e-03 -8.63924431e+00] [-6.87114308e-03 4.85481174e-04 9.99976276e-01 -1.69148011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.15, Y:-8.65, Z:-1.69 [[ 9.91804938e-01 1.27002340e-01 1.39057848e-02 1.89154686e+02] [-1.27166523e-01 9.91813137e-01 1.16351755e-02 -8.65050458e+00] [-1.23142455e-02 -1.33081749e-02 9.99835612e-01 -1.69206040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.19, Y:-8.64, Z:-1.69 [[ 9.91796635e-01 1.27736063e-01 4.78891513e-03 1.89188865e+02] [-1.27648882e-01 9.91699041e-01 -1.54523276e-02 -8.64158847e+00] [-6.72298204e-03 1.47142668e-02 9.99869137e-01 -1.69295375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.22, Y:-8.65, Z:-1.69 [[ 9.91689624e-01 1.28458161e-01 7.08457994e-03 1.89218895e+02] [-1.28451208e-01 9.91714799e-01 -1.42967974e-03 -8.65360713e+00] [-7.20953680e-03 5.07775706e-04 9.99973882e-01 -1.69229875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:-8.66, Z:-1.69 [[ 9.91573220e-01 1.29394857e-01 6.28654081e-03 1.89250435e+02] [-1.29389396e-01 9.91593048e-01 -1.26952920e-03 -8.65997308e+00] [-6.39796072e-03 4.45419437e-04 9.99979434e-01 -1.69307299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.28, Y:-8.67, Z:-1.69 [[ 9.91449589e-01 1.30372295e-01 5.54780580e-03 1.89282020e+02] [-1.30368053e-01 9.91465034e-01 -1.12093853e-03 -8.66630314e+00] [-5.64659480e-03 3.88097403e-04 9.99983983e-01 -1.69332469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:-8.68, Z:-1.69 [[ 9.91317965e-01 1.31100657e-01 1.00653136e-02 1.89311469e+02] [-1.31192642e-01 9.91315164e-01 9.09599586e-03 -8.67673253e+00] [-8.78540693e-03 -1.03375192e-02 9.99907972e-01 -1.69354589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.34, Y:-8.67, Z:-1.70 [[ 9.91208079e-01 1.32285219e-01 2.67668485e-03 1.89344744e+02] [-1.32245242e-01 9.91146976e-01 -1.17841879e-02 -8.67398493e+00] [-4.21186197e-03 1.13266034e-02 9.99926981e-01 -1.69562439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:-8.69, Z:-1.70 [[ 9.91225015e-01 1.32091309e-01 4.98558371e-03 1.89375552e+02] [-1.32087894e-01 9.91237494e-01 -1.00959116e-03 -8.68613511e+00] [-5.07525572e-03 3.42196763e-04 9.99987062e-01 -1.69587169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.41, Y:-8.70, Z:-1.70 [[ 9.91247924e-01 1.31713770e-01 8.89018580e-03 1.89406479e+02] [-1.31774940e-01 9.91257125e-01 6.68414123e-03 -8.69710931e+00] [-7.93206657e-03 -7.79714482e-03 9.99938142e-01 -1.69713448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:-8.70, Z:-1.70 [[ 9.91279405e-01 1.31756946e-01 2.29104347e-03 1.89437999e+02] [-1.31731590e-01 9.91244760e-01 -8.97855407e-03 -8.69695780e+00] [-3.45397169e-03 8.59845293e-03 9.99957067e-01 -1.69775404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:-8.72, Z:-1.70 [[ 9.91262054e-01 1.30998267e-01 1.54594546e-02 1.89464530e+02] [-1.31370626e-01 9.90986836e-01 2.62078244e-02 -8.71909874e+00] [-1.18869365e-02 -2.80097401e-02 9.99536970e-01 -1.69861874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:-8.71, Z:-1.70 [[ 9.91329197e-01 1.31097917e-01 8.93079827e-03 1.89499786e+02] [-1.31075134e-01 9.91367613e-01 -3.09284169e-03 -8.71221896e+00] [-9.25916926e-03 1.89541869e-03 9.99955337e-01 -1.70193280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:-8.71, Z:-1.70 [[ 9.91306518e-01 1.31553560e-01 -2.24689442e-03 1.89533146e+02] [-1.31566130e-01 9.90940863e-01 -2.69547702e-02 -8.70677250e+00] [-1.31945648e-03 2.70160546e-02 9.99634129e-01 -1.70113789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.56, Y:-8.72, Z:-1.70 [[ 9.91373597e-01 1.31010833e-01 3.81485065e-03 1.89560181e+02] [-1.31008811e-01 9.91380900e-01 -7.76286593e-04 -8.72407040e+00] [-3.88367203e-03 2.69810985e-04 9.99992422e-01 -1.69943152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:-8.74, Z:-1.70 [[ 9.91378653e-01 1.30101492e-01 1.55553001e-02 1.89587790e+02] [-1.30415229e-01 9.91232384e-01 2.12185800e-02 -8.74059676e+00] [-1.26583483e-02 -2.30642953e-02 9.99653842e-01 -1.70187280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.155898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:189.62, Y:-8.73, Z:-1.70 [[ 9.91578453e-01 1.29505282e-01 -7.44524600e-04 1.89622968e+02] [-1.29485080e-01 9.91284226e-01 -2.42733721e-02 -8.72601543e+00] [-2.40549441e-03 2.41653576e-02 9.99705081e-01 -1.70255744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.185898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:189.65, Y:-8.76, Z:-1.69 [[ 9.92123156e-01 1.24431817e-01 1.44349296e-02 1.89648954e+02] [-1.24830011e-01 9.91690741e-01 3.10957106e-02 -8.75966329e+00] [-1.04456903e-02 -3.26526870e-02 9.99412172e-01 -1.69475636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.69, Y:-8.74, Z:-1.70 [[ 9.92344262e-01 1.23478939e-01 -2.41182799e-03 1.89685308e+02] [-1.23490003e-01 9.91777003e-01 -3.35945840e-02 -8.73974855e+00] [-1.75622804e-03 3.36352293e-02 9.99432633e-01 -1.70316996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.71, Y:-8.76, Z:-1.70 [[ 9.92658149e-01 1.20870741e-01 4.47909233e-03 1.89713791e+02] [-1.20867851e-01 9.92668188e-01 -9.11390620e-04 -8.76165685e+00] [-4.55641293e-03 3.63321063e-04 9.99989553e-01 -1.70156824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.75, Y:-8.77, Z:-1.70 [[ 9.92852692e-01 1.19252325e-01 4.73443370e-03 1.89745890e+02] [-1.19249076e-01 9.92863902e-01 -9.63892207e-04 -8.76985185e+00] [-4.81559470e-03 3.92426131e-04 9.99988328e-01 -1.70186722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.78, Y:-8.78, Z:-1.70 [[ 9.92980932e-01 1.18175485e-01 4.83972070e-03 1.89777997e+02] [-1.18172071e-01 9.92992643e-01 -9.86307958e-04 -8.77857787e+00] [-4.92236447e-03 4.07465178e-04 9.99987802e-01 -1.70211990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.81, Y:-8.79, Z:-1.70 [[ 9.93020558e-01 1.17846126e-01 4.73940729e-03 1.89809298e+02] [-1.17842845e-01 9.93031787e-01 -9.66714121e-04 -8.78781622e+00] [-4.82030560e-03 4.01461759e-04 9.99988302e-01 -1.70230341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:-8.80, Z:-1.70 [[ 9.92884679e-01 1.18961018e-01 5.31890011e-03 1.89839970e+02] [-1.18956893e-01 9.92898825e-01 -1.08644051e-03 -8.79875313e+00] [-5.41037374e-03 4.45990303e-04 9.99985264e-01 -1.70221385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:-8.81, Z:-1.70 [[ 9.92693732e-01 1.20501762e-01 6.20325708e-03 1.89871833e+02] [-1.20496172e-01 9.92712981e-01 -1.26854496e-03 -8.80591181e+00] [-6.31091573e-03 5.11807893e-04 9.99979955e-01 -1.70253631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.90, Y:-8.81, Z:-1.70 [[ 9.92455116e-01 1.22435066e-01 6.51893928e-03 1.89904165e+02] [-1.22428925e-01 9.92476386e-01 -1.33442540e-03 -8.81290589e+00] [-6.63327376e-03 5.26250584e-04 9.99977861e-01 -1.70278018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.94, Y:-8.82, Z:-1.70 [[ 9.92278855e-01 1.23869146e-01 6.25363010e-03 1.89935689e+02] [-1.23863515e-01 9.92298437e-01 -1.28132975e-03 -8.81981915e+00] [-6.36418460e-03 4.96839814e-04 9.99979625e-01 -1.70372954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.97, Y:-8.83, Z:-1.70 [[ 9.92186553e-01 1.24664105e-01 4.97042931e-03 1.89967405e+02] [-1.24660556e-01 9.92198926e-01 -1.01860566e-03 -8.82808672e+00] [-5.05863818e-03 3.91030358e-04 9.99987129e-01 -1.70475980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:-8.84, Z:-1.71 [[ 9.92199546e-01 1.24546970e-01 5.30220242e-03 1.89999891e+02] [-1.24542924e-01 9.92213625e-01 -1.08779237e-03 -8.83546764e+00] [-5.39639873e-03 4.18955303e-04 9.99985352e-01 -1.70546634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.03, Y:-8.84, Z:-1.71 [[ 9.92201369e-01 1.24503579e-01 5.94162290e-03 1.90031355e+02] [-1.24498488e-01 9.92219047e-01 -1.22061635e-03 -8.84288288e+00] [-6.04736252e-03 4.71374147e-04 9.99981603e-01 -1.70579972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:-8.85, Z:-1.71 [[ 9.92239076e-01 1.24196578e-01 6.06840655e-03 1.90063724e+02] [-1.24191255e-01 9.92257515e-01 -1.24772234e-03 -8.85031639e+00] [-6.17638485e-03 4.84395837e-04 9.99980809e-01 -1.70628728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.09, Y:-8.86, Z:-1.71 [[ 9.92232185e-01 1.24254034e-01 6.01875018e-03 1.90094948e+02] [-1.24248791e-01 9.92250323e-01 -1.23874522e-03 -8.85755655e+00] [-6.12602590e-03 4.81300441e-04 9.99981120e-01 -1.70690538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:-8.86, Z:-1.71 [[ 9.92020638e-01 1.25966405e-01 5.24579292e-03 1.90127760e+02] [-1.25962444e-01 9.92034423e-01 -1.08005818e-03 -8.86426007e+00] [-5.34005820e-03 4.10667109e-04 9.99985657e-01 -1.70631792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.16, Y:-8.87, Z:-1.71 [[ 9.91785182e-01 1.27808811e-01 5.20191381e-03 1.90159446e+02] [-1.27804935e-01 9.91798744e-01 -1.07211246e-03 -8.87052417e+00] [-5.29627701e-03 3.98474995e-04 9.99985895e-01 -1.70670068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.19, Y:-8.88, Z:-1.71 [[ 9.91521545e-01 1.29846687e-01 4.98635917e-03 1.90191527e+02] [-1.29843148e-01 9.91534013e-01 -1.02828611e-03 -8.87660569e+00] [-5.07766427e-03 3.72123257e-04 9.99987039e-01 -1.70734529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.22, Y:-8.88, Z:-1.71 [[ 9.91265738e-01 1.31776034e-01 5.22623917e-03 1.90222826e+02] [-1.31772166e-01 9.91279442e-01 -1.07905140e-03 -8.88261114e+00] [-5.32285656e-03 3.80953824e-04 9.99985761e-01 -1.70766279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:-8.89, Z:-1.71 [[ 9.91034371e-01 1.33493859e-01 5.50142967e-03 1.90255283e+02] [-1.33489595e-01 9.91049563e-01 -1.13687290e-03 -8.88835428e+00] [-5.60395502e-03 3.92296502e-04 9.99984221e-01 -1.70827232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.29, Y:-8.89, Z:-1.71 [[ 9.90760769e-01 1.35497552e-01 5.78897170e-03 1.90287130e+02] [-1.35492856e-01 9.90777599e-01 -1.19769187e-03 -8.89344587e+00] [-5.89786780e-03 4.02261805e-04 9.99982527e-01 -1.70834776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.815898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:190.32, Y:-8.90, Z:-1.71 [[ 9.90048198e-01 1.40621805e-01 5.48396091e-03 1.90320961e+02] [-1.40617665e-01 9.90063323e-01 -1.13517647e-03 -8.89511719e+00] [-5.58909913e-03 3.52737639e-04 9.99984319e-01 -1.70916776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:-8.90, Z:-1.71 [[ 9.89651753e-01 1.43407168e-01 4.87768477e-03 1.90352757e+02] [-1.43403920e-01 9.89663727e-01 -1.01114784e-03 -8.90021547e+00] [-4.97227354e-03 3.01205116e-04 9.99987593e-01 -1.70913377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.875898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:190.38, Y:-8.90, Z:-1.71 [[ 9.89382563e-01 1.45269425e-01 4.35174412e-03 1.90384880e+02] [-1.45266859e-01 9.89392099e-01 -9.01833815e-04 -8.90396694e+00] [-4.43659014e-03 2.60094451e-04 9.99990124e-01 -1.71005084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.42, Y:-8.91, Z:-1.71 [[ 9.88958217e-01 1.48154601e-01 3.44381558e-03 1.90416072e+02] [-1.48153004e-01 9.88964193e-01 -7.15783583e-04 -8.90508063e+00] [-3.51185692e-03 1.97668434e-04 9.99993814e-01 -1.71112543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.45, Y:-8.91, Z:-1.71 [[ 9.88816885e-01 1.49092076e-01 3.56665969e-03 1.90445798e+02] [-1.49090368e-01 9.88823297e-01 -7.41377610e-04 -8.90835790e+00] [-3.63732972e-03 2.01332091e-04 9.99993365e-01 -1.71094866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:-8.91, Z:-1.71 [[ 9.88799170e-01 1.49182452e-01 4.56045014e-03 1.90475407e+02] [-1.49179661e-01 9.88809653e-01 -9.48057919e-04 -8.91167534e+00] [-4.65085072e-03 2.57112480e-04 9.99989152e-01 -1.71041502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:-8.92, Z:-1.71 [[ 9.88930384e-01 1.48254549e-01 6.10608406e-03 1.90505370e+02] [-1.48249526e-01 9.88949173e-01 -1.26963102e-03 -8.91569997e+00] [-6.22683535e-03 3.50352621e-04 9.99980552e-01 -1.71003145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:-8.92, Z:-1.71 [[ 9.89183944e-01 1.46501343e-01 7.24439913e-03 1.90535659e+02] [-1.46494226e-01 9.89210378e-01 -1.50631956e-03 -8.91969283e+00] [-7.38691264e-03 4.28764477e-04 9.99972624e-01 -1.70965423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:-8.92, Z:-1.71 [[ 9.89395279e-01 1.45041692e-01 7.73885819e-03 1.90565800e+02] [-1.45033530e-01 9.89425433e-01 -1.60866408e-03 -8.92376610e+00] [-7.89034648e-03 4.69210727e-04 9.99968761e-01 -1.70976790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.085898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:190.60, Y:-8.93, Z:-1.71 [[ 9.89618657e-01 1.43508743e-01 7.75594181e-03 1.90597766e+02] [-1.43500493e-01 9.89648931e-01 -1.61290862e-03 -8.92602174e+00] [-7.90712601e-03 4.83182990e-04 9.99968621e-01 -1.71134870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.115898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:190.62, Y:-8.94, Z:-1.71 [[ 9.89441676e-01 1.43592593e-01 1.96554796e-02 1.90624559e+02] [-1.44007691e-01 9.89339955e-01 2.16388133e-02 -8.94125579e+00] [-1.63387780e-02 -2.42408839e-02 9.99572621e-01 -1.71281446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:-8.93, Z:-1.71 [[ 9.89376927e-01 1.45318173e-01 3.99070366e-03 1.90660311e+02] [-1.45157304e-01 9.89031631e-01 -2.73091475e-02 -8.92503079e+00] [-7.91544758e-03 2.64397606e-02 9.99619070e-01 -1.71132595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.69, Y:-8.94, Z:-1.71 [[ 9.89096372e-01 1.46897266e-01 1.04671443e-02 1.90688699e+02] [-1.46882419e-01 9.89151562e-01 -2.17751846e-03 -8.94089244e+00] [-1.06734637e-02 6.16336129e-04 9.99942847e-01 -1.70977300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:-8.95, Z:-1.71 [[ 9.88723049e-01 1.49371741e-01 1.07151770e-02 1.90718173e+02] [-1.49356326e-01 9.88780925e-01 -2.22917345e-03 -8.94580731e+00] [-1.09279381e-02 6.03655699e-04 9.99940106e-01 -1.70889978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:-8.95, Z:-1.71 [[ 9.88288840e-01 1.52267901e-01 9.98277970e-03 1.90746953e+02] [-1.52254669e-01 9.88339113e-01 -2.07682607e-03 -8.95041701e+00] [-1.01826056e-02 5.32579216e-04 9.99948014e-01 -1.70913115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:-8.95, Z:-1.71 [[ 9.87346678e-01 1.58325853e-01 8.91411400e-03 1.90775637e+02] [-1.58315549e-01 9.87386828e-01 -1.85433458e-03 -8.95470068e+00] [-9.09526785e-03 4.19628234e-04 9.99958549e-01 -1.71029574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.80, Y:-8.96, Z:-1.71 [[ 9.86780469e-01 1.61754444e-01 9.99027073e-03 1.90802611e+02] [-1.61741682e-01 9.86830944e-01 -2.07774006e-03 -8.96037469e+00] [-1.01947920e-02 4.34430119e-04 9.99947937e-01 -1.71012472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:-8.97, Z:-1.71 [[ 9.86193627e-01 1.65206825e-01 1.13505208e-02 1.90830424e+02] [-1.65190590e-01 9.86258841e-01 -2.35974110e-03 -8.96602378e+00] [-1.15843968e-02 4.52162406e-04 9.99932796e-01 -1.70978854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.86, Y:-8.97, Z:-1.71 [[ 9.85603174e-01 1.68664421e-01 1.17769459e-02 1.90858381e+02] [-1.68647196e-01 9.85673441e-01 -2.44782584e-03 -8.97132316e+00] [-1.20210839e-02 4.26436015e-04 9.99927653e-01 -1.70945921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:-8.98, Z:-1.71 [[ 9.84967408e-01 1.72401252e-01 1.08173178e-02 1.90886387e+02] [-1.72386950e-01 9.85026744e-01 -2.24792839e-03 -8.97636121e+00] [-1.10428930e-02 3.49371778e-04 9.99938964e-01 -1.70951033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:-8.98, Z:-1.71 [[ 9.84245443e-01 1.76573577e-01 9.09279128e-03 1.90914728e+02] [-1.76563653e-01 9.84287411e-01 -1.88919756e-03 -8.98083742e+00] [-9.28350236e-03 2.53977645e-04 9.99956875e-01 -1.70943745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:-8.98, Z:-1.71 [[ 9.82604370e-01 1.85547240e-01 7.80220114e-03 1.90942307e+02] [-1.85540216e-01 9.82635334e-01 -1.62103700e-03 -8.98284490e+00] [-7.96749747e-03 1.45215951e-04 9.99968248e-01 -1.71040150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:-8.99, Z:-1.71 [[ 9.81793874e-01 1.89781100e-01 7.99517207e-03 1.90970539e+02] [-1.89773869e-01 9.81826421e-01 -1.66052751e-03 -8.98637781e+00] [-8.16500791e-03 1.13020995e-04 9.99966659e-01 -1.71064297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:-8.99, Z:-1.71 [[ 9.81187333e-01 1.92893795e-01 7.96251533e-03 1.90998233e+02] [-1.92886727e-01 9.81219637e-01 -1.65354717e-03 -8.98922227e+00] [-8.13193539e-03 8.65760160e-05 9.99966932e-01 -1.71066491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:-8.99, Z:-1.71 [[ 9.81209432e-01 1.92781346e-01 7.96256185e-03 1.91026162e+02] [-1.92774276e-01 9.81241736e-01 -1.65332324e-03 -8.99485662e+00] [-8.13192789e-03 8.72792643e-05 9.99966932e-01 -1.71111665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:-9.00, Z:-1.71 [[ 9.80803810e-01 1.94851852e-01 7.52615005e-03 1.91054239e+02] [-1.94845605e-01 9.80832683e-01 -1.56153941e-03 -8.99758036e+00] [-7.68616279e-03 6.51265403e-05 9.99970459e-01 -1.71166549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.08, Y:-9.00, Z:-1.71 [[ 9.80658198e-01 1.95630984e-01 6.16579937e-03 1.91081373e+02] [-1.95626809e-01 9.80677580e-01 -1.27904051e-03 -8.99868601e+00] [-6.29688116e-03 4.81059071e-05 9.99980173e-01 -1.71272666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:-9.00, Z:-1.71 [[ 9.80866971e-01 1.94581592e-01 6.16362165e-03 1.91108439e+02] [-1.94577401e-01 9.80886335e-01 -1.27825150e-03 -9.00256452e+00] [-6.29453646e-03 5.44931995e-05 9.99980188e-01 -1.71292480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.14, Y:-9.01, Z:-1.71 [[ 9.81195225e-01 1.92915160e-01 6.29852688e-03 1.91136034e+02] [-1.92910753e-01 9.81215439e-01 -1.30558436e-03 -9.00698205e+00] [-6.43207883e-03 6.59795769e-05 9.99979312e-01 -1.71347325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:-9.01, Z:-1.71 [[ 9.81622704e-01 1.90708240e-01 6.87266466e-03 1.91162988e+02] [-1.90702943e-01 9.81646759e-01 -1.42407059e-03 -9.01061932e+00] [-7.01811099e-03 8.72626469e-05 9.99975369e-01 -1.71435746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.715898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:191.19, Y:-9.01, Z:-1.71 [[ 9.82074241e-01 1.88372442e-01 6.78299372e-03 1.91190976e+02] [-1.88367231e-01 9.82097660e-01 -1.40480156e-03 -9.01359732e+00] [-6.92618815e-03 1.01925676e-04 9.99976008e-01 -1.71469570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:-9.02, Z:-1.71 [[ 9.82430114e-01 1.86486486e-01 7.33904510e-03 1.91218887e+02] [-1.86480339e-01 9.82457518e-01 -1.51933249e-03 -9.01669206e+00] [-7.49363501e-03 1.24050379e-04 9.99971915e-01 -1.71496353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:-9.02, Z:-1.72 [[ 9.82990239e-01 1.83492252e-01 7.79642065e-03 1.91246329e+02] [-1.83485224e-01 9.83021144e-01 -1.61345718e-03 -9.01606985e+00] [-7.96010324e-03 1.55484671e-04 9.99968306e-01 -1.71521220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.805898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:191.27, Y:-9.02, Z:-1.72 [[ 9.83198944e-01 1.82369483e-01 7.82358158e-03 1.91274732e+02] [-1.82362377e-01 9.83230057e-01 -1.61829838e-03 -9.01816470e+00] [-7.98750880e-03 1.64382322e-04 9.99968086e-01 -1.71566899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.30, Y:-9.02, Z:-1.72 [[ 9.83282971e-01 1.81896867e-01 8.25400461e-03 1.91302869e+02] [-1.81888946e-01 9.83317598e-01 -1.70665729e-03 -9.02149917e+00] [-8.42674361e-03 1.76814847e-04 9.99964479e-01 -1.71529661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.33, Y:-9.02, Z:-1.72 [[ 9.83376482e-01 1.81379977e-01 8.48525387e-03 1.91330819e+02] [-1.81371592e-01 9.83413072e-01 -1.75390605e-03 -9.02170708e+00] [-8.66263302e-03 1.85765955e-04 9.99962461e-01 -1.71513452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.895898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:191.36, Y:-9.02, Z:-1.72 [[ 9.83526373e-01 1.80545907e-01 8.89093918e-03 1.91358714e+02] [-1.80536675e-01 9.83566538e-01 -1.83686408e-03 -9.02459169e+00] [-9.07646856e-03 2.01463670e-04 9.99958788e-01 -1.71551145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:-9.03, Z:-1.72 [[ 9.83771894e-01 1.79168130e-01 9.57300224e-03 1.91385461e+02] [-1.79157369e-01 9.83818443e-01 -1.97705691e-03 -9.02804275e+00] [-9.77232175e-03 2.29899127e-04 9.99952223e-01 -1.71552882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.41, Y:-9.03, Z:-1.72 [[ 9.84139236e-01 1.77134995e-01 9.65186627e-03 1.91413693e+02] [-1.77123967e-01 9.84186532e-01 -1.99244734e-03 -9.03180030e+00] [-9.85216895e-03 2.51268758e-04 9.99951435e-01 -1.71543697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.44, Y:-9.04, Z:-1.72 [[ 9.84518991e-01 1.75007384e-01 9.73505097e-03 1.91441092e+02] [-1.74996068e-01 9.84567083e-01 -2.00890142e-03 -9.03579363e+00] [-9.93638332e-03 2.74205951e-04 9.99950595e-01 -1.71543059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:-9.04, Z:-1.72 [[ 9.84806640e-01 1.73370849e-01 9.92118871e-03 1.91468691e+02] [-1.73359021e-01 9.84856569e-01 -2.04657802e-03 -9.03958403e+00] [-1.01257648e-02 2.95556058e-04 9.99948689e-01 -1.71546885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.50, Y:-9.04, Z:-1.71 [[ 9.84945929e-01 1.72601517e-01 9.49910764e-03 1.91496408e+02] [-1.72590644e-01 9.84991691e-01 -1.95893136e-03 -9.03979461e+00] [-9.69465662e-03 2.89984364e-04 9.99952964e-01 -1.71399308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:-9.04, Z:-1.71 [[ 9.84799515e-01 1.73446122e-01 9.29286559e-03 1.91525054e+02] [-1.73435762e-01 9.84843321e-01 -1.91555897e-03 -9.04197469e+00] [-9.48426289e-03 2.74726327e-04 9.99954986e-01 -1.71382454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:-9.04, Z:-1.71 [[ 9.84529867e-01 1.74968805e-01 9.31981650e-03 1.91552710e+02] [-1.74958458e-01 9.84573943e-01 -1.92050892e-03 -9.04364494e+00] [-9.51207764e-03 2.60217671e-04 9.99954725e-01 -1.71427440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.58, Y:-9.05, Z:-1.71 [[ 9.84261962e-01 1.76461608e-01 9.47050112e-03 1.91580510e+02] [-1.76451001e-01 9.84307492e-01 -1.95067235e-03 -9.04527758e+00] [-9.66610398e-03 2.48893195e-04 9.99953251e-01 -1.71436988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.61, Y:-9.04, Z:-1.72 [[ 9.83888477e-01 1.78468164e-01 1.06103574e-02 1.91609595e+02] [-1.78454977e-01 9.83945653e-01 -2.18455413e-03 -9.04310438e+00] [-1.08298884e-02 2.55886556e-04 9.99941322e-01 -1.71504157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:-9.04, Z:-1.72 [[ 9.83973006e-01 1.77940946e-01 1.15820244e-02 1.91638246e+02] [-1.77925207e-01 9.84041127e-01 -2.38368126e-03 -9.04485377e+00] [-1.18213428e-02 2.84743935e-04 9.99930085e-01 -1.71582366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:-9.05, Z:-1.72 [[ 9.84278978e-01 1.76211640e-01 1.20146228e-02 1.91665806e+02] [-1.76194586e-01 9.84352253e-01 -2.47185112e-03 -9.04674908e+00] [-1.22621900e-02 3.16079611e-04 9.99924767e-01 -1.71630839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:-9.05, Z:-1.72 [[ 9.84768314e-01 1.73427850e-01 1.24156434e-02 1.91694115e+02] [-1.73409430e-01 9.84846511e-01 -2.55325254e-03 -9.04944305e+00] [-1.26703082e-02 3.61372539e-04 9.99919663e-01 -1.71715078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.285898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:191.72, Y:-9.05, Z:-1.72 [[ 9.86113937e-01 1.65682654e-01 1.13384637e-02 1.91721193e+02] [-1.65666788e-01 9.86179031e-01 -2.33105645e-03 -9.04957090e+00] [-1.15679708e-02 4.20280380e-04 9.99933000e-01 -1.71935706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:-9.05, Z:-1.72 [[ 9.86723520e-01 1.62079327e-01 1.03434494e-02 1.91748715e+02] [-1.62065935e-01 9.86777642e-01 -2.12566888e-03 -9.05299282e+00] [-1.05512116e-02 4.21126683e-04 9.99944246e-01 -1.71930458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:-9.06, Z:-1.72 [[ 9.87290183e-01 1.58665941e-01 9.12210858e-03 1.91775563e+02] [-1.58655381e-01 9.87332242e-01 -1.87446901e-03 -9.05522589e+00] [-9.30396631e-03 4.03373245e-04 9.99956636e-01 -1.72003940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.80, Y:-9.06, Z:-1.72 [[ 9.87680950e-01 1.56283522e-01 7.86137222e-03 1.91803969e+02] [-1.56275612e-01 9.87712168e-01 -1.61433253e-03 -9.05753325e+00] [-8.01706657e-03 3.65904726e-04 9.99967796e-01 -1.72056808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:-9.06, Z:-1.72 [[ 9.87931517e-01 1.54743650e-01 6.76169595e-03 1.91832164e+02] [-1.54737765e-01 9.87954603e-01 -1.38818723e-03 -9.05929130e+00] [-6.89506179e-03 3.25144194e-04 9.99976176e-01 -1.72105978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:-9.06, Z:-1.72 [[ 9.88062618e-01 1.53933112e-01 6.07121101e-03 1.91859813e+02] [-1.53928353e-01 9.88081226e-01 -1.24621835e-03 -9.06063545e+00] [-6.19068389e-03 2.96810254e-04 9.99980793e-01 -1.72064693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.89, Y:-9.06, Z:-1.72 [[ 9.88195437e-01 1.53031665e-01 7.14761395e-03 1.91887515e+02] [-1.53025052e-01 9.88221222e-01 -1.46635423e-03 -9.05785811e+00] [-7.28782242e-03 3.55280565e-04 9.99973380e-01 -1.72097306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:-9.06, Z:-1.72 [[ 9.88339157e-01 1.52078169e-01 7.61191328e-03 1.91915021e+02] [-1.52070646e-01 9.88368394e-01 -1.56089970e-03 -9.05951102e+00] [-7.76075327e-03 3.85149721e-04 9.99969811e-01 -1.72078128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:-9.06, Z:-1.72 [[ 9.88532426e-01 1.50779433e-01 8.31891809e-03 1.91943561e+02] [-1.50770409e-01 9.88567335e-01 -1.70502359e-03 -9.06119487e+00] [-8.48089318e-03 4.31224424e-04 9.99963944e-01 -1.72136163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:-9.06, Z:-1.72 [[ 9.88669945e-01 1.49867920e-01 8.44666858e-03 1.91970914e+02] [-1.49858588e-01 9.88705926e-01 -1.73067228e-03 -9.06271709e+00] [-8.61064354e-03 4.45257841e-04 9.99962829e-01 -1.72205539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.00, Y:-9.06, Z:-1.72 [[ 9.88774364e-01 1.49183414e-01 8.34061106e-03 1.91998809e+02] [-1.49174297e-01 9.88809441e-01 -1.70816868e-03 -9.06373854e+00] [-8.50210540e-03 4.44788607e-04 9.99963758e-01 -1.72197149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.03, Y:-9.06, Z:-1.72 [[ 9.88782104e-01 1.49158749e-01 7.84978742e-03 1.92027559e+02] [-1.49150677e-01 9.88813174e-01 -1.60717465e-03 -9.06099493e+00] [-8.00169738e-03 4.18344424e-04 9.99967898e-01 -1.72206456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:-9.06, Z:-1.72 [[ 9.88749400e-01 1.49395870e-01 7.44967176e-03 1.92054820e+02] [-1.49388609e-01 9.88777386e-01 -1.52488860e-03 -9.06339650e+00] [-7.59387903e-03 3.94836581e-04 9.99971088e-01 -1.72303353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:-9.07, Z:-1.72 [[ 9.88803617e-01 1.49066979e-01 6.81488664e-03 1.92083195e+02] [-1.49060898e-01 9.88827034e-01 -1.39445937e-03 -9.06595657e+00] [-6.94661200e-03 3.63013339e-04 9.99975806e-01 -1.72342510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.11, Y:-9.07, Z:-1.72 [[ 9.88883514e-01 1.48551601e-01 6.46659561e-03 1.92109987e+02] [-1.48546117e-01 9.88904597e-01 -1.32289278e-03 -9.06866846e+00] [-6.59136396e-03 3.47599189e-04 9.99978216e-01 -1.72397586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:-9.07, Z:-1.72 [[ 9.88994518e-01 1.47825574e-01 6.11906532e-03 1.92137415e+02] [-1.47820653e-01 9.89013392e-01 -1.25120599e-03 -9.07191838e+00] [-6.23679779e-03 3.32911627e-04 9.99980496e-01 -1.72440306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:-9.07, Z:-1.73 [[ 9.89230226e-01 1.46180110e-01 7.41178431e-03 1.92165152e+02] [-1.46172850e-01 9.89257905e-01 -1.51487394e-03 -9.07467949e+00] [-7.55361066e-03 4.15157447e-04 9.99971385e-01 -1.72515316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.19, Y:-9.08, Z:-1.72 [[ 9.89353765e-01 1.45334514e-01 7.55034336e-03 1.92192194e+02] [-1.45326959e-01 9.89382482e-01 -1.54271873e-03 -9.07912192e+00] [-7.69438773e-03 4.29026137e-04 9.99970306e-01 -1.72483489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:-9.08, Z:-1.73 [[ 9.89482318e-01 1.44464760e-01 7.39435988e-03 1.92219925e+02] [-1.44457495e-01 9.89509854e-01 -1.51015877e-03 -9.08301138e+00] [-7.53495669e-03 4.26104695e-04 9.99971521e-01 -1.72525691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:-9.09, Z:-1.73 [[ 9.89517632e-01 1.44258698e-01 6.65463081e-03 1.92247095e+02] [-1.44252811e-01 9.89539934e-01 -1.35881830e-03 -9.08687246e+00] [-6.78104429e-03 3.84625468e-04 9.99976934e-01 -1.72628451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.885898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:192.28, Y:-9.09, Z:-1.73 [[ 9.89393043e-01 1.45129883e-01 6.22275154e-03 1.92275274e+02] [-1.45124756e-01 9.89412549e-01 -1.27008109e-03 -9.09041761e+00] [-6.34119518e-03 3.53534098e-04 9.99979832e-01 -1.72896300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:-9.10, Z:-1.73 [[ 9.89255657e-01 1.46029670e-01 6.96998512e-03 1.92302821e+02] [-1.46023264e-01 9.89280134e-01 -1.42199281e-03 -9.09614938e+00] [-7.10292095e-03 3.88934450e-04 9.99974698e-01 -1.72801728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.33, Y:-9.10, Z:-1.73 [[ 9.89168547e-01 1.46569837e-01 7.92897791e-03 1.92330121e+02] [-1.46561571e-01 9.89200228e-01 -1.61691931e-03 -9.10144394e+00] [-8.08033836e-03 4.37322269e-04 9.99967258e-01 -1.72847151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:-9.11, Z:-1.73 [[ 9.89110398e-01 1.46939109e-01 8.33783377e-03 1.92356185e+02] [-1.46929983e-01 9.89145434e-01 -1.70006283e-03 -9.10619280e+00] [-8.49713592e-03 4.56472049e-04 9.99963795e-01 -1.72869888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:-9.11, Z:-1.73 [[ 9.89064020e-01 1.47315321e-01 7.11066162e-03 1.92383805e+02] [-1.47308701e-01 9.89089504e-01 -1.44872272e-03 -9.10889025e+00] [-7.24649983e-03 3.85417190e-04 9.99973670e-01 -1.72939884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:-9.11, Z:-1.73 [[ 9.89077116e-01 1.47275632e-01 6.02884278e-03 1.92410584e+02] [-1.47270874e-01 9.89095436e-01 -1.22816523e-03 -9.11304929e+00] [-6.14397969e-03 3.26877175e-04 9.99981072e-01 -1.73022653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:-9.12, Z:-1.73 [[ 9.89158149e-01 1.46740434e-01 5.77935588e-03 1.92438283e+02] [-1.46736056e-01 9.89174982e-01 -1.17680823e-03 -9.11788118e+00] [-5.88947960e-03 3.16009559e-04 9.99982607e-01 -1.73057469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:-9.12, Z:-1.73 [[ 9.89229291e-01 1.46221811e-01 6.67776157e-03 1.92464702e+02] [-1.46215957e-01 9.89251761e-01 -1.35919183e-03 -9.12321190e+00] [-6.80473088e-03 3.68157069e-04 9.99976780e-01 -1.73119447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.49, Y:-9.13, Z:-1.73 [[ 9.89344754e-01 1.45382711e-01 7.79901060e-03 1.92492320e+02] [-1.45374708e-01 9.89375398e-01 -1.58643291e-03 -9.12808619e+00] [-7.94678914e-03 4.35750190e-04 9.99968329e-01 -1.73110171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.52, Y:-9.13, Z:-1.73 [[ 9.89457057e-01 1.44463708e-01 1.02454761e-02 1.92520072e+02] [-1.44449858e-01 9.89509929e-01 -2.08303270e-03 -9.13176695e+00] [-1.04389230e-02 5.81113829e-04 9.99945344e-01 -1.73083923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.55, Y:-9.14, Z:-1.73 [[ 9.89569983e-01 1.43672436e-01 1.04633095e-02 1.92546520e+02] [-1.43657954e-01 9.89625116e-01 -2.12661417e-03 -9.13569027e+00] [-1.06602897e-02 6.01295909e-04 9.99942997e-01 -1.73105996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.57, Y:-9.14, Z:-1.73 [[ 9.89774036e-01 1.42325896e-01 9.52352223e-03 1.92574717e+02] [-1.42313845e-01 9.89819694e-01 -1.93487302e-03 -9.13904931e+00] [-9.70195239e-03 5.59758018e-04 9.99952778e-01 -1.73105056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.60, Y:-9.14, Z:-1.73 [[ 9.89943137e-01 1.41220113e-01 8.33459673e-03 1.92601764e+02] [-1.41210846e-01 9.89978096e-01 -1.69294961e-03 -9.14163893e+00] [-8.49014674e-03 4.98988385e-04 9.99963834e-01 -1.73178382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.63, Y:-9.14, Z:-1.73 [[ 9.89988325e-01 1.40973738e-01 7.03709114e-03 1.92629639e+02] [-1.40967130e-01 9.90013246e-01 -1.42889134e-03 -9.14426958e+00] [-7.16824959e-03 4.22587205e-04 9.99974218e-01 -1.73259619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.305898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:192.66, Y:-9.15, Z:-1.73 [[ 9.89980481e-01 1.41036624e-01 6.87886739e-03 1.92657528e+02] [-1.41030314e-01 9.90004293e-01 -1.39633168e-03 -9.14663254e+00] [-7.00704216e-03 4.12212283e-04 9.99975365e-01 -1.73376988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.69, Y:-9.15, Z:-1.73 [[ 9.90020204e-01 1.40566032e-01 1.00591100e-02 1.92685611e+02] [-1.40552526e-01 9.90071120e-01 -2.04073658e-03 -9.14615922e+00] [-1.02460926e-02 6.06537128e-04 9.99947323e-01 -1.73375529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.71, Y:-9.15, Z:-1.73 [[ 9.90177531e-01 1.39363308e-01 1.12394651e-02 1.92714061e+02] [-1.39346382e-01 9.90241078e-01 -2.27909508e-03 -9.14865155e+00] [-1.14474023e-02 6.90529944e-04 9.99934238e-01 -1.73404668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:-9.15, Z:-1.73 [[ 9.90433381e-01 1.37532601e-01 1.12472806e-02 1.92741003e+02] [-1.37515540e-01 9.90496985e-01 -2.28013124e-03 -9.15133254e+00] [-1.14539899e-02 7.11642230e-04 9.99934148e-01 -1.73496215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:-9.15, Z:-1.74 [[ 9.90817407e-01 1.34810003e-01 1.03503468e-02 1.92769298e+02] [-1.34795422e-01 9.90871232e-01 -2.09680602e-03 -9.15467473e+00] [-1.05385313e-02 6.82372543e-04 9.99944235e-01 -1.73665027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:-9.17, Z:-1.74 [[ 9.91193404e-01 1.31266606e-01 1.74560614e-02 1.92794119e+02] [-1.31535037e-01 9.91194458e-01 1.52341937e-02 -9.16549334e+00] [-1.53026104e-02 -1.73961160e-02 9.99731567e-01 -1.74242415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.82, Y:-9.16, Z:-1.74 [[ 9.91213525e-01 1.31527923e-01 1.40054719e-02 1.92824411e+02] [-1.31502514e-01 9.91312095e-01 -2.72396363e-03 -9.16357364e+00] [-1.42420710e-02 8.58274826e-04 9.99898208e-01 -1.74046102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:-9.16, Z:-1.74 [[ 9.91713540e-01 1.28381957e-01 4.72519590e-03 1.92856205e+02] [-1.28265839e-01 9.91543264e-01 -1.97441412e-02 -9.16003901e+00] [-7.22002765e-03 1.89744510e-02 9.99793899e-01 -1.73619723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.88, Y:-9.17, Z:-1.74 [[ 9.92329006e-01 1.23385254e-01 7.69566010e-03 1.92882083e+02] [-1.23376870e-01 9.92358667e-01 -1.55671265e-03 -9.16963146e+00] [-7.82893038e-03 5.95304659e-04 9.99969176e-01 -1.74002832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:-9.17, Z:-1.74 [[ 9.92486171e-01 1.22143383e-01 7.22451434e-03 1.92908463e+02] [-1.22135965e-01 9.92512303e-01 -1.46087992e-03 -9.17313195e+00] [-7.34885618e-03 5.67530085e-04 9.99972836e-01 -1.74082314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.94, Y:-9.18, Z:-1.74 [[ 9.92542261e-01 1.21736154e-01 6.33793163e-03 1.92936535e+02] [-1.21730439e-01 9.92562370e-01 -1.28118862e-03 -9.17677475e+00] [-6.44675942e-03 5.00114651e-04 9.99979094e-01 -1.74071406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.635898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:192.96, Y:-9.18, Z:-1.74 [[ 9.92529884e-01 1.21874962e-01 5.56090380e-03 1.92963130e+02] [-1.21870565e-01 9.92545365e-01 -1.12397234e-03 -9.17971015e+00] [-5.65643338e-03 4.37865642e-04 9.99983906e-01 -1.74252726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.99, Y:-9.18, Z:-1.74 [[ 9.92472318e-01 1.22354448e-01 5.29982657e-03 1.92989636e+02] [-1.22350463e-01 9.92486382e-01 -1.07081796e-03 -9.18308178e+00] [-5.39102504e-03 4.14320951e-04 9.99985382e-01 -1.74283399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.02, Y:-9.19, Z:-1.74 [[ 9.92322777e-01 1.23534222e-01 5.89934431e-03 1.93017137e+02] [-1.23529309e-01 9.92340209e-01 -1.19129230e-03 -9.18548146e+00] [-6.00132193e-03 4.53404553e-04 9.99981889e-01 -1.74293009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:-9.19, Z:-1.74 [[ 9.92246244e-01 1.24113445e-01 6.57598340e-03 1.93044387e+02] [-1.24107359e-01 9.92267908e-01 -1.32719441e-03 -9.19054919e+00] [-6.68985996e-03 5.00775732e-04 9.99977497e-01 -1.74299696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.07, Y:-9.20, Z:-1.74 [[ 9.92232634e-01 1.24218147e-01 6.65224581e-03 1.93072288e+02] [-1.24211924e-01 9.92254804e-01 -1.34210757e-03 -9.19614238e+00] [-6.76743698e-03 5.05394677e-04 9.99976973e-01 -1.74413806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.10, Y:-9.20, Z:-1.75 [[ 9.92253333e-01 1.24079698e-01 6.12799757e-03 1.93100073e+02] [-1.24074417e-01 9.92272146e-01 -1.23599872e-03 -9.20181348e+00] [-6.23400365e-03 4.66096126e-04 9.99980460e-01 -1.74506123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:-9.21, Z:-1.75 [[ 9.92303707e-01 1.23693493e-01 5.76825523e-03 1.93127746e+02] [-1.23688809e-01 9.92320375e-01 -1.16310137e-03 -9.20777292e+00] [-5.86782526e-03 4.40681181e-04 9.99982687e-01 -1.74637433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.15, Y:-9.21, Z:-1.75 [[ 9.92387079e-01 1.22993893e-01 6.35514351e-03 1.93153670e+02] [-1.22988197e-01 9.92407307e-01 -1.28098065e-03 -9.21342549e+00] [-6.46444365e-03 4.89621005e-04 9.99978985e-01 -1.74767178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.875898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:193.18, Y:-9.22, Z:-1.75 [[ 9.92677899e-01 1.20518334e-01 8.11914517e-03 1.93180048e+02] [-1.20508960e-01 9.92710892e-01 -1.63583800e-03 -9.22083605e+00] [-8.25711231e-03 6.45430489e-04 9.99965701e-01 -1.74888645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:-9.23, Z:-1.75 [[ 9.92884302e-01 1.18832039e-01 7.72713138e-03 1.93206755e+02] [-1.18823508e-01 9.92914173e-01 -1.55554117e-03 -9.22851623e+00] [-7.85722639e-03 6.26307559e-04 9.99968935e-01 -1.74775067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:-9.24, Z:-1.75 [[ 9.93135033e-01 1.16736520e-01 7.44247584e-03 1.93232527e+02] [-1.16728548e-01 9.93162727e-01 -1.49822687e-03 -9.23573905e+00] [-7.56648739e-03 6.19192198e-04 9.99971182e-01 -1.74845562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.26, Y:-9.24, Z:-1.75 [[ 9.93379122e-01 1.14676626e-01 6.86962627e-03 1.93259162e+02] [-1.14669793e-01 9.93402703e-01 -1.38167019e-03 -9.24309396e+00] [-6.98275058e-03 5.84783697e-04 9.99975449e-01 -1.74920110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.29, Y:-9.25, Z:-1.75 [[ 9.93605630e-01 1.12699501e-01 6.83190381e-03 1.93285368e+02] [-1.12692699e-01 9.93628939e-01 -1.37371015e-03 -9.24991791e+00] [-6.94319378e-03 5.95020459e-04 9.99975719e-01 -1.74992947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.31, Y:-9.26, Z:-1.75 [[ 9.93821267e-01 1.10770427e-01 7.01439075e-03 1.93312619e+02] [-1.10763214e-01 9.93845825e-01 -1.40969437e-03 -9.25712211e+00] [-7.12737541e-03 6.24047775e-04 9.99974405e-01 -1.75007352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.34, Y:-9.27, Z:-1.75 [[ 9.94196845e-01 1.07331577e-01 7.25020947e-03 1.93338625e+02] [-1.07323784e-01 9.94223055e-01 -1.45664726e-03 -9.26710689e+00] [-7.36466966e-03 6.70074199e-04 9.99972656e-01 -1.74975145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.37, Y:-9.28, Z:-1.75 [[ 9.94317610e-01 1.06228584e-01 6.92664075e-03 1.93365345e+02] [-1.06221448e-01 9.94341525e-01 -1.39104944e-03 -9.27530487e+00] [-7.03521574e-03 6.47387137e-04 9.99975043e-01 -1.75031316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:-9.28, Z:-1.75 [[ 9.94332113e-01 1.06117966e-01 6.52888807e-03 1.93392102e+02] [-1.06111627e-01 9.94353360e-01 -1.31082313e-03 -9.28357333e+00] [-6.63112367e-03 6.10602594e-04 9.99977827e-01 -1.75050291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:-9.29, Z:-1.75 [[ 9.94273865e-01 1.06659601e-01 6.57348046e-03 1.93417722e+02] [-1.06653189e-01 9.94295407e-01 -1.31940900e-03 -9.29091613e+00] [-6.67670907e-03 6.10771236e-04 9.99977524e-01 -1.75053515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.44, Y:-9.30, Z:-1.75 [[ 9.94153396e-01 1.07699034e-01 7.74229659e-03 1.93443518e+02] [-1.07736664e-01 9.94168739e-01 4.61839294e-03 -9.29997844e+00] [-7.19975278e-03 -5.42552023e-03 9.99959363e-01 -1.74803427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.47, Y:-9.32, Z:-1.76 [[ 9.93653015e-01 1.10496333e-01 2.10771573e-02 1.93468487e+02] [-1.10936579e-01 9.93605513e-01 2.10038094e-02 -9.31731858e+00] [-1.86215357e-02 -2.32087262e-02 9.99557199e-01 -1.75691669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:-9.30, Z:-1.75 [[ 9.93806127e-01 1.11106322e-01 2.18324697e-03 1.93502704e+02] [-1.10974621e-01 9.93276061e-01 -3.29742443e-02 -9.30193517e+00] [-5.83221395e-03 3.25277210e-02 9.99453817e-01 -1.74660201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:-9.32, Z:-1.75 [[ 9.93910607e-01 1.09869713e-01 8.38754868e-03 1.93526069e+02] [-1.09859416e-01 9.93945716e-01 -1.68000859e-03 -9.32384587e+00] [-8.52135013e-03 7.48327160e-04 9.99963413e-01 -1.75217704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:-9.33, Z:-1.75 [[ 9.94098009e-01 1.08211406e-01 7.70974631e-03 1.93552590e+02] [-1.08202662e-01 9.94127658e-01 -1.54359244e-03 -9.33319858e+00] [-7.83150636e-03 7.00267097e-04 9.99969088e-01 -1.75296047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:-9.34, Z:-1.75 [[ 9.94293834e-01 1.06445725e-01 7.00564581e-03 1.93579511e+02] [-1.06438469e-01 9.94318303e-01 -1.40164840e-03 -9.34241679e+00] [-7.11504134e-03 6.47980146e-04 9.99974478e-01 -1.75347936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.355898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:193.61, Y:-9.35, Z:-1.76 [[ 9.94448954e-01 1.04991729e-01 6.92932796e-03 1.93605534e+02] [-1.04984597e-01 9.94472882e-01 -1.38600469e-03 -9.35140927e+00] [-7.03654778e-03 6.50838203e-04 9.99975031e-01 -1.75512643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:-9.36, Z:-1.75 [[ 9.94453453e-01 1.04894645e-01 7.70993525e-03 1.93631348e+02] [-1.04885820e-01 9.94483076e-01 -1.54136480e-03 -9.36387186e+00] [-7.82908104e-03 7.24152672e-04 9.99969090e-01 -1.75295692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:-9.37, Z:-1.75 [[ 9.94305630e-01 1.06293019e-01 7.62294776e-03 1.93656959e+02] [-1.06284436e-01 9.94334601e-01 -1.52344445e-03 -9.37206436e+00] [-7.74169222e-03 7.04568686e-04 9.99969784e-01 -1.75255124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.68, Y:-9.38, Z:-1.75 [[ 9.94066196e-01 1.08542365e-01 7.13806964e-03 1.93682849e+02] [-1.08534900e-01 9.94091616e-01 -1.42615332e-03 -9.38004212e+00] [-7.25069324e-03 6.42961127e-04 9.99973507e-01 -1.75243116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:-9.39, Z:-1.75 [[ 9.93744601e-01 1.11455001e-01 7.03210920e-03 1.93708686e+02] [-1.11447831e-01 9.93769293e-01 -1.40465957e-03 -9.38751063e+00] [-7.14485053e-03 6.12159549e-04 9.99974288e-01 -1.75275736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.74, Y:-9.40, Z:-1.75 [[ 9.93375605e-01 1.14704338e-01 6.91533674e-03 1.93735220e+02] [-1.14697489e-01 9.93399507e-01 -1.38035249e-03 -9.39506555e+00] [-7.02802452e-03 5.78036736e-04 9.99975136e-01 -1.75347505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.76, Y:-9.40, Z:-1.75 [[ 9.92968696e-01 1.18161667e-01 7.14063862e-03 1.93762631e+02] [-1.18154456e-01 9.92994207e-01 -1.42486921e-03 -9.40259520e+00] [-7.25897770e-03 5.71152248e-04 9.99973490e-01 -1.75322163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:-9.41, Z:-1.75 [[ 9.92091608e-01 1.25188316e-01 9.06234984e-03 1.93788206e+02] [-1.25176999e-01 9.92132779e-01 -1.80765241e-03 -9.41185879e+00] [-9.21735129e-03 6.58959033e-04 9.99957302e-01 -1.75264434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.82, Y:-9.42, Z:-1.75 [[ 9.91733325e-01 1.27572693e-01 1.37920518e-02 1.93815726e+02] [-1.27664799e-01 9.91799137e-01 6.01423806e-03 -9.42246935e+00] [-1.29116925e-02 -7.72527982e-03 9.99886798e-01 -1.75443000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.84, Y:-9.42, Z:-1.75 [[ 9.91446107e-01 1.30292347e-01 7.64997202e-03 1.93842945e+02] [-1.30211309e-01 9.91432982e-01 -1.02790063e-02 -9.42192345e+00] [-8.92371043e-03 9.19496792e-03 9.99917907e-01 -1.75247408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.87, Y:-9.43, Z:-1.75 [[ 9.91244163e-01 1.31734868e-01 8.99632993e-03 1.93869439e+02] [-1.31724013e-01 9.91284811e-01 -1.79122678e-03 -9.43215434e+00] [-9.15389224e-03 5.90510409e-04 9.99957928e-01 -1.75377917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.90, Y:-9.44, Z:-1.75 [[ 9.91138669e-01 1.32545868e-01 8.70245221e-03 1.93895369e+02] [-1.32535747e-01 9.91176713e-01 -1.73214783e-03 -9.43869699e+00] [-8.85525701e-03 5.63412694e-04 9.99960633e-01 -1.75443330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:-9.45, Z:-1.76 [[ 9.91064354e-01 1.33014811e-01 9.92505719e-03 1.93922005e+02] [-1.33026493e-01 9.91112344e-01 5.23395089e-04 -9.44690693e+00] [-9.76722740e-03 -1.83901377e-03 9.99950608e-01 -1.75595060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.95, Y:-9.46, Z:-1.76 [[ 9.91237626e-01 1.31855942e-01 7.87276287e-03 1.93948680e+02] [-1.31827133e-01 9.91264346e-01 -4.07475709e-03 -9.45502130e+00] [-8.34127007e-03 3.00120878e-03 9.99960707e-01 -1.75669750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.97, Y:-9.46, Z:-1.76 [[ 9.91387979e-01 1.30756232e-01 7.25832429e-03 1.93974427e+02] [-1.30749153e-01 9.91414432e-01 -1.44352987e-03 -9.46409408e+00] [-7.38475798e-03 4.82078413e-04 9.99972616e-01 -1.75764116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:-9.48, Z:-1.76 [[ 9.91516490e-01 1.29211541e-01 1.41218973e-02 1.93999947e+02] [-1.29428445e-01 9.91464372e-01 1.57059756e-02 -9.47981572e+00] [-1.19719648e-02 -1.74005090e-02 9.99776922e-01 -1.76125372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.03, Y:-9.47, Z:-1.76 [[ 9.91631696e-01 1.29033225e-01 4.12387422e-03 1.94028368e+02] [-1.28973708e-01 9.91570517e-01 -1.23972654e-02 -9.47475574e+00] [-5.68877123e-03 1.17616500e-02 9.99914647e-01 -1.75873730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.05, Y:-9.48, Z:-1.76 [[ 9.91683999e-01 1.28666299e-01 2.79801083e-03 1.94054760e+02] [-1.28641992e-01 9.91661963e-01 -7.60190564e-03 -9.48363310e+00] [-3.75278997e-03 7.17874650e-03 9.99967191e-01 -1.75906572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:-9.50, Z:-1.76 [[ 9.91566917e-01 1.29287477e-01 8.93291702e-03 1.94080259e+02] [-1.29352138e-01 9.91573422e-01 7.08325177e-03 -9.49661417e+00] [-7.94186735e-03 -8.17901004e-03 9.99935013e-01 -1.76046418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:-9.50, Z:-1.76 [[ 9.91443966e-01 1.30325570e-01 7.35583112e-03 1.94109136e+02] [-1.30295863e-01 9.91465462e-01 -4.38480803e-03 -9.49699450e+00] [-7.86450510e-03 3.38885709e-03 9.99963332e-01 -1.75902784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:-9.50, Z:-1.76 [[ 9.90921854e-01 1.34204149e-01 7.94519439e-03 1.94137045e+02] [-1.34145005e-01 9.90932858e-01 -7.56235770e-03 -9.49736441e+00] [-8.88805396e-03 6.42789737e-03 9.99939841e-01 -1.75730795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:-9.50, Z:-1.76 [[ 9.90671642e-01 1.35879115e-01 1.03230099e-02 1.94164775e+02] [-1.35865149e-01 9.90725228e-01 -2.04565815e-03 -9.50226785e+00] [-1.05052285e-02 6.24038242e-04 9.99944624e-01 -1.75754445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.015898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:194.19, Y:-9.50, Z:-1.76 [[ 9.90541552e-01 1.36751578e-01 1.12445403e-02 1.94193151e+02] [-1.36735073e-01 9.90605148e-01 -2.22742479e-03 -9.50448645e+00] [-1.14435033e-02 6.68833771e-04 9.99934297e-01 -1.75990342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.22, Y:-9.51, Z:-1.76 [[ 9.90443775e-01 1.37428184e-01 1.16026867e-02 1.94219884e+02] [-1.37410666e-01 9.90511499e-01 -2.29753111e-03 -9.50702514e+00] [-1.18083401e-02 6.81242480e-04 9.99930047e-01 -1.75927461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:-9.51, Z:-1.76 [[ 9.90478067e-01 1.37187943e-01 1.15180925e-02 1.94247943e+02] [-1.37170675e-01 9.90544804e-01 -2.27978471e-03 -9.50919978e+00] [-1.17219457e-02 6.78132227e-04 9.99931066e-01 -1.76017720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.105898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:194.28, Y:-9.51, Z:-1.76 [[ 9.90946053e-01 1.33335447e-01 1.57346245e-02 1.94275910e+02] [-1.33462593e-01 9.91026793e-01 7.32333505e-03 -9.51155554e+00] [-1.46169743e-02 -9.35701376e-03 9.99849384e-01 -1.76406566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.31, Y:-9.51, Z:-1.76 [[ 9.91363322e-01 1.30866806e-01 8.52310794e-03 1.94306179e+02] [-1.30759805e-01 9.91340325e-01 -1.20926950e-02 -9.50567841e+00] [-1.00318330e-02 1.08737743e-02 9.99890556e-01 -1.76011129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:-9.51, Z:-1.76 [[ 9.91850456e-01 1.27001256e-01 1.01662851e-02 1.94333664e+02] [-1.26987293e-01 9.91902307e-01 -2.00999195e-03 -9.51305864e+00] [-1.03392332e-02 7.02622406e-04 9.99946302e-01 -1.76219801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:-9.52, Z:-1.76 [[ 9.92295687e-01 1.23538230e-01 9.35818563e-03 1.94361883e+02] [-1.23526251e-01 9.92339581e-01 -1.84965946e-03 -9.51624887e+00] [-9.51500166e-03 6.79427526e-04 9.99954501e-01 -1.76242181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.225898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:194.39, Y:-9.52, Z:-1.76 [[ 9.92675863e-01 1.20445531e-01 9.35439643e-03 1.94388951e+02] [-1.20433429e-01 9.92719685e-01 -1.84845650e-03 -9.51842344e+00] [-9.50893180e-03 7.08336111e-04 9.99954538e-01 -1.76472520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.42, Y:-9.52, Z:-1.76 [[ 9.92795405e-01 1.19418577e-01 9.82282397e-03 1.94417752e+02] [-1.19405196e-01 9.92843712e-01 -1.93968353e-03 -9.51683613e+00] [-9.98416326e-03 7.52812672e-04 9.99949874e-01 -1.76379756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:-9.52, Z:-1.76 [[ 9.92686435e-01 1.20325043e-01 9.77374663e-03 1.94445861e+02] [-1.20311846e-01 9.92734273e-01 -1.92931589e-03 -9.51845243e+00] [-9.93487828e-03 7.39308215e-04 9.99950375e-01 -1.76439090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.47, Y:-9.52, Z:-1.77 [[ 9.92511678e-01 1.21766053e-01 9.67462335e-03 1.94474437e+02] [-1.21753197e-01 9.92558570e-01 -1.90909639e-03 -9.52045936e+00] [-9.83509345e-03 7.16884141e-04 9.99951377e-01 -1.76507202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.50, Y:-9.53, Z:-1.77 [[ 9.92518514e-01 1.21710306e-01 9.67476268e-03 1.94502407e+02] [-1.21697454e-01 9.92565407e-01 -1.90839000e-03 -9.52585520e+00] [-9.83510549e-03 7.16718420e-04 9.99951377e-01 -1.76549210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.53, Y:-9.53, Z:-1.77 [[ 9.92327132e-01 1.23281647e-01 9.40736210e-03 1.94530781e+02] [-1.23269570e-01 9.92371489e-01 -1.85517841e-03 -9.52790381e+00] [-9.56430738e-03 6.81302389e-04 9.99954029e-01 -1.76628758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.56, Y:-9.53, Z:-1.77 [[ 9.92019336e-01 1.25828084e-01 8.05798344e-03 1.94559934e+02] [-1.25819311e-01 9.92051902e-01 -1.58865537e-03 -9.52690444e+00] [-8.19383526e-03 5.62126926e-04 9.99966272e-01 -1.76725254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:-9.53, Z:-1.77 [[ 9.91927342e-01 1.26582819e-01 7.54567807e-03 1.94586826e+02] [-1.26575150e-01 9.91955906e-01 -1.48726441e-03 -9.52915112e+00] [-7.67324205e-03 5.20162892e-04 9.99970425e-01 -1.76774864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:-9.53, Z:-1.77 [[ 9.91853859e-01 1.27184673e-01 7.06972314e-03 1.94614570e+02] [-1.27177961e-01 9.91878937e-01 -1.39286139e-03 -9.53188911e+00] [-7.18946010e-03 4.82401971e-04 9.99974039e-01 -1.76799647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:-9.53, Z:-1.77 [[ 9.91878823e-01 1.27022528e-01 6.45577668e-03 1.94642563e+02] [-1.27016930e-01 9.91899734e-01 -1.27154290e-03 -9.53442502e+00] [-6.56499777e-03 4.41223540e-04 9.99978353e-01 -1.76775638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:-9.54, Z:-1.77 [[ 9.91975808e-01 1.26250498e-01 6.69390418e-03 1.94669598e+02] [-1.26244465e-01 9.91998285e-01 -1.31802741e-03 -9.53710177e+00] [-6.80674308e-03 4.62382954e-04 9.99976727e-01 -1.76785988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:-9.54, Z:-1.77 [[ 9.92126592e-01 1.24767854e-01 1.08539262e-02 1.94696350e+02] [-1.24839988e-01 9.92157259e-01 6.24104517e-03 -9.54328077e+00] [-9.99011990e-03 -7.54691090e-03 9.99921618e-01 -1.76922272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:-9.54, Z:-1.77 [[ 9.92529454e-01 1.21889168e-01 5.32115966e-03 1.94725452e+02] [-1.21835894e-01 9.92505794e-01 -9.39488442e-03 -9.53811516e+00] [-6.42641643e-03 8.67639126e-03 9.99941709e-01 -1.76549052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.75, Y:-9.55, Z:-1.77 [[ 9.92664695e-01 1.20715370e-01 6.67860424e-03 1.94752639e+02] [-1.20709254e-01 9.92687037e-01 -1.31277629e-03 -9.54542698e+00] [-6.78823613e-03 4.96977333e-04 9.99976836e-01 -1.76699454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.645898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:194.78, Y:-9.55, Z:-1.77 [[ 9.92716785e-01 1.20311271e-01 6.21155041e-03 1.94780741e+02] [-1.20305975e-01 9.92736109e-01 -1.22063491e-03 -9.54932495e+00] [-6.31328652e-03 4.64458134e-04 9.99979963e-01 -1.76702038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.81, Y:-9.55, Z:-1.77 [[ 9.92585033e-01 1.21407260e-01 5.93545248e-03 1.94808010e+02] [-1.21402446e-01 9.92602683e-01 -1.16601561e-03 -9.55370752e+00] [-6.03310881e-03 4.36791193e-04 9.99981705e-01 -1.76643136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.705898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:194.83, Y:-9.56, Z:-1.77 [[ 9.92448308e-01 1.22543594e-01 5.42438447e-03 1.94834476e+02] [-1.22539592e-01 9.92463054e-01 -1.06542277e-03 -9.55675053e+00] [-5.51406191e-03 3.92675166e-04 9.99984720e-01 -1.76682283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.86, Y:-9.56, Z:-1.77 [[ 9.92181593e-01 1.24692639e-01 5.23757552e-03 1.94862434e+02] [-1.24688940e-01 9.92195349e-01 -1.02822740e-03 -9.56096042e+00] [-5.32491046e-03 3.67120557e-04 9.99985755e-01 -1.76588037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.89, Y:-9.56, Z:-1.76 [[ 9.91590797e-01 1.29179920e-01 7.76147971e-03 1.94890862e+02] [-1.29171941e-01 9.91621042e-01 -1.52269290e-03 -9.56372721e+00] [-7.89314794e-03 5.07322868e-04 9.99968720e-01 -1.76487443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.92, Y:-9.57, Z:-1.76 [[ 9.91371366e-01 1.30749858e-01 9.34293134e-03 1.94917168e+02] [-1.30738374e-01 9.91415211e-01 -1.83212931e-03 -9.56732380e+00] [-9.50227489e-03 5.94840890e-04 9.99954675e-01 -1.76462858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:-9.57, Z:-1.76 [[ 9.91261018e-01 1.31541375e-01 9.92274417e-03 1.94944480e+02] [-1.31528471e-01 9.91310486e-01 -1.94491999e-03 -9.57051948e+00] [-1.00923578e-02 6.22800007e-04 9.99948877e-01 -1.76447871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.855898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:194.97, Y:-9.57, Z:-1.77 [[ 9.91235038e-01 1.31729433e-01 1.00227606e-02 1.94971630e+02] [-1.31716285e-01 9.91285511e-01 -1.96367459e-03 -9.57371728e+00] [-1.01940911e-02 6.26302270e-04 9.99947843e-01 -1.76603913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:-9.58, Z:-1.77 [[ 9.91177569e-01 1.32189880e-01 9.63652035e-03 1.94998111e+02] [-1.32177755e-01 9.91224233e-01 -1.88727640e-03 -9.57798928e+00] [-9.80143133e-03 5.96892414e-04 9.99951787e-01 -1.76560482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:-9.58, Z:-1.77 [[ 9.91150322e-01 1.32409035e-01 9.42796993e-03 1.95026044e+02] [-1.32397447e-01 9.91194991e-01 -1.84565554e-03 -9.58328355e+00] [-9.58933804e-03 5.81082939e-04 9.99953852e-01 -1.76557546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94589822700001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:195.05, Y:-9.59, Z:-1.77 [[ 9.91063681e-01 1.32980798e-01 1.04349337e-02 1.95052851e+02] [-1.32966642e-01 9.91118410e-01 -2.04197810e-03 -9.58951452e+00] [-1.06137988e-02 6.36232236e-04 9.99943470e-01 -1.76556360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:-9.60, Z:-1.76 [[ 9.90898406e-01 1.34199642e-01 1.05264278e-02 1.95078943e+02] [-1.34185311e-01 9.90954117e-01 -2.05936226e-03 -9.59539378e+00] [-1.07075727e-02 6.28126796e-04 9.99942475e-01 -1.76465966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.005898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:195.11, Y:-9.60, Z:-1.77 [[ 9.90673697e-01 1.35877317e-01 1.01479643e-02 1.95106578e+02] [-1.35864101e-01 9.90725497e-01 -1.98383652e-03 -9.60083133e+00] [-1.03234053e-02 5.86590621e-04 9.99946540e-01 -1.76547337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:-9.61, Z:-1.76 [[ 9.90304234e-01 1.38586185e-01 9.55996985e-03 1.95133605e+02] [-1.38574585e-01 9.90350238e-01 -1.86850390e-03 -9.60695992e+00] [-9.72666724e-03 5.25618476e-04 9.99952557e-01 -1.76493506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.16, Y:-9.61, Z:-1.77 [[ 9.89837941e-01 1.41870351e-01 9.67749678e-03 1.95160034e+02] [-1.41858631e-01 9.89885122e-01 -1.89037354e-03 -9.61308748e+00] [-9.84779804e-03 4.98327006e-04 9.99951385e-01 -1.76615095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.095898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.19, Y:-9.62, Z:-1.77 [[ 9.89282034e-01 1.45678877e-01 9.93585632e-03 1.95187043e+02] [-1.45666726e-01 9.89331816e-01 -1.93977528e-03 -9.61925085e+00] [-1.01124431e-02 4.71661176e-04 9.99948757e-01 -1.76643828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:-9.63, Z:-1.77 [[ 9.88040231e-01 1.53792865e-01 1.11470681e-02 1.95214100e+02] [-1.53778112e-01 9.88103014e-01 -2.17382536e-03 -9.62658681e+00] [-1.13487705e-02 4.33651814e-04 9.99935507e-01 -1.76666140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-9.63, Z:-1.77 [[ 9.87481832e-01 1.57330761e-01 1.12544812e-02 1.95240924e+02] [-1.57315977e-01 9.87545885e-01 -2.19265706e-03 -9.63298598e+00] [-1.14592890e-02 3.94699300e-04 9.99934262e-01 -1.76769777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:-9.64, Z:-1.77 [[ 9.87022025e-01 1.60194170e-01 1.11959665e-02 1.95267600e+02] [-1.60179747e-01 9.87085457e-01 -2.17915215e-03 -9.63963965e+00] [-1.14004632e-02 3.57504095e-04 9.99934949e-01 -1.76940868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:-9.65, Z:-1.77 [[ 9.86666666e-01 1.62386758e-01 1.09284377e-02 1.95294152e+02] [-1.62373173e-01 9.86727134e-01 -2.12504641e-03 -9.64698460e+00] [-1.11284654e-02 3.22227359e-04 9.99938025e-01 -1.77053618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.245898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:195.32, Y:-9.65, Z:-1.77 [[ 9.86409585e-01 1.63957544e-01 1.06796621e-02 1.95319940e+02] [-1.63944688e-01 9.86467352e-01 -2.07425426e-03 -9.65424187e+00] [-1.08752277e-02 2.95190408e-04 9.99940819e-01 -1.77288049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:-9.66, Z:-1.77 [[ 9.85922498e-01 1.66924587e-01 9.64416080e-03 1.95347042e+02] [-1.66914247e-01 9.85969638e-01 -1.87295579e-03 -9.66355226e+00] [-9.82149210e-03 2.36841417e-04 9.99951740e-01 -1.77145685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:-9.67, Z:-1.77 [[ 9.85563525e-01 1.68921950e-01 1.13979192e-02 1.95372586e+02] [-1.68976994e-01 9.85611692e-01 4.04571733e-03 -9.67330898e+00] [-1.05505120e-02 -5.91329756e-03 9.99926857e-01 -1.77363155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.335898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.40, Y:-9.68, Z:-1.77 [[ 9.85219436e-01 1.71187037e-01 6.13682756e-03 1.95401743e+02] [-1.71140417e-01 9.85218432e-01 -7.45643454e-03 -9.67608290e+00] [-7.32256057e-03 6.29596501e-03 9.99953369e-01 -1.77314473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-9.69, Z:-1.77 [[ 9.84684867e-01 1.74216944e-01 6.64599509e-03 1.95427040e+02] [-1.74212219e-01 9.84707289e-01 -1.28778104e-03 -9.68561952e+00] [-6.76871308e-03 1.10244946e-04 9.99977086e-01 -1.77319908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:-9.69, Z:-1.77 [[ 9.84099094e-01 1.77476185e-01 7.15377698e-03 1.95453907e+02] [-1.77470795e-01 9.84125091e-01 -1.38629744e-03 -9.69218122e+00] [-7.28624620e-03 9.46675679e-05 9.99973450e-01 -1.77344407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-9.70, Z:-1.77 [[ 9.83380572e-01 1.81372791e-01 8.15856154e-03 1.95480399e+02] [-1.81365938e-01 9.83414412e-01 -1.57834932e-03 -9.69791529e+00] [-8.30951662e-03 7.24328888e-05 9.99965473e-01 -1.77284575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:-9.70, Z:-1.77 [[ 9.81853018e-01 1.89427489e-01 9.04857379e-03 1.95507873e+02] [-1.89419404e-01 9.81894712e-01 -1.75022486e-03 -9.70214819e+00] [-9.21628746e-03 4.48810803e-06 9.99957529e-01 -1.77299000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:-9.71, Z:-1.77 [[ 9.81125516e-01 1.93188692e-01 8.41732684e-03 1.95535866e+02] [-1.93181846e-01 9.81161622e-01 -1.62668994e-03 -9.70621141e+00] [-8.57301616e-03 -3.00877321e-05 9.99963251e-01 -1.77344275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:-9.71, Z:-1.77 [[ 9.80520791e-01 1.96262231e-01 7.75343667e-03 1.95563625e+02] [-1.96256528e-01 9.80551444e-01 -1.49711462e-03 -9.71019398e+00] [-7.89647057e-03 -5.37105524e-05 9.99968821e-01 -1.77457474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.59, Y:-9.72, Z:-1.78 [[ 9.79906421e-01 1.98609593e-01 1.83748945e-02 1.95588027e+02] [-1.98983746e-01 9.79768045e-01 2.14486885e-02 -9.72405120e+00] [-1.37432192e-02 -2.46740129e-02 9.99601079e-01 -1.78132198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:-9.71, Z:-1.77 [[ 9.79541833e-01 2.01220239e-01 2.86589138e-03 1.95620986e+02] [-2.01083070e-01 9.79239025e-01 -2.56228782e-02 -9.70729148e+00] [-7.96223436e-03 2.45223988e-02 9.99667572e-01 -1.77167609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.65, Y:-9.72, Z:-1.78 [[ 9.79737567e-01 2.00144860e-01 7.50569096e-03 1.95646581e+02] [-2.00139656e-01 9.79766313e-01 -1.44584808e-03 -9.72172836e+00] [-7.64320222e-03 -8.56347240e-05 9.99970787e-01 -1.77569534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.67, Y:-9.73, Z:-1.78 [[ 9.80053299e-01 1.98584121e-01 7.73808455e-03 1.95672722e+02] [-1.98578557e-01 9.80083844e-01 -1.48854533e-03 -9.72592178e+00] [-7.87957311e-03 -7.77639026e-05 9.99968953e-01 -1.77661624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.70, Y:-9.73, Z:-1.78 [[ 9.80531412e-01 1.96201679e-01 7.94053265e-03 1.95700626e+02] [-1.96195749e-01 9.80563561e-01 -1.52667733e-03 -9.73083640e+00] [-8.08573363e-03 -6.09436705e-05 9.99967308e-01 -1.77734230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:-9.74, Z:-1.78 [[ 9.80948700e-01 1.94081018e-01 8.49742313e-03 1.95727833e+02] [-1.94074163e-01 9.80985502e-01 -1.63195199e-03 -9.73602892e+00] [-8.65257980e-03 -4.82690955e-05 9.99962565e-01 -1.77810221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:-9.74, Z:-1.78 [[ 9.81175008e-01 1.92883554e-01 9.56759371e-03 1.95754643e+02] [-1.92874832e-01 9.81221653e-01 -1.83485468e-03 -9.74148182e+00] [-9.74184341e-03 -4.50344786e-05 9.99952546e-01 -1.77814260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.755898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:195.78, Y:-9.75, Z:-1.78 [[ 9.81275056e-01 1.92305915e-01 1.08489050e-02 1.95781784e+02] [-1.92294672e-01 9.81335026e-01 -2.07992762e-03 -9.74722431e+00] [-1.10463928e-02 -4.52055383e-05 9.99938986e-01 -1.77881427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:-9.75, Z:-1.78 [[ 9.81136411e-01 1.93015657e-01 1.07842528e-02 1.95808098e+02] [-1.93004615e-01 9.81195675e-01 -2.06522517e-03 -9.75236794e+00] [-1.09800830e-02 -5.51429607e-05 9.99939716e-01 -1.77752654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.84, Y:-9.76, Z:-1.78 [[ 9.80857538e-01 1.94438742e-01 1.05860680e-02 1.95835421e+02] [-1.94428199e-01 9.80914660e-01 -2.02610096e-03 -9.75765708e+00] [-1.07779818e-02 -7.09137266e-05 9.99941913e-01 -1.77793500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.845898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:195.86, Y:-9.76, Z:-1.78 [[ 9.80496723e-01 1.96259612e-01 1.04087168e-02 1.95862389e+02] [-1.96249541e-01 9.80551965e-01 -1.99026785e-03 -9.76279875e+00] [-1.05968969e-02 -9.12548056e-05 9.99943847e-01 -1.77941791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.875898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:195.89, Y:-9.77, Z:-1.78 [[ 9.79944691e-01 1.99003169e-01 1.03025110e-02 1.95889127e+02] [-1.98993480e-01 9.79998839e-01 -1.96754156e-03 -9.76836180e+00] [-1.04879959e-02 -1.22050615e-04 9.99944992e-01 -1.78005167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.92, Y:-9.77, Z:-1.78 [[ 9.78843040e-01 2.04374987e-01 9.85732886e-03 1.95915995e+02] [-2.04366397e-01 9.78892657e-01 -1.88173668e-03 -9.77395365e+00] [-1.00338468e-02 -1.72581930e-04 9.99949645e-01 -1.77899535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.935898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:195.94, Y:-9.78, Z:-1.78 [[ 9.78482266e-01 2.06080621e-01 1.01604053e-02 1.95942113e+02] [-2.06071595e-01 9.78534996e-01 -1.93869237e-03 -9.77924188e+00] [-1.03418391e-02 -1.96794832e-04 9.99946502e-01 -1.78070606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:-9.79, Z:-1.78 [[ 9.78250284e-01 2.07176851e-01 1.02045845e-02 1.95969652e+02] [-2.07167811e-01 9.78303485e-01 -1.94672201e-03 -9.78575466e+00] [-1.03864963e-02 -2.09680070e-04 9.99946037e-01 -1.78056922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-9.79, Z:-1.78 [[ 9.78158016e-01 2.07597579e-01 1.04948164e-02 1.95995632e+02] [-2.07588069e-01 9.78214289e-01 -1.99950673e-03 -9.79253980e+00] [-1.06812722e-02 -2.22765146e-04 9.99942929e-01 -1.78122418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.025898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:196.02, Y:-9.80, Z:-1.78 [[ 9.78346797e-01 2.06772490e-01 9.09297662e-03 1.96022389e+02] [-2.06765316e-01 9.78389035e-01 -1.73235912e-03 -9.80089266e+00] [-9.25467283e-03 -1.85264197e-04 9.99957157e-01 -1.78259067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:-9.81, Z:-1.78 [[ 9.78295281e-01 2.07055977e-01 8.13422822e-03 1.96048754e+02] [-2.07050262e-01 9.78329082e-01 -1.54773928e-03 -9.80739956e+00] [-8.27842070e-03 -1.70048044e-04 9.99965719e-01 -1.78222533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:-9.81, Z:-1.78 [[ 9.78187070e-01 2.07608254e-01 6.99061605e-03 1.96076186e+02] [-2.07604045e-01 9.78212038e-01 -1.33050464e-03 -9.81442434e+00] [-7.11452851e-03 -1.49797731e-04 9.99974680e-01 -1.78224622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:-9.82, Z:-1.78 [[ 9.77976444e-01 2.08617676e-01 6.38287172e-03 1.96102889e+02] [-2.08614195e-01 9.77997262e-01 -1.21387071e-03 -9.82155967e+00] [-6.49566595e-03 -1.44420683e-04 9.99978893e-01 -1.78281585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:-9.83, Z:-1.78 [[ 9.77690069e-01 2.09956334e-01 6.36138453e-03 1.96128863e+02] [-2.09952916e-01 9.77710752e-01 -1.20804668e-03 -9.82852672e+00] [-6.47323110e-03 -1.54495983e-04 9.99979036e-01 -1.78331561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:-9.84, Z:-1.78 [[ 9.77317473e-01 2.11676322e-01 6.60996771e-03 1.96155800e+02] [-2.11672674e-01 9.77339810e-01 -1.25473281e-03 -9.83561554e+00] [-6.72578182e-03 -1.72877238e-04 9.99977367e-01 -1.78373953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.18, Y:-9.84, Z:-1.78 [[ 9.76465446e-01 2.15585461e-01 6.17594371e-03 1.96183027e+02] [-2.15582360e-01 9.76484958e-01 -1.17136352e-03 -9.84343103e+00] [-6.28324508e-03 -1.87628516e-04 9.99980243e-01 -1.78340599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:-9.85, Z:-1.78 [[ 9.76019952e-01 2.17598621e-01 5.99102683e-03 1.96209402e+02] [-2.17595754e-01 9.76038320e-01 -1.13428695e-03 -9.84949009e+00] [-6.09429103e-03 -1.96535305e-04 9.99981410e-01 -1.78448921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:-9.86, Z:-1.78 [[ 9.75741632e-01 2.18840740e-01 6.08264086e-03 1.96235384e+02] [-2.18837812e-01 9.75760569e-01 -1.15108153e-03 -9.85528885e+00] [-6.18710464e-03 -2.07953646e-04 9.99980838e-01 -1.78484370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.26, Y:-9.86, Z:-1.79 [[ 9.75779078e-01 2.18673713e-01 6.08259402e-03 1.96263388e+02] [-2.18670780e-01 9.75798014e-01 -1.15132995e-03 -9.86037843e+00] [-6.18714876e-03 -2.06641904e-04 9.99980838e-01 -1.78525667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:-9.87, Z:-1.79 [[ 9.75573240e-01 2.19567155e-01 6.86424472e-03 1.96291104e+02] [-2.19563451e-01 9.75597359e-01 -1.29787335e-03 -9.86591197e+00] [-6.98170938e-03 -2.40966752e-04 9.99975599e-01 -1.78586349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.32, Y:-9.87, Z:-1.79 [[ 9.75430865e-01 2.20171426e-01 7.69224531e-03 1.96317772e+02] [-2.20166814e-01 9.75461156e-01 -1.45186784e-03 -9.87092394e+00] [-7.82314631e-03 -2.77380440e-04 9.99969360e-01 -1.78593034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:-9.88, Z:-1.79 [[ 9.75315512e-01 2.20668723e-01 8.06021152e-03 1.96344868e+02] [-2.20663676e-01 9.75348772e-01 -1.52125982e-03 -9.87679246e+00] [-8.19721187e-03 -2.94887606e-04 9.99966359e-01 -1.78587033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-9.89, Z:-1.79 [[ 9.75301890e-01 2.20749410e-01 7.47809121e-03 1.96371094e+02] [-2.20745077e-01 9.75330519e-01 -1.41016275e-03 -9.88592784e+00] [-7.60490318e-03 -2.75417430e-04 9.99971044e-01 -1.78644977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:-9.89, Z:-1.79 [[ 9.75373742e-01 2.20422777e-01 7.73717403e-03 1.96396753e+02] [-2.20418145e-01 9.75404387e-01 -1.45697583e-03 -9.89320934e+00] [-7.86802415e-03 -2.84317574e-04 9.99969006e-01 -1.78730621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:-9.90, Z:-1.79 [[ 9.75507847e-01 2.19813542e-01 8.15156985e-03 1.96424088e+02] [-2.19808386e-01 9.75541860e-01 -1.53417387e-03 -9.90063366e+00] [-8.28942980e-03 -2.95184768e-04 9.99965599e-01 -1.78766771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:-9.91, Z:-1.79 [[ 9.75596297e-01 2.19363146e-01 9.57471093e-03 1.96450115e+02] [-2.19356039e-01 9.75643219e-01 -1.79913194e-03 -9.90760342e+00] [-9.73616504e-03 -3.45044205e-04 9.99952543e-01 -1.78823319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:-9.91, Z:-1.79 [[ 9.75602314e-01 2.19281274e-01 1.07632467e-02 1.96476307e+02] [-2.19272301e-01 9.75661607e-01 -2.02138973e-03 -9.91484859e+00] [-1.09445395e-02 -3.88009366e-04 9.99940031e-01 -1.78849219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.50, Y:-9.92, Z:-1.79 [[ 9.75376035e-01 2.20230834e-01 1.18309294e-02 1.96503219e+02] [-2.20220071e-01 9.75447685e-01 -2.22104813e-03 -9.92466927e+00] [-1.20295960e-02 -4.39051003e-04 9.99927545e-01 -1.78882178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.53, Y:-9.93, Z:-1.79 [[ 9.75116543e-01 2.21423241e-01 1.09304802e-02 1.96530137e+02] [-2.21414150e-01 9.75177713e-01 -2.05017507e-03 -9.93157323e+00] [-1.11131171e-02 -4.21003370e-04 9.99938159e-01 -1.78894723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:-9.94, Z:-1.79 [[ 9.74791800e-01 2.22891400e-01 1.00185063e-02 1.96556483e+02] [-2.22883862e-01 9.74843198e-01 -1.87693418e-03 -9.93764573e+00] [-1.01848252e-02 -4.03343325e-04 9.99948052e-01 -1.78908204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:-9.94, Z:-1.79 [[ 9.74412251e-01 2.24582892e-01 9.12637396e-03 1.96582939e+02] [-2.24576717e-01 9.74454913e-01 -1.70910855e-03 -9.94369322e+00] [-9.27707648e-03 -3.84194793e-04 9.99956893e-01 -1.78942548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.61, Y:-9.95, Z:-1.79 [[ 9.73749553e-01 2.27463670e-01 8.49043880e-03 1.96609527e+02] [-2.27458435e-01 9.73786492e-01 -1.59003064e-03 -9.95120886e+00] [-8.62954882e-03 -3.82930295e-04 9.99962691e-01 -1.79003946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:-9.96, Z:-1.79 [[ 9.73439818e-01 2.28789175e-01 8.39251343e-03 1.96636503e+02] [-2.28784122e-01 9.73475917e-01 -1.57020020e-03 -9.95786479e+00] [-8.52915451e-03 -3.91578417e-04 9.99963549e-01 -1.79081901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.66, Y:-9.96, Z:-1.79 [[ 9.73198214e-01 2.29838772e-01 7.70554378e-03 1.96664327e+02] [-2.29834555e-01 9.73228649e-01 -1.44043061e-03 -9.96396191e+00] [-7.83032277e-03 -3.69175729e-04 9.99969274e-01 -1.79070100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:-9.97, Z:-1.79 [[ 9.72922548e-01 2.31005765e-01 7.61914778e-03 1.96690948e+02] [-2.31001694e-01 9.72952309e-01 -1.42208638e-03 -9.96987361e+00] [-7.74157757e-03 -3.76456143e-04 9.99969963e-01 -1.79165074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.72, Y:-9.98, Z:-1.79 [[ 9.72795599e-01 2.31564137e-01 6.83914404e-03 1.96718717e+02] [-2.31560868e-01 9.72819579e-01 -1.27688213e-03 -9.97623016e+00] [-6.94893333e-03 -3.41532813e-04 9.99975798e-01 -1.79205730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:-9.98, Z:-1.79 [[ 9.72839317e-01 2.31400052e-01 6.13835425e-03 1.96746062e+02] [-2.31397421e-01 9.72858634e-01 -1.14515304e-03 -9.98287953e+00] [-6.23673941e-03 -3.06349444e-04 9.99980504e-01 -1.79277948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:-9.99, Z:-1.79 [[ 9.73053023e-01 2.30498688e-01 6.17805579e-03 1.96771629e+02] [-2.30496019e-01 9.73072588e-01 -1.15037574e-03 -9.99302189e+00] [-6.27685684e-03 -3.04640668e-04 9.99980254e-01 -1.79408854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:-10.00, Z:-1.79 [[ 9.73224769e-01 2.29773541e-01 6.13747209e-03 1.96797907e+02] [-2.29770895e-01 9.73244076e-01 -1.14226293e-03 -1.00005961e+01] [-6.23572015e-03 -2.98533885e-04 9.99980513e-01 -1.79478317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.83, Y:-10.01, Z:-1.80 [[ 9.73490108e-01 2.28646060e-01 6.16345964e-03 1.96825310e+02] [-2.28643367e-01 9.73509576e-01 -1.14747572e-03 -1.00081293e+01] [-6.26255279e-03 -2.92177897e-04 9.99980347e-01 -1.79563114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.85, Y:-10.02, Z:-1.80 [[ 9.73754480e-01 2.27521855e-01 6.00150923e-03 1.96851758e+02] [-2.27519293e-01 9.73772934e-01 -1.11530337e-03 -1.00156666e+01] [-6.09786314e-03 -2.79427486e-04 9.99981369e-01 -1.79599625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.88, Y:-10.02, Z:-1.80 [[ 9.74023182e-01 2.26369152e-01 5.98740007e-03 1.96878645e+02] [-2.26366578e-01 9.74041546e-01 -1.11306815e-03 -1.00238211e+01] [-6.08394072e-03 -2.71193083e-04 9.99981456e-01 -1.79641465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:-10.03, Z:-1.80 [[ 9.74430117e-01 2.24566149e-01 7.48282240e-03 1.96905505e+02] [-2.24562091e-01 9.74458792e-01 -1.38899471e-03 -1.00349240e+01] [-7.60362327e-03 -3.26879968e-04 9.99971039e-01 -1.79654548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:-10.04, Z:-1.80 [[ 9.74494683e-01 2.24264483e-01 8.09654029e-03 1.96931632e+02] [-2.24259743e-01 9.74528253e-01 -1.50033848e-03 -1.00427629e+01] [-8.22677990e-03 -3.53656169e-04 9.99966097e-01 -1.79644026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:-10.05, Z:-1.80 [[ 9.74488717e-01 2.24279871e-01 8.38333585e-03 1.96959081e+02] [-2.24274791e-01 9.74524707e-01 -1.55331747e-03 -1.00502307e+01] [-8.51814576e-03 -3.66480549e-04 9.99963653e-01 -1.79631222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:-10.06, Z:-1.80 [[ 9.74398336e-01 2.24669226e-01 8.46295453e-03 1.96985680e+02] [-2.24664084e-01 9.74435015e-01 -1.56578217e-03 -1.00573039e+01] [-8.59838229e-03 -3.75626382e-04 9.99962963e-01 -1.79639626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:-10.06, Z:-1.80 [[ 9.74334229e-01 2.24954566e-01 8.26158927e-03 1.97012715e+02] [-2.24949675e-01 9.74369184e-01 -1.52853042e-03 -1.00642077e+01] [-8.39368789e-03 -3.69142316e-04 9.99964704e-01 -1.79614740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:-10.07, Z:-1.80 [[ 9.74181186e-01 2.25615673e-01 8.28161194e-03 1.97038084e+02] [-2.25610802e-01 9.74216313e-01 -1.52996363e-03 -1.00737462e+01] [-8.41326523e-03 -3.77959325e-04 9.99964536e-01 -1.79567639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:-10.08, Z:-1.80 [[ 9.74152153e-01 2.25716457e-01 8.92547879e-03 1.97065483e+02] [-2.25710806e-01 9.74192955e-01 -1.64864643e-03 -1.00809179e+01] [-9.06726519e-03 -4.08544544e-04 9.99958808e-01 -1.79578399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.225898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:197.09, Y:-10.09, Z:-1.80 [[ 9.74163565e-01 2.25607556e-01 1.03237442e-02 1.97093086e+02] [-2.25600014e-01 9.74218151e-01 -1.90449916e-03 -1.00881531e+01] [-1.04872484e-02 -4.73743155e-04 9.99944895e-01 -1.79639508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.12, Y:-10.10, Z:-1.80 [[ 9.74117218e-01 2.25713076e-01 1.22169233e-02 1.97119229e+02] [-2.25702562e-01 9.74193660e-01 -2.25063171e-03 -1.00950027e+01] [-1.24096462e-02 -5.65011793e-04 9.99922838e-01 -1.79530575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.15, Y:-10.10, Z:-1.80 [[ 9.74179229e-01 2.25368010e-01 1.35679709e-02 1.97145974e+02] [-2.25355025e-01 9.74273509e-01 -2.49832525e-03 -1.01019800e+01] [-1.37819572e-02 -6.23793862e-04 9.99904830e-01 -1.79544720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.17, Y:-10.11, Z:-1.80 [[ 9.73854353e-01 2.26838920e-01 1.23208618e-02 1.97172268e+02] [-2.26828361e-01 9.73932112e-01 -2.26624943e-03 -1.01107148e+01] [-1.25137565e-02 -5.87724007e-04 9.99921527e-01 -1.79591051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.345898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:197.20, Y:-10.12, Z:-1.80 [[ 9.73580339e-01 2.28106858e-01 1.04204255e-02 1.97199777e+02] [-2.28099380e-01 9.73635969e-01 -1.91639394e-03 -1.01173987e+01] [-1.05828437e-02 -5.11129151e-04 9.99943870e-01 -1.79749054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.23, Y:-10.12, Z:-1.80 [[ 9.73100380e-01 2.30177816e-01 9.68621430e-03 1.97227048e+02] [-2.30171474e-01 9.73148460e-01 -1.77964704e-03 -1.01243023e+01] [-9.83575980e-03 -4.97715020e-04 9.99951504e-01 -1.79728691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:-10.13, Z:-1.80 [[ 9.72560198e-01 2.32491463e-01 8.62445196e-03 1.97253376e+02] [-2.32486544e-01 9.72598325e-01 -1.58253544e-03 -1.01313630e+01] [-8.75605352e-03 -4.65958049e-04 9.99961556e-01 -1.79790847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.435898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:197.28, Y:-10.14, Z:-1.80 [[ 9.71584804e-01 2.36555529e-01 8.02815481e-03 1.97280620e+02] [-2.36551410e-01 9.71617858e-01 -1.47241359e-03 -1.01399382e+01] [-8.14860616e-03 -4.68496673e-04 9.99966690e-01 -1.79910137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:-10.15, Z:-1.80 [[ 9.71253687e-01 2.37916362e-01 7.87909179e-03 1.97308226e+02] [-2.37912444e-01 9.71285531e-01 -1.44453508e-03 -1.01462040e+01] [-7.99652638e-03 -4.71523961e-04 9.99967916e-01 -1.79898297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:-10.15, Z:-1.80 [[ 9.71111070e-01 2.38500909e-01 7.78499692e-03 1.97335133e+02] [-2.38497107e-01 9.71142160e-01 -1.42673966e-03 -1.01518709e+01] [-7.90061743e-03 -4.71176568e-04 9.99968679e-01 -1.79987433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.36, Y:-10.16, Z:-1.80 [[ 9.71152217e-01 2.38327694e-01 7.95502161e-03 1.97361624e+02] [-2.38323722e-01 9.71184678e-01 -1.45738096e-03 -1.01574291e+01] [-8.07312935e-03 -4.80531606e-04 9.99967296e-01 -1.80059378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.39, Y:-10.16, Z:-1.80 [[ 9.71281418e-01 2.37794959e-01 8.12185282e-03 1.97389239e+02] [-2.37790806e-01 9.71315253e-01 -1.48717369e-03 -1.01635458e+01] [-8.24252194e-03 -4.86837766e-04 9.99965911e-01 -1.80100059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.42, Y:-10.17, Z:-1.80 [[ 9.71351690e-01 2.37508830e-01 8.09017637e-03 1.97416291e+02] [-2.37504705e-01 9.71385260e-01 -1.48080362e-03 -1.01694403e+01] [-8.21038201e-03 -4.83073847e-04 9.99966178e-01 -1.80078645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:-10.18, Z:-1.80 [[ 9.71436219e-01 2.37131262e-01 8.96869223e-03 1.97442923e+02] [-2.37126177e-01 9.71477473e-01 -1.64152751e-03 -1.01768687e+01] [-9.10213996e-03 -5.32072422e-04 9.99958433e-01 -1.80088472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:-10.18, Z:-1.80 [[ 9.71376243e-01 2.37382151e-01 8.82662158e-03 1.97469571e+02] [-2.37377258e-01 9.71416201e-01 -1.61319486e-03 -1.01834482e+01] [-8.95726687e-03 -5.28220065e-04 9.99959743e-01 -1.80117512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:-10.19, Z:-1.80 [[ 9.71454440e-01 2.37087027e-01 8.12475248e-03 1.97497015e+02] [-2.37082876e-01 9.71488295e-01 -1.48421929e-03 -1.01903007e+01] [-8.24499108e-03 -4.84388265e-04 9.99965892e-01 -1.80135083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.52, Y:-10.20, Z:-1.80 [[ 9.71570208e-01 2.36646777e-01 7.04513784e-03 1.97523791e+02] [-2.36643647e-01 9.71595661e-01 -1.28663507e-03 -1.01974345e+01] [-7.14950340e-03 -4.17130814e-04 9.99974355e-01 -1.80135127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:-10.20, Z:-1.80 [[ 9.71769732e-01 2.35839187e-01 6.59288936e-03 1.97550605e+02] [-2.35836430e-01 9.71792020e-01 -1.20363766e-03 -1.02042887e+01] [-6.69078220e-03 -3.85184845e-04 9.99977542e-01 -1.80172508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:-10.21, Z:-1.80 [[ 9.72004159e-01 2.34825598e-01 8.05312564e-03 1.97577739e+02] [-2.34821456e-01 9.72037409e-01 -1.46943356e-03 -1.02135842e+01] [-8.17299999e-03 -4.62751156e-04 9.99966493e-01 -1.80199605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.61, Y:-10.22, Z:-1.80 [[ 9.71915614e-01 2.35145618e-01 9.30471717e-03 1.97605378e+02] [-2.35140112e-01 9.71960003e-01 -1.69699504e-03 -1.02205357e+01] [-9.44285388e-03 -5.38576261e-04 9.99955270e-01 -1.80173690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:-10.23, Z:-1.80 [[ 9.71808238e-01 2.35561801e-01 9.96926832e-03 1.97631398e+02] [-2.35555509e-01 9.71859197e-01 -1.81745476e-03 -1.02266116e+01] [-1.01168480e-02 -5.82098561e-04 9.99948654e-01 -1.80211976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.66, Y:-10.23, Z:-1.80 [[ 9.71457728e-01 2.37028841e-01 9.33872494e-03 1.97659001e+02] [-2.37023394e-01 9.71502452e-01 -1.70175417e-03 -1.02326134e+01] [-9.47595900e-03 -5.60314043e-04 9.99954945e-01 -1.80219631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:-10.24, Z:-1.80 [[ 9.71215073e-01 2.38050508e-01 8.55795245e-03 1.97685411e+02] [-2.38045977e-01 9.71252636e-01 -1.55899644e-03 -1.02369224e+01] [-8.68305377e-03 -5.23065315e-04 9.99962165e-01 -1.80261452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:-10.24, Z:-1.80 [[ 9.71023372e-01 2.38856131e-01 7.83318283e-03 1.97713027e+02] [-2.38852367e-01 9.71054845e-01 -1.42629682e-03 -1.02417371e+01] [-7.94712988e-03 -4.86006713e-04 9.99968303e-01 -1.80365764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94589822700001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:197.74, Y:-10.25, Z:-1.80 [[ 9.70859743e-01 2.39550784e-01 6.83972746e-03 1.97739411e+02] [-2.39547934e-01 9.70883740e-01 -1.24513192e-03 -1.02462926e+01] [-6.93885250e-03 -4.29594123e-04 9.99975834e-01 -1.80455013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.77, Y:-10.25, Z:-1.80 [[ 9.70724491e-01 2.40101423e-01 6.72827763e-03 1.97766596e+02] [-2.40098682e-01 9.70747714e-01 -1.22421525e-03 -1.02516105e+01] [-6.82539595e-03 -4.27074865e-04 9.99976616e-01 -1.80443514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.005898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:197.79, Y:-10.26, Z:-1.81 [[ 9.70896492e-01 2.39396200e-01 7.03291479e-03 1.97793847e+02] [-2.39393190e-01 9.70921863e-01 -1.27911983e-03 -1.02565822e+01] [-7.13462716e-03 -4.41738955e-04 9.99974451e-01 -1.80536092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.035898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:197.82, Y:-10.26, Z:-1.81 [[ 9.71722708e-01 2.35969855e-01 8.55607682e-03 1.97820932e+02] [-2.35965275e-01 9.71760243e-01 -1.55531186e-03 -1.02626527e+01] [-8.68146201e-03 -5.07605171e-04 9.99962187e-01 -1.80543027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.85, Y:-10.27, Z:-1.81 [[ 9.72288041e-01 2.33586194e-01 9.66728016e-03 1.97847658e+02] [-2.33580238e-01 9.72335944e-01 -1.75651050e-03 -1.02691044e+01] [-9.81014058e-03 -5.50251440e-04 9.99951728e-01 -1.80540860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.87, Y:-10.28, Z:-1.81 [[ 9.72991165e-01 2.30630972e-01 9.87663672e-03 1.97874515e+02] [-2.30624612e-01 9.73041146e-01 -1.79363131e-03 -1.02758234e+01] [-1.00240408e-02 -5.32608094e-04 9.99949616e-01 -1.80601292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:-10.28, Z:-1.81 [[ 9.73642897e-01 2.27873733e-01 9.64736531e-03 1.97900771e+02] [-2.27867537e-01 9.73690566e-01 -1.75137215e-03 -1.02827227e+01] [-9.79264030e-03 -4.93110315e-04 9.99951929e-01 -1.80656073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:-10.29, Z:-1.81 [[ 9.73656020e-01 2.27817648e-01 9.64752895e-03 1.97928829e+02] [-2.27811457e-01 9.73703690e-01 -1.75047020e-03 -1.02876858e+01] [-9.79262254e-03 -4.93461779e-04 9.99951929e-01 -1.80697399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:-10.30, Z:-1.81 [[ 9.74653321e-01 2.23553717e-01 8.63945332e-03 1.97955847e+02] [-2.23548588e-01 9.74691527e-01 -1.56720829e-03 -1.02975647e+01] [-8.77115718e-03 -4.03852823e-04 9.99961451e-01 -1.80695002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:-10.30, Z:-1.81 [[ 9.74851738e-01 2.22690217e-01 8.55308153e-03 1.97982052e+02] [-2.22685162e-01 9.74889180e-01 -1.55100203e-03 -1.03048723e+01] [-8.68369961e-03 -3.92647326e-04 9.99962219e-01 -1.80730659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.01, Y:-10.31, Z:-1.81 [[ 9.74856111e-01 2.22678676e-01 8.35286466e-03 1.98007760e+02] [-2.22673860e-01 9.74891819e-01 -1.51401707e-03 -1.03120237e+01] [-8.48027875e-03 -3.84015828e-04 9.99963968e-01 -1.80682236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.03, Y:-10.32, Z:-1.81 [[ 9.74691198e-01 2.23387627e-01 8.66232714e-03 1.98034109e+02] [-2.23382481e-01 9.74729605e-01 -1.56958245e-03 -1.03191985e+01] [-8.79405202e-03 -4.05153929e-04 9.99961250e-01 -1.80687005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:-10.33, Z:-1.81 [[ 9.74401535e-01 2.24632802e-01 9.04169363e-03 1.98061185e+02] [-2.24627262e-01 9.74443387e-01 -1.63682176e-03 -1.03267539e+01] [-9.17830242e-03 -4.36089240e-04 9.99957783e-01 -1.80707109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:-10.33, Z:-1.81 [[ 9.73975980e-01 2.26444152e-01 9.68687764e-03 1.98088039e+02] [-2.26437889e-01 9.74024029e-01 -1.75286228e-03 -1.03345359e+01] [-9.83217700e-03 -4.86230371e-04 9.99951545e-01 -1.80765456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:-10.35, Z:-1.81 [[ 9.72860781e-01 2.31227490e-01 8.70332556e-03 1.98114163e+02] [-2.31222630e-01 9.72899592e-01 -1.57438569e-03 -1.03454614e+01] [-8.83150314e-03 -4.80747734e-04 9.99960886e-01 -1.80774260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:-10.35, Z:-1.81 [[ 9.72252506e-01 2.33819286e-01 7.32160563e-03 1.98140069e+02] [-2.33815920e-01 9.72279981e-01 -1.32438974e-03 -1.03526698e+01] [-7.42831845e-03 -4.24266720e-04 9.99972320e-01 -1.80842143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:-10.36, Z:-1.81 [[ 9.71604478e-01 2.36524444e-01 6.39735444e-03 1.98166051e+02] [-2.36521936e-01 9.71625461e-01 -1.15667478e-03 -1.03599000e+01] [-6.48941432e-03 -3.89284262e-04 9.99978868e-01 -1.80912381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.455898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:198.19, Y:-10.37, Z:-1.81 [[ 9.70559449e-01 2.40792418e-01 5.77649060e-03 1.98192814e+02] [-2.40790454e-01 9.70576565e-01 -1.04342689e-03 -1.03682150e+01] [-5.85777569e-03 -3.78215968e-04 9.99982772e-01 -1.81031505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:-10.38, Z:-1.81 [[ 9.70040493e-01 2.42857193e-01 6.46726612e-03 1.98219656e+02] [-2.42854781e-01 9.70061953e-01 -1.16761896e-03 -1.03762877e+01] [-6.55721347e-03 -4.37968831e-04 9.99978405e-01 -1.80930170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.515898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:198.25, Y:-10.38, Z:-1.81 [[ 9.69796900e-01 2.43815071e-01 6.94153469e-03 1.98245901e+02] [-2.43812320e-01 9.69821624e-01 -1.25276796e-03 -1.03833274e+01] [-7.03749415e-03 -4.77501194e-04 9.99975123e-01 -1.80940760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.27, Y:-10.39, Z:-1.81 [[ 9.69526879e-01 2.44888478e-01 6.87490245e-03 1.98271581e+02] [-2.44885810e-01 9.69551134e-01 -1.24016932e-03 -1.03910712e+01] [-6.96927264e-03 -4.81188569e-04 9.99975599e-01 -1.80917590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.30, Y:-10.40, Z:-1.81 [[ 9.69370289e-01 2.45526576e-01 6.15989385e-03 1.98299099e+02] [-2.45524450e-01 9.69389762e-01 -1.11072724e-03 -1.03984407e+01] [-6.24405109e-03 -4.35698561e-04 9.99980411e-01 -1.80976103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.32, Y:-10.42, Z:-1.81 [[ 9.68948652e-01 2.46280612e-01 2.20083833e-02 1.98320160e+02] [-2.46924714e-01 9.68433858e-01 3.41181542e-02 -1.04209459e+01] [-1.29110237e-02 -3.84931533e-02 9.99175451e-01 -1.81307405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.635898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:198.36, Y:-10.40, Z:-1.82 [[ 9.69334851e-01 2.45711423e-01 3.98043659e-03 1.98356640e+02] [-2.45423375e-01 9.68771188e-01 -3.53518401e-02 -1.04007328e+01] [-1.25424832e-02 3.32908785e-02 9.99367001e-01 -1.81591122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.38, Y:-10.42, Z:-1.81 [[ 9.69379666e-01 2.45332809e-01 1.07179985e-02 1.98380242e+02] [-2.45326317e-01 9.69438625e-01 -1.93668145e-03 -1.04216349e+01] [-1.08655732e-02 -7.52027468e-04 9.99940685e-01 -1.81351877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69589822700001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:-10.43, Z:-1.81 [[ 9.69268089e-01 2.45757138e-01 1.10815405e-02 1.98407240e+02] [-2.45750238e-01 9.69331117e-01 -2.00129562e-03 -1.04276602e+01] [-1.12335147e-02 -7.83499224e-04 9.99936595e-01 -1.81300119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.43, Y:-10.43, Z:-1.81 [[ 9.69003388e-01 2.46800739e-01 1.10376409e-02 1.98434207e+02] [-2.46793968e-01 9.69065925e-01 -1.99277747e-03 -1.04326715e+01] [-1.11880206e-02 -7.93015069e-04 9.99937098e-01 -1.81359430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.46, Y:-10.44, Z:-1.81 [[ 9.68320567e-01 2.49561736e-01 8.61507962e-03 1.98460986e+02] [-2.49557725e-01 9.68358676e-01 -1.55472518e-03 -1.04359608e+01] [-8.73048701e-03 -6.44487301e-04 9.99961681e-01 -1.81434123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.785898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:198.49, Y:-10.44, Z:-1.82 [[ 9.68195829e-01 2.50055500e-01 8.31165981e-03 1.98489157e+02] [-2.50051791e-01 9.68231302e-01 -1.49921793e-03 -1.04390482e+01] [-8.42249688e-03 -6.26808871e-04 9.99964334e-01 -1.81606657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.52, Y:-10.44, Z:-1.82 [[ 9.68070837e-01 2.50528604e-01 8.61823171e-03 1.98517052e+02] [-2.50524641e-01 9.68108976e-01 -1.55385509e-03 -1.04432802e+01] [-8.73267262e-03 -6.54837606e-04 9.99961655e-01 -1.81632014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:-10.45, Z:-1.82 [[ 9.68251615e-01 2.49805256e-01 9.28142124e-03 1.98544313e+02] [-2.49800633e-01 9.68295846e-01 -1.67276733e-03 -1.04467323e+01] [-9.40502770e-03 -6.98845236e-04 9.99955528e-01 -1.81668985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:-10.45, Z:-1.82 [[ 9.68582173e-01 2.48491271e-01 1.00331116e-02 1.98572377e+02] [-2.48485809e-01 9.68633851e-01 -1.80721638e-03 -1.04507827e+01] [-1.01674890e-02 -7.42648291e-04 9.99948034e-01 -1.81722618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.905898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:198.60, Y:-10.45, Z:-1.82 [[ 9.69107276e-01 2.46422699e-01 1.03412186e-02 1.98599859e+02] [-2.46416787e-01 9.69162164e-01 -1.86195141e-03 -1.04545758e+01] [-1.04811449e-02 -7.43819195e-04 9.99944795e-01 -1.81829330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.935898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:198.63, Y:-10.46, Z:-1.82 [[ 9.70013855e-01 2.42883077e-01 8.99619958e-03 1.98627178e+02] [-2.42878456e-01 9.70055376e-01 -1.61930311e-03 -1.04585147e+01] [-9.12011309e-03 -6.14236608e-04 9.99958222e-01 -1.81888199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:-10.46, Z:-1.82 [[ 9.70178116e-01 2.42249406e-01 8.34554143e-03 1.98654270e+02] [-2.42245409e-01 9.70213846e-01 -1.50179231e-03 -1.04629460e+01] [-8.46076814e-03 -5.64663064e-04 9.99964048e-01 -1.81990311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:-10.47, Z:-1.82 [[ 9.70321806e-01 2.41677835e-01 8.21079964e-03 1.98682147e+02] [-2.41673952e-01 9.70356388e-01 -1.47679246e-03 -1.04665194e+01] [-8.32430989e-03 -5.51372476e-04 9.99965200e-01 -1.82097436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:-10.47, Z:-1.82 [[ 9.70316117e-01 2.41701059e-01 8.19946544e-03 1.98708399e+02] [-2.41697192e-01 9.70350604e-01 -1.47429116e-03 -1.04703332e+01] [-8.31269397e-03 -5.51259300e-04 9.99965297e-01 -1.82124114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:-10.47, Z:-1.82 [[ 9.69728498e-01 2.43962678e-01 1.04332481e-02 1.98736425e+02] [-2.43956560e-01 9.69784349e-01 -1.87463030e-03 -1.04739521e+01] [-1.05753405e-02 -7.27376881e-04 9.99943815e-01 -1.81973978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.76, Y:-10.48, Z:-1.82 [[ 9.69235874e-01 2.45839748e-01 1.20266113e-02 1.98762781e+02] [-2.45831774e-01 9.69310102e-01 -2.15997614e-03 -1.04776222e+01] [-1.21885238e-02 -8.62996837e-04 9.99925345e-01 -1.81927703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.115898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:198.79, Y:-10.48, Z:-1.82 [[ 9.68772217e-01 2.47621117e-01 1.28130558e-02 1.98790227e+02] [-2.47612236e-01 9.68856486e-01 -2.30005907e-03 -1.04807676e+01] [-1.29835555e-02 -9.44436087e-04 9.99915264e-01 -1.81955808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:-10.48, Z:-1.82 [[ 9.68174273e-01 2.49954148e-01 1.27082945e-02 1.98816876e+02] [-2.49945621e-01 9.68257190e-01 -2.28045177e-03 -1.04848477e+01] [-1.28749059e-02 -9.68507830e-04 9.99916646e-01 -1.81968007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:-10.49, Z:-1.82 [[ 9.67687449e-01 2.51865669e-01 1.20285151e-02 1.98843188e+02] [-2.51858188e-01 9.67761746e-01 -2.15758334e-03 -1.04883083e+01] [-1.21841580e-02 -9.41613703e-04 9.99925327e-01 -1.82119187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:-10.49, Z:-1.82 [[ 9.66960979e-01 2.54688934e-01 1.09550337e-02 1.98871239e+02] [-2.54682917e-01 9.67022623e-01 -1.96422483e-03 -1.04905014e+01] [-1.10940317e-02 -8.90731165e-04 9.99938063e-01 -1.82182758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:-10.49, Z:-1.82 [[ 9.66520090e-01 2.56340358e-01 1.13373826e-02 1.98898740e+02] [-2.56334036e-01 9.66586123e-01 -2.03198355e-03 -1.04935504e+01] [-1.14794361e-02 -9.42204115e-04 9.99933665e-01 -1.82189411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:-10.50, Z:-1.82 [[ 9.65951174e-01 2.58469565e-01 1.14809757e-02 1.98925444e+02] [-2.58463240e-01 9.66018904e-01 -2.05698989e-03 -1.04953633e+01] [-1.16225089e-02 -9.80458381e-04 9.99931976e-01 -1.82207942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:-10.50, Z:-1.82 [[ 9.65266458e-01 2.61016196e-01 1.14547110e-02 1.98953146e+02] [-2.61010088e-01 9.65333893e-01 -2.05133523e-03 -1.04975531e+01] [-1.15930525e-02 -1.00971004e-03 9.99932289e-01 -1.82247402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:-10.50, Z:-1.82 [[ 9.64102351e-01 2.65304084e-01 1.09726843e-02 1.98980675e+02] [-2.65298761e-01 9.64164254e-01 -1.96436959e-03 -1.04958199e+01] [-1.11006252e-02 -1.01718620e-03 9.99937869e-01 -1.82332269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:-10.50, Z:-1.82 [[ 9.63814863e-01 2.66361140e-01 1.06137726e-02 1.99008455e+02] [-2.66356234e-01 9.63872787e-01 -1.89920971e-03 -1.04971536e+01] [-1.07362023e-02 -9.96557962e-04 9.99941869e-01 -1.82406212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:-10.50, Z:-1.82 [[ 9.63862831e-01 2.66191644e-01 1.05095814e-02 1.99036389e+02] [-2.66186831e-01 9.63919622e-01 -1.87988250e-03 -1.04985650e+01] [-1.06308008e-02 -9.85563302e-04 9.99943006e-01 -1.82426137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:-10.50, Z:-1.83 [[ 9.64085060e-01 2.65358680e-01 1.11699770e-02 1.99064784e+02] [-2.65353197e-01 9.64149206e-01 -1.99716547e-03 -1.05007025e+01] [-1.12994897e-02 -1.03855173e-03 9.99935619e-01 -1.82506361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:-10.50, Z:-1.83 [[ 9.64476037e-01 2.63892428e-01 1.21145011e-02 1.99092269e+02] [-2.63885875e-01 9.64551480e-01 -2.16511047e-03 -1.05034309e+01] [-1.22564162e-02 -1.10864854e-03 9.99924273e-01 -1.82535273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:-10.51, Z:-1.83 [[ 9.64957660e-01 2.62078587e-01 1.30968647e-02 1.99120036e+02] [-2.62070776e-01 9.65045820e-01 -2.33966286e-03 -1.05060790e+01] [-1.32522501e-02 -1.17462989e-03 9.99911495e-01 -1.82521062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:-10.50, Z:-1.83 [[ 9.65904019e-01 2.58485938e-01 1.46439878e-02 1.99147716e+02] [-2.58475779e-01 9.66014200e-01 -2.61487680e-03 -1.05049566e+01] [-1.48222090e-02 -1.25939615e-03 9.99889352e-01 -1.82524965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:-10.51, Z:-1.83 [[ 9.66297438e-01 2.56997600e-01 1.48827148e-02 1.99175024e+02] [-2.56986949e-01 9.66411223e-01 -2.65635274e-03 -1.05064813e+01] [-1.50654989e-02 -1.25783664e-03 9.99885718e-01 -1.82615913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:-10.50, Z:-1.83 [[ 9.66872290e-01 2.54877147e-01 1.39862296e-02 1.99203571e+02] [-2.54867547e-01 9.66972756e-01 -2.49446697e-03 -1.05048424e+01] [-1.41600856e-02 -1.15280505e-03 9.99899076e-01 -1.82705131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.23, Y:-10.51, Z:-1.83 [[ 9.67156369e-01 2.53819180e-01 1.35787292e-02 1.99231883e+02] [-2.53810041e-01 9.67251055e-01 -2.42085543e-03 -1.05066006e+01] [-1.37484997e-02 -1.10507206e-03 9.99904874e-01 -1.82760383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.26, Y:-10.51, Z:-1.83 [[ 9.67431115e-01 2.52820695e-01 1.25989934e-02 1.99258742e+02] [-2.52812753e-01 9.67512620e-01 -2.24542017e-03 -1.05084377e+01] [-1.27573738e-02 -1.01289685e-03 9.99918108e-01 -1.82792499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:-10.51, Z:-1.83 [[ 9.67712394e-01 2.51768671e-01 1.20523721e-02 1.99286887e+02] [-2.51761334e-01 9.67786971e-01 -2.14697745e-03 -1.05105742e+01] [-1.22046703e-02 -9.56664590e-04 9.99925063e-01 -1.82893093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:-10.51, Z:-1.83 [[ 9.68098834e-01 2.50304104e-01 1.15110302e-02 1.99315067e+02] [-2.50297317e-01 9.68166851e-01 -2.04981168e-03 -1.05135035e+01] [-1.16576742e-02 -8.96759686e-04 9.99931645e-01 -1.82912040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.715898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:199.34, Y:-10.52, Z:-1.83 [[ 9.68588369e-01 2.48417949e-01 1.11845676e-02 1.99341966e+02] [-2.48411424e-01 9.68652569e-01 -1.99098234e-03 -1.05164743e+01] [-1.13285559e-02 -8.49932033e-04 9.99935469e-01 -1.82993374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.37, Y:-10.52, Z:-1.83 [[ 9.69362989e-01 2.45356344e-01 1.16473085e-02 1.99369344e+02] [-2.45349058e-01 9.69432589e-01 -2.07251748e-03 -1.05198782e+01] [-1.17997858e-02 -8.48634438e-04 9.99930020e-01 -1.83086583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:-10.53, Z:-1.83 [[ 9.69533614e-01 2.43973937e-01 2.19382929e-02 1.99393591e+02] [-2.44399047e-01 9.69481273e-01 1.93692475e-02 -1.05336897e+01] [-1.65431726e-02 -2.41408344e-02 9.99571680e-01 -1.83375613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.43, Y:-10.52, Z:-1.83 [[ 9.69757773e-01 2.43897569e-01 9.15629901e-03 1.99426171e+02] [-2.43612590e-01 9.69555581e-01 -2.47968227e-02 -1.05204753e+01] [-1.49254256e-02 2.18163218e-02 9.99650579e-01 -1.83165486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:-10.53, Z:-1.83 [[ 9.69712063e-01 2.43865738e-01 1.37119250e-02 1.99451978e+02] [-2.43855556e-01 9.69808505e-01 -2.43534578e-03 -1.05347322e+01] [-1.38918389e-02 -9.82144921e-04 9.99903021e-01 -1.83218106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:-10.54, Z:-1.83 [[ 9.69118984e-01 2.46212437e-01 1.37051013e-02 1.99479788e+02] [-2.46202512e-01 9.69215354e-01 -2.43316630e-03 -1.05397417e+01] [-1.38822704e-02 -1.01620271e-03 9.99903120e-01 -1.83188273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:-10.54, Z:-1.83 [[ 9.68829591e-01 2.47371148e-01 1.32942808e-02 1.99506906e+02] [-2.47361929e-01 9.68920280e-01 -2.35937073e-03 -1.05437433e+01] [-1.34647385e-02 -1.00267074e-03 9.99908844e-01 -1.83244978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:-10.55, Z:-1.83 [[ 9.68589127e-01 2.48329435e-01 1.29458503e-02 1.99534917e+02] [-2.48320791e-01 9.68675132e-01 -2.29646612e-03 -1.05481827e+01] [-1.31106033e-02 -9.90391670e-04 9.99913562e-01 -1.83337149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:-10.55, Z:-1.83 [[ 9.68500368e-01 2.48683397e-01 1.27907996e-02 1.99561536e+02] [-2.48674998e-01 9.68584328e-01 -2.26833146e-03 -1.05523929e+01] [-1.29530644e-02 -9.83872206e-04 9.99915622e-01 -1.83429221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-10.56, Z:-1.84 [[ 9.68701257e-01 2.47894943e-01 1.28829785e-02 1.99589610e+02] [-2.47886379e-01 9.68786423e-01 -2.28271563e-03 -1.05559694e+01] [-1.30467283e-02 -9.82245389e-04 9.99914405e-01 -1.83542252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.62, Y:-10.56, Z:-1.84 [[ 9.68970605e-01 2.46840516e-01 1.28734723e-02 1.99617544e+02] [-2.46831884e-01 9.69055634e-01 -2.28011704e-03 -1.05603991e+01] [-1.30379362e-02 -9.68217033e-04 9.99914534e-01 -1.83544087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:-10.57, Z:-1.84 [[ 9.69294631e-01 2.45540280e-01 1.33374704e-02 1.99644940e+02] [-2.45530906e-01 9.69385887e-01 -2.36131256e-03 -1.05651857e+01] [-1.35089529e-02 -9.85953592e-04 9.99908264e-01 -1.83613914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:-10.57, Z:-1.84 [[ 9.69647055e-01 2.44140200e-01 1.34220695e-02 1.99671222e+02] [-2.44130584e-01 9.69739457e-01 -2.37537514e-03 -1.05694807e+01] [-1.35958350e-02 -9.73462164e-04 9.99907099e-01 -1.83644872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:-10.57, Z:-1.84 [[ 9.69688580e-01 2.43975211e-01 1.34221961e-02 1.99699295e+02] [-2.43965590e-01 9.69780981e-01 -2.37465979e-03 -1.05742709e+01] [-1.35959486e-02 -9.71873506e-04 9.99907099e-01 -1.83695150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.135898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:199.73, Y:-10.58, Z:-1.84 [[ 9.70118144e-01 2.42245883e-01 1.37010751e-02 1.99726823e+02] [-2.42235726e-01 9.70214405e-01 -2.42115605e-03 -1.05786145e+01] [-1.38794955e-02 -9.70082456e-04 9.99903205e-01 -1.83823214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:-10.58, Z:-1.84 [[ 9.70477304e-01 2.40766239e-01 1.43324881e-02 1.99753005e+02] [-2.40754979e-01 9.70582624e-01 -2.53165982e-03 -1.05835684e+01] [-1.45204021e-02 -9.93699465e-04 9.99894080e-01 -1.83813360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.195898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.78, Y:-10.59, Z:-1.84 [[ 9.70989905e-01 2.38688781e-01 1.43621002e-02 1.99780468e+02] [-2.38677267e-01 9.71095635e-01 -2.53562367e-03 -1.05896274e+01] [-1.45521977e-02 -9.65841835e-04 9.99893645e-01 -1.83901853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.81, Y:-10.60, Z:-1.84 [[ 9.71067584e-01 2.38385098e-01 1.41524510e-02 1.99807044e+02] [-2.38373899e-01 9.71170246e-01 -2.49762918e-03 -1.05959982e+01] [-1.43398369e-02 -9.48208193e-04 9.99896730e-01 -1.83918920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.83, Y:-10.60, Z:-1.84 [[ 9.71069063e-01 2.38420761e-01 1.34318822e-02 1.99834071e+02] [-2.38410692e-01 9.71161536e-01 -2.36934494e-03 -1.06027642e+01] [-1.36094283e-02 -9.01506752e-04 9.99906981e-01 -1.83975021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.285898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:199.86, Y:-10.61, Z:-1.84 [[ 9.71008005e-01 2.38710478e-01 1.26791997e-02 1.99860056e+02] [-2.38701541e-01 9.71090405e-01 -2.23578297e-03 -1.06091058e+01] [-1.28463540e-02 -8.55581336e-04 9.99917116e-01 -1.84094996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:-10.62, Z:-1.84 [[ 9.70450048e-01 2.40984648e-01 1.23734843e-02 1.99886952e+02] [-2.40976334e-01 9.70528542e-01 -2.18080333e-03 -1.06191737e+01] [-1.25343598e-02 -8.65356194e-04 9.99921067e-01 -1.84123606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:-10.63, Z:-1.84 [[ 9.70183981e-01 2.42059945e-01 1.22485083e-02 1.99913759e+02] [-2.42051893e-01 9.70260905e-01 -2.15792545e-03 -1.06266038e+01] [-1.24065960e-02 -8.71189916e-04 9.99922656e-01 -1.84198380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.94, Y:-10.64, Z:-1.84 [[ 9.69893565e-01 2.43215577e-01 1.23554222e-02 1.99940334e+02] [-2.43207489e-01 9.69971846e-01 -2.17588546e-03 -1.06357826e+01] [-1.25136210e-02 -8.94553908e-04 9.99921301e-01 -1.84213797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:-10.64, Z:-1.84 [[ 9.69789300e-01 2.43610227e-01 1.27581719e-02 1.99967948e+02] [-2.43601649e-01 9.69872771e-01 -2.24587793e-03 -1.06419146e+01] [-1.29209224e-02 -9.29883322e-04 9.99916089e-01 -1.84216150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:-10.65, Z:-1.84 [[ 9.69669788e-01 2.44050243e-01 1.34157148e-02 1.99995807e+02] [-2.44040814e-01 9.69762089e-01 -2.36063268e-03 -1.06478877e+01] [-1.35861646e-02 -9.84947776e-04 9.99907219e-01 -1.84251553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.02, Y:-10.65, Z:-1.84 [[ 9.69595275e-01 2.44301376e-01 1.42070234e-02 2.00023398e+02] [-2.44290844e-01 9.69698788e-01 -2.49880643e-03 -1.06537202e+01] [-1.43869953e-02 -1.04781483e-03 9.99895953e-01 -1.84296787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:-10.66, Z:-1.84 [[ 9.69667062e-01 2.43984173e-01 1.47482995e-02 2.00050907e+02] [-2.43972802e-01 9.69778608e-01 -2.59293844e-03 -1.06592059e+01] [-1.49352213e-02 -1.08389696e-03 9.99887876e-01 -1.84333372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.08, Y:-10.67, Z:-1.84 [[ 9.70318526e-01 2.41392825e-01 1.45417210e-02 2.00076699e+02] [-2.41381495e-01 9.70426938e-01 -2.55559330e-03 -1.06664303e+01] [-1.47285797e-02 -1.03036283e-03 9.99890998e-01 -1.84373116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.10, Y:-10.67, Z:-1.84 [[ 9.71064131e-01 2.38355962e-01 1.48623063e-02 2.00104500e+02] [-2.38343794e-01 9.71177337e-01 -2.61058078e-03 -1.06727249e+01] [-1.50561825e-02 -1.00729711e-03 9.99886142e-01 -1.84414331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.13, Y:-10.68, Z:-1.84 [[ 9.71933427e-01 2.34740860e-01 1.55608907e-02 2.00131427e+02] [-2.34727077e-01 9.72057475e-01 -2.73213756e-03 -1.06789386e+01] [-1.57674244e-02 -9.97106568e-04 9.99875189e-01 -1.84429045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.16, Y:-10.68, Z:-1.84 [[ 9.72781163e-01 2.31139917e-01 1.64665941e-02 2.00157381e+02] [-2.31123990e-01 9.72920012e-01 -2.88990914e-03 -1.06847343e+01] [-1.66886523e-02 -9.94575760e-04 9.99860240e-01 -1.84358152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.18, Y:-10.69, Z:-1.84 [[ 9.73606856e-01 2.27575531e-01 1.72935795e-02 2.00184293e+02] [-2.27557431e-01 9.73759936e-01 -3.03352201e-03 -1.06901571e+01] [-1.75301503e-02 -9.81824694e-04 9.99845853e-01 -1.84401100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:-10.70, Z:-1.84 [[ 9.75031531e-01 2.21308676e-01 1.83298632e-02 2.00211275e+02] [-2.21287264e-01 9.75203373e-01 -3.21372128e-03 -1.06960088e+01] [-1.85865688e-02 -9.22685695e-04 9.99826829e-01 -1.84368982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:-10.70, Z:-1.84 [[ 9.75649603e-01 2.18547320e-01 1.85720303e-02 2.00239059e+02] [-2.18524865e-01 9.75825952e-01 -3.25485629e-03 -1.07010771e+01] [-1.88344093e-02 -8.82851150e-04 9.99822227e-01 -1.84405006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.27, Y:-10.71, Z:-1.84 [[ 9.76242197e-01 2.15896737e-01 1.84328728e-02 2.00266233e+02] [-2.15874170e-01 9.76415852e-01 -3.22915947e-03 -1.07052201e+01] [-1.86953142e-02 -8.26739381e-04 9.99824886e-01 -1.84489859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.29, Y:-10.71, Z:-1.84 [[ 9.76737641e-01 2.13699150e-01 1.77835364e-02 2.00293885e+02] [-2.13677803e-01 9.76899226e-01 -3.11418015e-03 -1.07092796e+01] [-1.80382206e-02 -7.58210014e-04 9.99837011e-01 -1.84494123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.795898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:200.32, Y:-10.71, Z:-1.85 [[ 9.77447943e-01 2.10473952e-01 1.72114380e-02 2.00320298e+02] [-2.10453479e-01 9.77599231e-01 -3.01275066e-03 -1.07125276e+01] [-1.74599941e-02 -6.77400079e-04 9.99847333e-01 -1.84691331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.35, Y:-10.72, Z:-1.85 [[ 9.77685887e-01 2.09346340e-01 1.74475482e-02 2.00347759e+02] [-2.09325149e-01 9.77841329e-01 -3.05254456e-03 -1.07179089e+01] [-1.76999728e-02 -6.67780898e-04 9.99843120e-01 -1.84732758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:-10.72, Z:-1.85 [[ 9.78073517e-01 2.07509191e-01 1.76672430e-02 2.00375380e+02] [-2.07487186e-01 9.78232856e-01 -3.08970048e-03 -1.07223396e+01] [-1.79238188e-02 -6.43772314e-04 9.99839148e-01 -1.84724742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.40, Y:-10.73, Z:-1.85 [[ 9.78983877e-01 2.03215707e-01 1.71448448e-02 2.00403284e+02] [-2.03194347e-01 9.79133839e-01 -2.99715276e-03 -1.07260726e+01] [-1.73961662e-02 -5.49571311e-04 9.99848524e-01 -1.84735890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.43, Y:-10.73, Z:-1.85 [[ 9.79517871e-01 2.00698247e-01 1.62773935e-02 2.00430974e+02] [-2.00678665e-01 9.79652991e-01 -2.84440713e-03 -1.07301087e+01] [-1.65170648e-02 -4.80377980e-04 9.99863469e-01 -1.84846978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.46, Y:-10.74, Z:-1.84 [[ 9.80050005e-01 1.98216701e-01 1.45646226e-02 2.00457097e+02] [-1.98381074e-01 9.80064808e-01 1.08591996e-02 -1.07393634e+01] [-1.21217993e-02 -1.35319041e-02 9.99834961e-01 -1.84246104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.975898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:200.49, Y:-10.73, Z:-1.85 [[ 9.80449963e-01 1.96447180e-01 1.12416592e-02 2.00487725e+02] [-1.96268178e-01 9.80431146e-01 -1.52830176e-02 -1.07333638e+01] [-1.40239785e-02 1.27778541e-02 9.99820011e-01 -1.85128674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:-10.74, Z:-1.85 [[ 9.80733367e-01 1.94951994e-01 1.24812790e-02 2.00514718e+02] [-1.94940047e-01 9.80812741e-01 -2.17859167e-03 -1.07432791e+01] [-1.26665182e-02 -2.96483552e-04 9.99919732e-01 -1.85161622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:-10.76, Z:-1.85 [[ 9.80870657e-01 1.93387229e-01 2.22291411e-02 2.00540466e+02] [-1.93851270e-01 9.80805157e-01 2.10458622e-02 -1.07571686e+01] [-1.77324553e-02 -2.49524159e-02 9.99531359e-01 -1.85491417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:-10.74, Z:-1.85 [[ 9.81306052e-01 1.92242237e-01 9.01964620e-03 2.00573256e+02] [-1.91948856e-01 9.81048813e-01 -2.64360149e-02 -1.07403011e+01] [-1.39308318e-02 2.42105106e-02 9.99609815e-01 -1.85233239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:-10.75, Z:-1.85 [[ 9.81547791e-01 1.90691689e-01 1.41638207e-02 2.00599066e+02] [-1.90675899e-01 9.81649939e-01 -2.46947379e-03 -1.07541754e+01] [-1.43748219e-02 -2.76792715e-04 9.99896639e-01 -1.85209830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:-10.76, Z:-1.85 [[ 9.81810708e-01 1.89320908e-01 1.43292666e-02 2.00626305e+02] [-1.89304616e-01 9.81915234e-01 -2.49725847e-03 -1.07583360e+01] [-1.45429084e-02 -2.60761212e-04 9.99894212e-01 -1.85162150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:-10.76, Z:-1.85 [[ 9.82037904e-01 1.88154359e-01 1.41241720e-02 2.00653839e+02] [-1.88138425e-01 9.82139440e-01 -2.46046520e-03 -1.07633971e+01] [-1.43348536e-02 -2.41029389e-04 9.99897222e-01 -1.85178985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.68, Y:-10.77, Z:-1.85 [[ 9.82619676e-01 1.85254762e-01 1.18002092e-02 2.00681635e+02] [-1.85243437e-01 9.82690514e-01 -2.05508253e-03 -1.07695191e+01] [-1.19766674e-02 -1.66546781e-04 9.99928263e-01 -1.85266598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.71, Y:-10.78, Z:-1.85 [[ 9.82778733e-01 1.84439630e-01 1.13130303e-02 2.00709440e+02] [-1.84429174e-01 9.82843833e-01 -1.96967355e-03 -1.07750039e+01] [-1.14822279e-02 -1.50699563e-04 9.99934066e-01 -1.85410568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.245898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:200.74, Y:-10.78, Z:-1.85 [[ 9.82882240e-01 1.83864029e-01 1.16842627e-02 2.00737293e+02] [-1.83852846e-01 9.82951675e-01 -2.03341881e-03 -1.07794658e+01] [-1.18589382e-02 -1.49573714e-04 9.99929669e-01 -1.85463006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.275898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:200.76, Y:-10.78, Z:-1.86 [[ 9.82806570e-01 1.84183347e-01 1.29514893e-02 2.00764538e+02] [-1.84169648e-01 9.82891889e-01 -2.25288997e-03 -1.07834217e+01] [-1.31448586e-02 -1.71116161e-04 9.99913588e-01 -1.85502350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:-10.79, Z:-1.85 [[ 9.82596663e-01 1.85176179e-01 1.46144295e-02 2.00792169e+02] [-1.85158863e-01 9.82705316e-01 -2.54093613e-03 -1.07871505e+01] [-1.48321984e-02 -2.09275794e-04 9.99889975e-01 -1.85453312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.82, Y:-10.79, Z:-1.85 [[ 9.82360665e-01 1.86299787e-01 1.61218131e-02 2.00819717e+02] [-1.86278887e-01 9.82492914e-01 -2.80171364e-03 -1.07912408e+01] [-1.63615257e-02 -2.50860125e-04 9.99866110e-01 -1.85463991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:-10.80, Z:-1.85 [[ 9.81981586e-01 1.88292381e-01 1.60668763e-02 2.00847317e+02] [-1.88271907e-01 9.82112976e-01 -2.79114054e-03 -1.07955989e+01] [-1.63050382e-02 -2.84092825e-04 9.99867024e-01 -1.85400949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.87, Y:-10.80, Z:-1.85 [[ 9.81938153e-01 1.88602186e-01 1.50558531e-02 2.00874560e+02] [-1.88584260e-01 9.82053533e-01 -2.61446659e-03 -1.07993001e+01] [-1.52787478e-02 -2.72052416e-04 9.99883236e-01 -1.85438214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.90, Y:-10.80, Z:-1.86 [[ 9.81999406e-01 1.88379297e-01 1.37988429e-02 2.00902237e+02] [-1.88364227e-01 9.82096319e-01 -2.39548798e-03 -1.08027328e+01] [-1.40030532e-02 -2.46840600e-04 9.99901922e-01 -1.85529524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:-10.81, Z:-1.86 [[ 9.82129347e-01 1.87759965e-01 1.29669239e-02 2.00929022e+02] [-1.87746615e-01 9.82214918e-01 -2.25026451e-03 -1.08062203e+01] [-1.31588157e-02 -2.24445252e-04 9.99913394e-01 -1.85631584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:-10.81, Z:-1.86 [[ 9.82395105e-01 1.86358311e-01 1.30551443e-02 2.00956451e+02] [-1.86344670e-01 9.82481825e-01 -2.26443560e-03 -1.08101077e+01] [-1.32484384e-02 -2.08186109e-04 9.99912214e-01 -1.85806717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.98, Y:-10.81, Z:-1.86 [[ 9.83141070e-01 1.82241344e-01 1.48905707e-02 2.00984159e+02] [-1.82223143e-01 9.83253814e-01 -2.58155136e-03 -1.08141950e+01] [-1.51116759e-02 -1.75377440e-04 9.99885797e-01 -1.86040689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:-10.82, Z:-1.86 [[ 9.83575702e-01 1.79783137e-01 1.60268873e-02 2.01011781e+02] [-1.79761746e-01 9.83706258e-01 -2.77728530e-03 -1.08183589e+01] [-1.62650584e-02 -1.49350903e-04 9.99867704e-01 -1.86046442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.04, Y:-10.82, Z:-1.86 [[ 9.83948190e-01 1.77692414e-01 1.64731576e-02 2.01040327e+02] [-1.77669539e-01 9.84086069e-01 -2.85359376e-03 -1.08223777e+01] [-1.67180669e-02 -1.18989904e-04 9.99860236e-01 -1.86057584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.605898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:201.07, Y:-10.83, Z:-1.86 [[ 9.84236064e-01 1.76148663e-01 1.58435537e-02 2.01068712e+02] [-1.76127315e-01 9.84363571e-01 -2.74379971e-03 -1.08261145e+01] [-1.60791337e-02 -8.99359441e-05 9.99870718e-01 -1.86148907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.10, Y:-10.83, Z:-1.86 [[ 9.84240241e-01 1.76052370e-01 1.66346344e-02 2.01095079e+02] [-1.76153570e-01 9.84350914e-01 4.81652749e-03 -1.08324927e+01] [-1.55263565e-02 -7.67087041e-03 9.99850034e-01 -1.86225855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.665898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.13, Y:-10.83, Z:-1.86 [[ 9.84184717e-01 1.76747384e-01 1.18661080e-02 2.01126217e+02] [-1.76637778e-01 9.84227805e-01 -9.73258503e-03 -1.08290792e+01] [-1.33991624e-02 7.48265849e-03 9.99882229e-01 -1.86323553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:-10.84, Z:-1.86 [[ 9.83945447e-01 1.77941658e-01 1.37158040e-02 2.01154121e+02] [-1.77925864e-01 9.84041033e-01 -2.37311713e-03 -1.08352039e+01] [-1.39191903e-02 -1.05378476e-04 9.99903118e-01 -1.86296638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:-10.84, Z:-1.86 [[ 9.83700790e-01 1.79227834e-01 1.44962099e-02 2.01181498e+02] [-1.79210339e-01 9.83807586e-01 -2.50754852e-03 -1.08381815e+01] [-1.47109037e-02 -1.31193229e-04 9.99891780e-01 -1.86307613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:-10.84, Z:-1.86 [[ 9.83430827e-01 1.80746356e-01 1.39486135e-02 2.01209006e+02] [-1.80730334e-01 9.83529731e-01 -2.41124624e-03 -1.08409372e+01] [-1.41547001e-02 -1.49643697e-04 9.99899806e-01 -1.86402924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:-10.84, Z:-1.87 [[ 9.83430342e-01 1.80834507e-01 1.27923265e-02 2.01235575e+02] [-1.80821048e-01 9.83513529e-01 -2.21058962e-03 -1.08449643e+01] [-1.29811771e-02 -1.39160984e-04 9.99915731e-01 -1.86535679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:-10.85, Z:-1.87 [[ 9.83490979e-01 1.80610784e-01 1.11910005e-02 2.01262510e+02] [-1.80600477e-01 9.83554640e-01 -1.93323615e-03 -1.08491999e+01] [-1.13561238e-02 -1.19779714e-04 9.99935510e-01 -1.86641094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.29, Y:-10.85, Z:-1.87 [[ 9.83592796e-01 1.80126939e-01 9.97487490e-03 2.01290385e+02] [-1.80118737e-01 9.83643368e-01 -1.72204597e-03 -1.08534037e+01] [-1.01219064e-02 -1.02869851e-04 9.99948767e-01 -1.86755678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:-10.86, Z:-1.87 [[ 9.83758638e-01 1.79244714e-01 9.50129877e-03 2.01317594e+02] [-1.79237237e-01 9.83804515e-01 -1.63966210e-03 -1.08574666e+01] [-9.64132139e-03 -8.99547876e-05 9.99953517e-01 -1.86799616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:-10.86, Z:-1.87 [[ 9.84108218e-01 1.77221990e-01 1.11077223e-02 2.01345165e+02] [-1.77211653e-01 9.84170899e-01 -1.91588586e-03 -1.08611268e+01] [-1.12714341e-02 -8.29788161e-05 9.99936472e-01 -1.86661388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:-10.87, Z:-1.87 [[ 9.84217087e-01 1.76358726e-01 1.46398319e-02 2.01371069e+02] [-1.76423969e-01 9.84308801e-01 3.28141823e-03 -1.08680353e+01] [-1.38314087e-02 -5.81244514e-03 9.99887447e-01 -1.86708500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:-10.87, Z:-1.87 [[ 9.84225809e-01 1.76383495e-01 1.37266309e-02 2.01398560e+02] [-1.76368121e-01 9.84321516e-01 -2.33219882e-03 -1.08702474e+01] [-1.39227795e-02 -1.25529828e-04 9.99903066e-01 -1.86765900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:-10.87, Z:-1.87 [[ 9.84316115e-01 1.76028081e-01 1.16576160e-02 2.01426998e+02] [-1.75948476e-01 9.84370482e-01 -7.54245644e-03 -1.08731815e+01] [-1.28030972e-02 5.37302165e-03 9.99903601e-01 -1.86733679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.45, Y:-10.88, Z:-1.87 [[ 9.84331937e-01 1.75909832e-01 1.20982757e-02 2.01453495e+02] [-1.75897501e-01 9.84406280e-01 -2.08424871e-03 -1.08806264e+01] [-1.22762585e-02 -7.64639013e-05 9.99924641e-01 -1.86819374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:-10.89, Z:-1.87 [[ 9.84126710e-01 1.77115278e-01 1.11712510e-02 2.01480996e+02] [-1.77104849e-01 9.84190109e-01 -1.92390989e-03 -1.08869364e+01] [-1.13353886e-02 -8.51116170e-05 9.99935749e-01 -1.86884734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:-10.89, Z:-1.87 [[ 9.83831904e-01 1.78665300e-01 1.23893068e-02 2.01507890e+02] [-1.78652608e-01 9.83909903e-01 -2.13270460e-03 -1.08918448e+01] [-1.25710020e-02 -1.15159144e-04 9.99920975e-01 -1.86879946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.115898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:201.53, Y:-10.90, Z:-1.87 [[ 9.83427052e-01 1.80762479e-01 1.40056785e-02 2.01534736e+02] [-1.80746491e-01 9.83526766e-01 -2.40956052e-03 -1.08961784e+01] [-1.42105178e-02 -1.61850233e-04 9.99899012e-01 -1.86858257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:-10.90, Z:-1.87 [[ 9.82918941e-01 1.83369576e-01 1.56829125e-02 2.01562284e+02] [-1.83349884e-01 9.83044021e-01 -2.69666328e-03 -1.09011648e+01] [-1.59114794e-02 -2.24858776e-04 9.99873379e-01 -1.86771596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:-10.91, Z:-1.87 [[ 9.82371351e-01 1.86160763e-01 1.70499177e-02 2.01589988e+02] [-1.86137932e-01 9.82519253e-01 -2.93037787e-03 -1.09055344e+01] [-1.72973938e-02 -2.94917162e-04 9.99850345e-01 -1.86787169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:-10.91, Z:-1.87 [[ 9.81389970e-01 1.91250856e-01 1.72289274e-02 2.01617537e+02] [-1.91228348e-01 9.81541114e-01 -2.95989503e-03 -1.09096917e+01] [-1.74769831e-02 -3.89848029e-04 9.99847190e-01 -1.86986237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:-10.91, Z:-1.87 [[ 9.81062298e-01 1.92991334e-01 1.64654659e-02 2.01643974e+02] [-1.92971041e-01 9.81200378e-01 -2.82756453e-03 -1.09136166e+01] [-1.67016168e-02 -4.03341129e-04 9.99860437e-01 -1.87114444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.67, Y:-10.92, Z:-1.87 [[ 9.80834474e-01 1.94207112e-01 1.57268186e-02 2.01671353e+02] [-1.94188776e-01 9.80960464e-01 -2.69937996e-03 -1.09179620e+01] [-1.59516261e-02 -4.06326742e-04 9.99872682e-01 -1.87237608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.295898227 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:201.70, Y:-10.93, Z:-1.87 [[ 9.80757531e-01 1.94555050e-01 1.62172347e-02 2.01697420e+02] [-1.94763726e-01 9.80771076e-01 1.24574572e-02 -1.09280967e+01] [-1.34817335e-02 -1.53762740e-02 9.99790885e-01 -1.86640588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:-10.92, Z:-1.87 [[ 9.80430971e-01 1.96368793e-01 1.39430440e-02 2.01728106e+02] [-1.96117672e-01 9.80423304e-01 -1.75500368e-02 -1.09213598e+01] [-1.71163648e-02 1.44721223e-02 9.99748762e-01 -1.87339999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.75, Y:-10.93, Z:-1.87 [[ 9.80321658e-01 1.96661518e-01 1.71374763e-02 2.01754386e+02] [-1.96640219e-01 9.80471318e-01 -2.93582522e-03 -1.09315930e+01] [-1.73801678e-02 -4.91864047e-04 9.99848832e-01 -1.87324129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.78, Y:-10.94, Z:-1.87 [[ 9.80141980e-01 1.97501445e-01 1.77448298e-02 2.01781914e+02] [-1.97478769e-01 9.80302455e-01 -3.03861027e-03 -1.09356352e+01] [-1.79954301e-02 -5.25957651e-04 9.99837931e-01 -1.87427674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.81, Y:-10.94, Z:-1.88 [[ 9.79964099e-01 1.98361103e-01 1.79788097e-02 2.01810162e+02] [-1.98337994e-01 9.80128854e-01 -3.07735310e-03 -1.09393671e+01] [-1.82319773e-02 -5.50185483e-04 9.99833632e-01 -1.87563135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.84, Y:-10.94, Z:-1.88 [[ 9.79810766e-01 1.99173530e-01 1.73426579e-02 2.01836436e+02] [-1.99152176e-01 9.79964084e-01 -2.96720624e-03 -1.09430427e+01] [-1.75861708e-02 -5.46527453e-04 9.99845202e-01 -1.87677950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.86, Y:-10.95, Z:-1.88 [[ 9.79668421e-01 1.99943150e-01 1.65082077e-02 2.01862725e+02] [-1.99923934e-01 9.79807354e-01 -2.82305825e-03 -1.09473891e+01] [-1.67393144e-02 -5.34724801e-04 9.99859745e-01 -1.87847134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:-10.95, Z:-1.88 [[ 9.79398390e-01 2.01445641e-01 1.40871524e-02 2.01889981e+02] [-2.01431817e-01 9.79499579e-01 -2.40808074e-03 -1.09534993e+01] [-1.42834572e-02 -4.79130301e-04 9.99897871e-01 -1.88028303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.92, Y:-10.96, Z:-1.88 [[ 9.79256647e-01 2.02163489e-01 1.36507636e-02 2.01917582e+02] [-2.02150591e-01 9.79351672e-01 -2.33257189e-03 -1.09594160e+01] [-1.38404590e-02 -4.75323400e-04 9.99904103e-01 -1.88090414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:-10.97, Z:-1.88 [[ 9.78975746e-01 2.02783001e-01 2.20350550e-02 2.01941987e+02] [-2.03202365e-01 9.78956005e-01 1.88132451e-02 -1.09745527e+01] [-1.77563432e-02 -2.28952859e-02 9.99580171e-01 -1.88322197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:-10.96, Z:-1.88 [[ 9.78854740e-01 2.04371678e-01 8.69573278e-03 2.01974723e+02] [-2.04106356e-01 9.78636263e-01 -2.47317759e-02 -1.09625315e+01] [-1.35644340e-02 2.24339617e-02 9.99656303e-01 -1.88081015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:-10.98, Z:-1.87 [[ 9.78782337e-01 2.04545009e-01 1.21027211e-02 2.01999016e+02] [-2.04706115e-01 9.78722864e-01 1.40343025e-02 -1.09848669e+01] [-8.97456336e-03 -1.62140285e-02 9.99828267e-01 -1.87346981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.655898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:202.03, Y:-10.98, Z:-1.88 [[ 9.78813065e-01 2.04616751e-01 7.54775801e-03 2.02028881e+02] [-2.04463738e-01 9.78720605e-01 -1.73365610e-02 -1.09776215e+01] [-1.09344971e-02 1.54260096e-02 9.99821222e-01 -1.88316781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:-10.99, Z:-1.88 [[ 9.78477504e-01 2.06134399e-01 9.50704689e-03 2.02054850e+02] [-2.06128365e-01 9.78523618e-01 -1.62087924e-03 -1.09933992e+01] [-9.63698888e-03 -3.73678156e-04 9.99953493e-01 -1.88282026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.08, Y:-11.00, Z:-1.88 [[ 9.78134668e-01 2.07710123e-01 1.04439102e-02 2.02082088e+02] [-2.07702939e-01 9.78190330e-01 -1.77974757e-03 -1.10005752e+01] [-1.05858036e-02 -4.28398056e-04 9.99943877e-01 -1.88308640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:-11.01, Z:-1.88 [[ 9.77699324e-01 2.09680194e-01 1.17578899e-02 2.02109474e+02] [-2.09671244e-01 9.77769890e-01 -2.00267432e-03 -1.10087601e+01] [-1.19164318e-02 -5.07278074e-04 9.99928868e-01 -1.88293084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.775898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:202.13, Y:-11.03, Z:-1.88 [[ 9.76899556e-01 2.12434737e-01 2.32107613e-02 2.02133884e+02] [-2.12906593e-01 9.76864047e-01 2.01845610e-02 -1.10285148e+01] [-1.83858563e-02 -2.46600128e-02 9.99526810e-01 -1.88497533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:-11.02, Z:-1.88 [[ 9.76744184e-01 2.14206013e-01 9.30495839e-03 2.02166915e+02] [-2.13914959e-01 9.76521399e-01 -2.54233820e-02 -1.10173018e+01] [-1.45323323e-02 2.28416707e-02 9.99633468e-01 -1.88290785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.19, Y:-11.03, Z:-1.88 [[ 9.76623748e-01 2.14575428e-01 1.27843504e-02 2.02191949e+02] [-2.14565295e-01 9.76707225e-01 -2.17519643e-03 -1.10336261e+01] [-1.29533111e-02 -6.18729418e-04 9.99915911e-01 -1.88284804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:-11.04, Z:-1.88 [[ 9.76497358e-01 2.15169290e-01 1.24533591e-02 2.02218559e+02] [-2.15159734e-01 9.76576573e-01 -2.11799474e-03 -1.10406360e+01] [-1.26173862e-02 -6.11245161e-04 9.99920211e-01 -1.88371368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:-11.05, Z:-1.88 [[ 9.76425191e-01 2.15479747e-01 1.27407142e-02 2.02246102e+02] [-2.15469791e-01 9.76508106e-01 -2.16533757e-03 -1.10480553e+01] [-1.29079970e-02 -6.30948869e-04 9.99916489e-01 -1.88441171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:-11.06, Z:-1.88 [[ 9.76418570e-01 2.15469116e-01 1.34102624e-02 2.02273429e+02] [-2.15458099e-01 9.76510429e-01 -2.27813536e-03 -1.10555958e+01] [-1.35861289e-02 -6.64935977e-04 9.99907483e-01 -1.88417646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:-11.07, Z:-1.88 [[ 9.76235630e-01 2.16111151e-01 1.61234412e-02 2.02299546e+02] [-2.16095334e-01 9.76368430e-01 -2.73766422e-03 -1.10650138e+01] [-1.63340587e-02 -8.11595058e-04 9.99866261e-01 -1.88344771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:-11.07, Z:-1.88 [[ 9.75903941e-01 2.17594730e-01 1.62490388e-02 2.02327009e+02] [-2.17578893e-01 9.76038842e-01 -2.75762018e-03 -1.10716958e+01] [-1.64597367e-02 -8.44275477e-04 9.99864173e-01 -1.88378659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.35, Y:-11.08, Z:-1.88 [[ 9.75404786e-01 2.19884388e-01 1.53739657e-02 2.02354026e+02] [-2.19870511e-01 9.75525580e-01 -2.60806430e-03 -1.10773351e+01] [-1.55711694e-02 -8.36363290e-04 9.99878412e-01 -1.88400840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.38, Y:-11.09, Z:-1.89 [[ 9.74640573e-01 2.22385740e-01 2.49065641e-02 2.02379053e+02] [-2.22903790e-01 9.74627137e-01 2.03922572e-02 -1.10918593e+01] [-1.97396660e-02 -2.54268888e-02 9.99481775e-01 -1.88541153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.41, Y:-11.08, Z:-1.89 [[ 9.73681092e-01 2.27649443e-01 1.09937731e-02 2.02411436e+02] [-2.27301713e-01 9.73467286e-01 -2.63699462e-02 -1.10751794e+01] [-1.67051820e-02 2.31770145e-02 9.99591798e-01 -1.88630459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.44, Y:-11.09, Z:-1.89 [[ 9.73441219e-01 2.28359026e-01 1.62587901e-02 2.02436581e+02] [-2.28344737e-01 9.73576444e-01 -2.75480923e-03 -1.10886646e+01] [-1.64582606e-02 -1.03096429e-03 9.99864022e-01 -1.88607418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.135898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:202.46, Y:-11.09, Z:-1.89 [[ 9.73480045e-01 2.28159689e-01 1.67259999e-02 2.02464524e+02] [-2.28144561e-01 9.73623149e-01 -2.83253405e-03 -1.10922635e+01] [-1.69310907e-02 -1.05853053e-03 9.99856098e-01 -1.88747094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:-11.10, Z:-1.89 [[ 9.73602295e-01 2.27674038e-01 1.62204860e-02 2.02491611e+02] [-2.27659762e-01 9.73736871e-01 -2.74585674e-03 -1.10978363e+01] [-1.64196456e-02 -1.01937955e-03 9.99864669e-01 -1.88750451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.52, Y:-11.10, Z:-1.89 [[ 9.73992441e-01 2.26156778e-01 1.38504826e-02 2.02519085e+02] [-2.26146227e-01 9.74090545e-01 -2.34386172e-03 -1.11033589e+01] [-1.40217044e-02 -8.49330787e-04 9.99901330e-01 -1.88824749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.225898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:202.55, Y:-11.11, Z:-1.89 [[ 9.74607615e-01 2.23656800e-01 1.08458566e-02 2.02546315e+02] [-2.23650182e-01 9.74667753e-01 -1.83481622e-03 -1.11081292e+01] [-1.09814758e-02 -6.37451945e-04 9.99939499e-01 -1.89030267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.255898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:202.57, Y:-11.12, Z:-1.89 [[ 9.75482988e-01 2.19865105e-01 9.60600528e-03 2.02573714e+02] [-2.19859734e-01 9.75530142e-01 -1.62470282e-03 -1.11154599e+01] [-9.72816315e-03 -5.27103804e-04 9.99952541e-01 -1.89067774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:-11.12, Z:-1.89 [[ 9.75608468e-01 2.19198337e-01 1.18408881e-02 2.02601197e+02] [-2.19190140e-01 9.75680110e-01 -2.00157025e-03 -1.11223396e+01] [-1.19916599e-02 -6.42657050e-04 9.99927891e-01 -1.88987100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.63, Y:-11.13, Z:-1.89 [[ 9.75689828e-01 2.18755987e-01 1.32354969e-02 2.02628649e+02] [-2.18745721e-01 9.75779334e-01 -2.23618028e-03 -1.11276280e+01] [-1.34041022e-02 -7.13389956e-04 9.99909907e-01 -1.88894613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.345898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:202.65, Y:-11.14, Z:-1.89 [[ 9.75397512e-01 2.19326521e-01 2.22614097e-02 2.02653195e+02] [-2.19818226e-01 9.75275663e-01 2.27448686e-02 -1.11441344e+01] [-1.67224582e-02 -2.70787519e-02 9.99493422e-01 -1.89183054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.375898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:202.69, Y:-11.13, Z:-1.89 [[ 9.75170653e-01 2.21392629e-01 5.24419942e-03 2.02685123e+02] [-2.21173312e-01 9.74851768e-01 -2.73202635e-02 -1.11291177e+01] [-1.11608221e-02 2.54820422e-02 9.99612976e-01 -1.89234617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.71, Y:-11.15, Z:-1.89 [[ 9.74707060e-01 2.23311867e-01 8.82937969e-03 2.02710315e+02] [-2.23307490e-01 9.74746911e-01 -1.49112540e-03 -1.11468484e+01] [-8.93939657e-03 -5.18256168e-04 9.99959908e-01 -1.89070486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:-11.15, Z:-1.89 [[ 9.74092980e-01 2.25939542e-01 9.70510859e-03 2.02737264e+02] [-2.25934392e-01 9.74141143e-01 -1.63823348e-03 -1.11525876e+01] [-9.82428729e-03 -5.96926074e-04 9.99951562e-01 -1.89076670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:-11.16, Z:-1.89 [[ 9.72431738e-01 2.32874830e-01 1.20759183e-02 2.02764212e+02] [-2.32867401e-01 9.72506361e-01 -2.03730607e-03 -1.11579998e+01] [-1.22183446e-02 -8.30946615e-04 9.99925008e-01 -1.88999486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.79, Y:-11.16, Z:-1.89 [[ 9.71518153e-01 2.36669264e-01 1.18379675e-02 2.02791050e+02] [-2.36662417e-01 9.71589891e-01 -1.99618748e-03 -1.11621776e+01] [-1.19740858e-02 -8.62269623e-04 9.99927936e-01 -1.89039989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:-11.17, Z:-1.89 [[ 9.70689359e-01 2.40088782e-01 1.09336550e-02 2.02818557e+02] [-2.40083165e-01 9.70750574e-01 -1.84280816e-03 -1.11660761e+01] [-1.10562894e-02 -8.36192227e-04 9.99938528e-01 -1.89113311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:-11.17, Z:-1.89 [[ 9.69974529e-01 2.42982507e-01 1.04361794e-02 2.02846803e+02] [-2.42977564e-01 9.70030315e-01 -1.75828760e-03 -1.11696249e+01] [-1.05506435e-02 -8.30263261e-04 9.99943996e-01 -1.89197475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:-11.17, Z:-1.89 [[ 9.69444034e-01 2.45082270e-01 1.06276226e-02 2.02875096e+02] [-2.45077277e-01 9.69501895e-01 -1.78977322e-03 -1.11725973e+01] [-1.07421419e-02 -8.69503842e-04 9.99941923e-01 -1.89318445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:-11.17, Z:-1.89 [[ 9.69078613e-01 2.46437517e-01 1.24576055e-02 2.02902909e+02] [-2.46430781e-01 9.69158126e-01 -2.09688574e-03 -1.11735345e+01] [-1.25901409e-02 -1.03789034e-03 9.99920202e-01 -1.89451035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:-11.18, Z:-1.90 [[ 9.69258699e-01 2.45689799e-01 1.31945700e-02 2.02929557e+02] [-2.45682187e-01 9.69347891e-01 -2.21997103e-03 -1.11765280e+01] [-1.33355528e-02 -1.08994459e-03 9.99910484e-01 -1.89528344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.675898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:202.96, Y:-11.18, Z:-1.90 [[ 9.69837009e-01 2.43400169e-01 1.31351943e-02 2.02958081e+02] [-2.43392431e-01 9.69925381e-01 -2.20886320e-03 -1.11783496e+01] [-1.32777960e-02 -1.05476959e-03 9.99911290e-01 -1.89607764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.705898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:202.98, Y:-11.18, Z:-1.90 [[ 9.70425617e-01 2.41095833e-01 1.21211429e-02 2.02984657e+02] [-2.41089074e-01 9.70500853e-01 -2.03762304e-03 -1.11804227e+01] [-1.22548419e-02 -9.44913521e-04 9.99924460e-01 -1.89643199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:-11.18, Z:-1.90 [[ 9.71558889e-01 2.36548964e-01 1.08587937e-02 2.03012519e+02] [-2.36543265e-01 9.71619244e-01 -1.82465798e-03 -1.11798159e+01] [-1.09822339e-02 -7.95811839e-04 9.99939377e-01 -1.89664504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:-11.18, Z:-1.90 [[ 9.72041611e-01 2.34546131e-01 1.11004078e-02 2.03039964e+02] [-2.34540057e-01 9.72104668e-01 -1.86430601e-03 -1.11811588e+01] [-1.12280240e-02 -7.91307264e-04 9.99936651e-01 -1.89757216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:-11.18, Z:-1.90 [[ 9.72450061e-01 2.32806129e-01 1.19241549e-02 2.03067672e+02] [-2.32799002e-01 9.72522811e-01 -2.00151796e-03 -1.11829830e+01] [-1.20624783e-02 -8.29555094e-04 9.99926902e-01 -1.89788437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:-11.19, Z:-1.90 [[ 9.72884783e-01 2.30951047e-01 1.25225122e-02 2.03095243e+02] [-2.30943047e-01 9.72965002e-01 -2.10103891e-03 -1.11854129e+01] [-1.26692032e-02 -8.47918332e-04 9.99919383e-01 -1.89808127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:-11.19, Z:-1.90 [[ 9.73255819e-01 2.29376975e-01 1.26219332e-02 2.03121829e+02] [-2.29368726e-01 9.73337303e-01 -2.11686293e-03 -1.11879837e+01] [-1.27709580e-02 -8.34827566e-04 9.99918099e-01 -1.89778006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:-11.19, Z:-1.90 [[ 9.73626646e-01 2.27817427e-01 1.22626901e-02 2.03150167e+02] [-2.27809530e-01 9.73703544e-01 -2.05557209e-03 -1.11910449e+01] [-1.24085200e-02 -7.92197918e-04 9.99922698e-01 -1.89768825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.18, Y:-11.20, Z:-1.90 [[ 9.73639606e-01 2.27762025e-01 1.22628393e-02 2.03178289e+02] [-2.27754136e-01 9.73716505e-01 -2.05468146e-03 -1.11956302e+01] [-1.24085075e-02 -7.92393128e-04 9.99922698e-01 -1.89818736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:-11.20, Z:-1.90 [[ 9.74200931e-01 2.25401090e-01 1.12647727e-02 2.03206581e+02] [-2.25394281e-01 9.74265804e-01 -1.88696044e-03 -1.11978950e+01] [-1.14002058e-02 -7.00736718e-04 9.99934770e-01 -1.89920792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:-11.20, Z:-1.90 [[ 9.74383500e-01 2.24589977e-01 1.16677950e-02 2.03233239e+02] [-2.24582623e-01 9.74453092e-01 -1.95364277e-03 -1.12015787e+01] [-1.18084875e-02 -7.16786731e-04 9.99930020e-01 -1.89959926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:-11.21, Z:-1.90 [[ 9.74502320e-01 2.24037377e-01 1.23483328e-02 2.03260474e+02] [-2.24029111e-01 9.74580262e-01 -2.06646094e-03 -1.12051317e+01] [-1.24974059e-02 -7.52615037e-04 9.99921621e-01 -1.90046203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:-11.22, Z:-1.90 [[ 9.74417774e-01 2.23572721e-01 2.29181276e-02 2.03284967e+02] [-2.24056502e-01 9.74343506e-01 2.12935796e-02 -1.12185692e+01] [-1.75694653e-02 -2.58837980e-02 9.99510552e-01 -1.90294313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:-11.20, Z:-1.90 [[ 9.74413238e-01 2.24592094e-01 8.78825287e-03 2.03317664e+02] [-2.24301129e-01 9.74171058e-01 -2.60720633e-02 -1.12023611e+01] [-1.44168409e-02 2.34337486e-02 9.99621435e-01 -1.90178391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:-11.22, Z:-1.90 [[ 9.74046233e-01 2.26058161e-01 1.14736500e-02 2.03343167e+02] [-2.26051195e-01 9.74113536e-01 -1.91738702e-03 -1.12152836e+01] [-1.16100787e-02 -7.26008679e-04 9.99932337e-01 -1.90110725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:-11.22, Z:-1.90 [[ 9.73767854e-01 2.27330420e-01 9.85121325e-03 2.03370424e+02] [-2.27325357e-01 9.73817475e-01 -1.64545857e-03 -1.12188383e+01] [-9.96734640e-03 -6.37135906e-04 9.99950122e-01 -1.90138139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:-11.22, Z:-1.90 [[ 9.73364972e-01 2.29119610e-01 8.05208111e-03 2.03397736e+02] [-2.29116298e-01 9.73398128e-01 -1.34383371e-03 -1.12223805e+01] [-8.14577933e-03 -5.36822353e-04 9.99966678e-01 -1.90199306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:-11.23, Z:-1.90 [[ 9.73019474e-01 2.30601254e-01 7.49426053e-03 2.03425411e+02] [-2.30598432e-01 9.73048200e-01 -1.25029643e-03 -1.12255160e+01] [-7.58059664e-03 -5.11601950e-04 9.99971136e-01 -1.90368181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.45, Y:-11.23, Z:-1.90 [[ 9.72360951e-01 2.33313656e-01 8.88367701e-03 2.03453566e+02] [-2.33309811e-01 9.72401326e-01 -1.48124091e-03 -1.12275921e+01] [-8.98409303e-03 -6.32348179e-04 9.99959442e-01 -1.90368713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:-11.23, Z:-1.90 [[ 9.72144333e-01 2.34159896e-01 1.02244829e-02 2.03480851e+02] [-2.34154854e-01 9.72197819e-01 -1.70432464e-03 -1.12308290e+01] [-1.03393044e-02 -7.37262752e-04 9.99946276e-01 -1.90353399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:-11.23, Z:-1.90 [[ 9.71958427e-01 2.34898751e-01 1.09266911e-02 2.03509073e+02] [-2.34893061e-01 9.72019516e-01 -1.81941648e-03 -1.12340610e+01] [-1.10483356e-02 -7.98206736e-04 9.99938647e-01 -1.90341937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.54, Y:-11.23, Z:-1.90 [[ 9.71889072e-01 2.35236738e-01 9.76265509e-03 2.03537720e+02] [-2.35232218e-01 9.71937839e-01 -1.62505329e-03 -1.12341620e+01] [-9.87096613e-03 -7.17119479e-04 9.99951024e-01 -1.90352074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:-11.24, Z:-1.90 [[ 9.72031869e-01 2.34650585e-01 9.65135946e-03 2.03564784e+02] [-2.34646144e-01 9.72079528e-01 -1.60595130e-03 -1.12355468e+01] [-9.75872635e-03 -7.03618436e-04 9.99952135e-01 -1.90468758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:-11.24, Z:-1.91 [[ 9.72130767e-01 2.34206986e-01 1.04336174e-02 2.03592975e+02] [-2.34201782e-01 9.72186461e-01 -1.73505226e-03 -1.12368092e+01] [-1.05497829e-02 -7.56874095e-04 9.99944063e-01 -1.90533882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.62, Y:-11.25, Z:-1.91 [[ 9.71974775e-01 2.33796261e-01 2.45834140e-02 2.03617808e+02] [-2.34415407e-01 9.71779773e-01 2.63341975e-02 -1.12504197e+01] [-1.77328276e-02 -3.13589067e-02 9.99350872e-01 -1.90784448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.425898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:203.65, Y:-11.23, Z:-1.91 [[ 9.71842861e-01 2.35420853e-01 9.92351988e-03 2.03651700e+02] [-2.35018111e-01 9.71492422e-01 -3.11281506e-02 -1.12273517e+01] [-1.69688401e-02 2.79194640e-02 9.99466138e-01 -1.90582753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.68, Y:-11.25, Z:-1.91 [[ 9.71542196e-01 2.35523250e-01 2.51904880e-02 2.03675430e+02] [-2.36009343e-01 9.71575967e-01 1.84317869e-02 -1.12490671e+01] [-2.01333584e-02 -2.38524492e-02 9.99512736e-01 -1.90672833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.71, Y:-11.23, Z:-1.90 [[ 9.70967599e-01 2.38866439e-01 1.28353833e-02 2.03708363e+02] [-2.38502576e-01 9.70823864e-01 -2.48504699e-02 -1.12262948e+01] [-1.83968397e-02 2.10677291e-02 9.99608777e-01 -1.90302388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:-11.24, Z:-1.90 [[ 9.70754991e-01 2.39572878e-01 1.54785127e-02 2.03735059e+02] [-2.39562221e-01 9.70877621e-01 -2.56640616e-03 -1.12352698e+01] [-1.56425829e-02 -1.21671530e-03 9.99876907e-01 -1.90441112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:-11.24, Z:-1.91 [[ 9.70681124e-01 2.39929991e-01 1.45518036e-02 2.03762788e+02] [-2.39920653e-01 9.70789510e-01 -2.40993687e-03 -1.12354292e+01] [-1.47049545e-02 -1.15199800e-03 9.99891213e-01 -1.90560370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.79, Y:-11.24, Z:-1.91 [[ 9.70776875e-01 2.39565648e-01 1.41618829e-02 2.03790388e+02] [-2.39556794e-01 9.70879524e-01 -2.34337111e-03 -1.12359286e+01] [-1.43108734e-02 -1.11768479e-03 9.99896970e-01 -1.90626652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:-11.23, Z:-1.91 [[ 9.71241426e-01 2.37541228e-01 1.62559733e-02 2.03817571e+02] [-2.37529306e-01 9.71376653e-01 -2.68832019e-03 -1.12349926e+01] [-1.64292599e-02 -1.25026213e-03 9.99864249e-01 -1.90625281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:-11.24, Z:-1.91 [[ 9.71612323e-01 2.35940038e-01 1.73721573e-02 2.03845691e+02] [-2.35926192e-01 9.71766735e-01 -2.87150124e-03 -1.12378469e+01] [-1.75591867e-02 -1.30856094e-03 9.99844969e-01 -1.90621245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.87, Y:-11.24, Z:-1.91 [[ 9.71972634e-01 2.34428095e-01 1.76824150e-02 2.03873264e+02] [-2.34413563e-01 9.72132583e-01 -2.91936913e-03 -1.12406652e+01] [-1.78740339e-02 -1.30745100e-03 9.99839392e-01 -1.90588948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:-11.24, Z:-1.91 [[ 9.72196701e-01 2.33546325e-01 1.70202158e-02 2.03901067e+02] [-2.33532746e-01 9.72344880e-01 -2.80889920e-03 -1.12437032e+01] [-1.72055278e-02 -1.24397520e-03 9.99851200e-01 -1.90645629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:-11.25, Z:-1.91 [[ 9.72339978e-01 2.33049239e-01 1.55890527e-02 2.03928672e+02] [-2.33037794e-01 9.72464277e-01 -2.57204675e-03 -1.12463351e+01] [-1.57592104e-02 -1.13193458e-03 9.99875175e-01 -1.90750377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:-11.25, Z:-1.91 [[ 9.72092632e-01 2.34219951e-01 1.33014636e-02 2.03955212e+02] [-2.34211759e-01 9.72183134e-01 -2.19228834e-03 -1.12486135e+01] [-1.34449363e-02 -9.84251857e-04 9.99909128e-01 -1.90884136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.98, Y:-11.25, Z:-1.91 [[ 9.71953648e-01 2.34829812e-01 1.26911753e-02 2.03983119e+02] [-2.34822422e-01 9.72036039e-01 -2.09048099e-03 -1.12524231e+01] [-1.28271870e-02 -9.48321887e-04 9.99917279e-01 -1.90924909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:-11.26, Z:-1.91 [[ 9.71864929e-01 2.35000370e-01 1.59180968e-02 2.04010987e+02] [-2.35116456e-01 9.71949685e-01 5.83624110e-03 -1.12600983e+01] [-1.41000704e-02 -9.41464456e-03 9.99856266e-01 -1.91081757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:-11.26, Z:-1.91 [[ 9.71696968e-01 2.35991948e-01 1.06208352e-02 2.04039371e+02] [-2.35889031e-01 9.71727557e-01 -1.00955440e-02 -1.12577608e+01] [-1.27030253e-02 7.30447102e-03 9.99892633e-01 -1.90969834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.07, Y:-11.27, Z:-1.91 [[ 9.71592086e-01 2.36439966e-01 1.02450199e-02 2.04066790e+02] [-2.36435277e-01 9.71645781e-01 -1.68390026e-03 -1.12653901e+01] [-1.03526717e-02 -7.86219958e-04 9.99946101e-01 -1.91116646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.905898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.09, Y:-11.27, Z:-1.91 [[ 9.71533655e-01 2.36693103e-01 9.93637094e-03 2.04093698e+02] [-2.36688733e-01 9.71584163e-01 -1.63044560e-03 -1.12696483e+01] [-1.00399359e-02 -7.67794273e-04 9.99949304e-01 -1.91392550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:-11.27, Z:-1.91 [[ 9.71609123e-01 2.36397981e-01 9.57639271e-03 2.04121454e+02] [-2.36393906e-01 9.71656036e-01 -1.57158263e-03 -1.12736829e+01] [-9.67647874e-03 -7.36836852e-04 9.99952910e-01 -1.91377062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:-11.28, Z:-1.91 [[ 9.71653108e-01 2.36192260e-01 1.01712512e-02 2.04149533e+02] [-2.36187674e-01 9.71706027e-01 -1.66704521e-03 -1.12773441e+01] [-1.02772093e-02 -7.82534500e-04 9.99946882e-01 -1.91427404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:-11.28, Z:-1.92 [[ 9.71678688e-01 2.36032048e-01 1.13754253e-02 2.04177600e+02] [-2.36026330e-01 9.71744877e-01 -1.86181923e-03 -1.12804080e+01] [-1.14934602e-02 -8.75809816e-04 9.99933564e-01 -1.91523128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:-11.28, Z:-1.92 [[ 9.71655554e-01 2.36091797e-01 1.20891467e-02 2.04204473e+02] [-2.36085382e-01 9.71730307e-01 -1.97545208e-03 -1.12829620e+01] [-1.22137783e-02 -9.34611840e-04 9.99924972e-01 -1.91545470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:-11.29, Z:-1.92 [[ 9.71467472e-01 2.36184719e-01 2.16270414e-02 2.04230595e+02] [-2.36610052e-01 9.71402650e-01 1.98134835e-02 -1.12936454e+01] [-1.63289233e-02 -2.43653301e-02 9.99569756e-01 -1.91858218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:-11.28, Z:-1.91 [[ 9.71564923e-01 2.36654779e-01 7.49111923e-03 2.04263760e+02] [-2.36413047e-01 9.71345635e-01 -2.44239268e-02 -1.12776419e+01] [-1.30565050e-02 2.19584322e-02 9.99673624e-01 -1.91416728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.29, Y:-11.29, Z:-1.92 [[ 9.71750755e-01 2.35776967e-01 1.04733666e-02 2.04289825e+02] [-2.35772153e-01 9.71806858e-01 -1.70962264e-03 -1.12887323e+01] [-1.05811792e-02 -8.08001118e-04 9.99943691e-01 -1.91584712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:-11.29, Z:-1.92 [[ 9.71827119e-01 2.35457510e-01 1.05740910e-02 2.04317525e+02] [-2.35452606e-01 9.71884303e-01 -1.72406678e-03 -1.12902414e+01] [-1.06827375e-02 -8.14202427e-04 9.99942606e-01 -1.91606149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:-11.29, Z:-1.92 [[ 9.71587463e-01 2.35948960e-01 1.85980954e-02 2.04344959e+02] [-2.36076640e-01 9.71721747e-01 4.96654870e-03 -1.12925593e+01] [-1.69003217e-02 -9.21601232e-03 9.99814705e-01 -1.91696849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.38, Y:-11.29, Z:-1.91 [[ 9.71458046e-01 2.36677919e-01 1.59005628e-02 2.04375159e+02] [-2.36532300e-01 9.71566733e-01 -1.05145219e-02 -1.12883466e+01] [-1.79370131e-02 6.45342022e-03 9.99818292e-01 -1.91490141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:-11.29, Z:-1.92 [[ 9.71200446e-01 2.37585782e-01 1.79635543e-02 2.04401784e+02] [-2.37572171e-01 9.71365505e-01 -2.91890224e-03 -1.12932782e+01] [-1.81426667e-02 -1.43280145e-03 9.99834382e-01 -1.91558753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:-11.29, Z:-1.92 [[ 9.71038319e-01 2.38291514e-01 1.73706091e-02 2.04430268e+02] [-2.38278921e-01 9.71192667e-01 -2.82130512e-03 -1.12948876e+01] [-1.75425012e-02 -1.39945461e-03 9.99845139e-01 -1.91562316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:-11.30, Z:-1.92 [[ 9.70909074e-01 2.38934702e-01 1.56772905e-02 2.04457615e+02] [-2.38924575e-01 9.71034798e-01 -2.54331222e-03 -1.12960851e+01] [-1.58308802e-02 -1.27636506e-03 9.99873869e-01 -1.91653190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:-11.30, Z:-1.92 [[ 9.70823078e-01 2.39456573e-01 1.27710940e-02 2.04486469e+02] [-2.39449899e-01 9.70906512e-01 -2.07171395e-03 -1.12954875e+01] [-1.28956238e-02 -1.04676944e-03 9.99916300e-01 -1.91820983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:-11.30, Z:-1.92 [[ 9.71003560e-01 2.38771046e-01 1.18522003e-02 2.04514637e+02] [-2.38765271e-01 9.71075412e-01 -1.92060313e-03 -1.12979096e+01] [-1.19679647e-02 -9.64981337e-04 9.99927916e-01 -1.91950841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.54, Y:-11.30, Z:-1.92 [[ 9.71300515e-01 2.37551928e-01 1.20163109e-02 2.04541934e+02] [-2.37545937e-01 9.71374361e-01 -1.94407828e-03 -1.13005825e+01] [-1.21341559e-02 -9.66141608e-04 9.99925912e-01 -1.92026861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.57, Y:-11.30, Z:-1.92 [[ 9.71789977e-01 2.35481894e-01 1.31346289e-02 2.04569049e+02] [-2.35474565e-01 9.71878191e-01 -2.12373185e-03 -1.13035035e+01] [-1.32653598e-02 -1.02904971e-03 9.99911482e-01 -1.92106525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:-11.31, Z:-1.92 [[ 9.73194445e-01 2.29501572e-01 1.48862482e-02 2.04596698e+02] [-2.29491478e-01 9.73307697e-01 -2.40593138e-03 -1.13065449e+01] [-1.50410650e-02 -1.07482804e-03 9.99886299e-01 -1.92145995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:-11.31, Z:-1.92 [[ 9.74020052e-01 2.25998764e-01 1.44739959e-02 2.04624591e+02] [-2.25988876e-01 9.74127080e-01 -2.33659779e-03 -1.13112715e+01] [-1.46275796e-02 -9.95068963e-04 9.99892516e-01 -1.92228255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:-11.32, Z:-1.92 [[ 9.74717953e-01 2.22941606e-01 1.48980546e-02 2.04651515e+02] [-2.23005064e-01 9.74813485e-01 2.72226362e-03 -1.13180488e+01] [-1.39159187e-02 -5.97578086e-03 9.99885312e-01 -1.92433691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.68, Y:-11.32, Z:-1.92 [[ 9.75337129e-01 2.20484048e-01 1.02112061e-02 2.04679511e+02] [-2.20422211e-01 9.75380546e-01 -6.84389244e-03 -1.13194258e+01] [-1.14687809e-02 4.42432577e-03 9.99924443e-01 -1.92418519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.71, Y:-11.33, Z:-1.93 [[ 9.75893617e-01 2.18030286e-01 9.71813194e-03 2.04705565e+02] [-2.18025475e-01 9.75941824e-01 -1.56464425e-03 -1.13272104e+01] [-9.82547124e-03 -5.91874000e-04 9.99951554e-01 -1.92573200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.595898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:204.73, Y:-11.33, Z:-1.93 [[ 9.76321163e-01 2.16108383e-01 9.70326518e-03 2.04731895e+02] [-2.16103501e-01 9.76369212e-01 -1.56141517e-03 -1.13336943e+01] [-9.81140429e-03 -5.72466898e-04 9.99951703e-01 -1.92846014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:-11.35, Z:-1.93 [[ 9.76955976e-01 2.13153814e-01 1.10667074e-02 2.04758251e+02] [-2.13147277e-01 9.77018458e-01 -1.78052489e-03 -1.13454515e+01] [-1.11919031e-02 -6.19344118e-04 9.99937177e-01 -1.92676630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.79, Y:-11.35, Z:-1.93 [[ 9.77176259e-01 2.12070790e-01 1.23506448e-02 2.04785443e+02] [-2.12062596e-01 9.77254070e-01 -1.98431927e-03 -1.13540889e+01] [-1.24905341e-02 -6.80080124e-04 9.99921759e-01 -1.92631551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:-11.36, Z:-1.93 [[ 9.77289499e-01 2.11515308e-01 1.29038360e-02 2.04811031e+02] [-2.11506360e-01 9.77374429e-01 -2.06985862e-03 -1.13632447e+01] [-1.30496862e-02 -7.06392296e-04 9.99914600e-01 -1.92611821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.84, Y:-11.37, Z:-1.93 [[ 9.77432783e-01 2.10836669e-01 1.31549487e-02 2.04838215e+02] [-2.10827316e-01 9.77521045e-01 -2.10955626e-03 -1.13728443e+01] [-1.33040110e-02 -7.11473070e-04 9.99911245e-01 -1.92657048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:-11.39, Z:-1.93 [[ 9.77421599e-01 2.10894279e-01 1.30621607e-02 2.04863535e+02] [-2.10885103e-01 9.77508618e-01 -2.09157495e-03 -1.13876501e+01] [-1.32094759e-02 -7.10264584e-04 9.99912499e-01 -1.92646390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:-11.39, Z:-1.93 [[ 9.77458250e-01 2.10724339e-01 1.30622512e-02 2.04891677e+02] [-2.10715156e-01 9.77545268e-01 -2.09101038e-03 -1.13919731e+01] [-1.32095686e-02 -7.08538943e-04 9.99912499e-01 -1.92699750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.805898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:204.92, Y:-11.40, Z:-1.93 [[ 9.77305276e-01 2.11419527e-01 1.32733036e-02 2.04918934e+02] [-2.11410140e-01 9.77395134e-01 -2.12246463e-03 -1.14007677e+01] [-1.34219928e-02 -7.31815079e-04 9.99909653e-01 -1.92904850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.95, Y:-11.41, Z:-1.93 [[ 9.76956419e-01 2.13008323e-01 1.35502901e-02 2.04946008e+02] [-2.12998737e-01 9.77050079e-01 -2.16342861e-03 -1.14093660e+01] [-1.37001403e-02 -7.72619206e-04 9.99905850e-01 -1.92755510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:-11.42, Z:-1.93 [[ 9.76497956e-01 2.15069803e-01 1.40257719e-02 2.04972325e+02] [-2.15059756e-01 9.76598326e-01 -2.23853673e-03 -1.14168834e+01] [-1.41789870e-02 -8.30452533e-04 9.99899128e-01 -1.92732466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.00, Y:-11.42, Z:-1.93 [[ 9.75933334e-01 2.17605477e-01 1.42120961e-02 2.04999019e+02] [-2.17595460e-01 9.76036414e-01 -2.26613104e-03 -1.14239268e+01] [-1.43646459e-02 -8.80894774e-04 9.99896435e-01 -1.92736976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.03, Y:-11.43, Z:-1.93 [[ 9.74920557e-01 2.22096347e-01 1.42520398e-02 2.05026211e+02] [-2.22086761e-01 9.75024261e-01 -2.27178722e-03 -1.14324224e+01] [-1.44006403e-02 -9.50377301e-04 9.99895854e-01 -1.92851646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.05, Y:-11.44, Z:-1.93 [[ 9.74525865e-01 2.23537581e-01 1.81738386e-02 2.05052802e+02] [-2.23679828e-01 9.74643044e-01 6.18632935e-03 -1.14417106e+01] [-1.63301283e-02 -1.00938591e-02 9.99815703e-01 -1.93044942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.08, Y:-11.44, Z:-1.93 [[ 9.74129978e-01 2.25576839e-01 1.36336054e-02 2.05082513e+02] [-2.25434434e-01 9.74193637e-01 -1.12282647e-02 -1.14405568e+01] [-1.58146081e-02 7.86430515e-03 9.99844013e-01 -1.93069894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:-11.45, Z:-1.93 [[ 9.73648030e-01 2.27390334e-01 1.74112047e-02 2.05107849e+02] [-2.27377015e-01 9.73802873e-01 -2.76708733e-03 -1.14501319e+01] [-1.75842901e-02 -1.26473862e-03 9.99844585e-01 -1.93092023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.14, Y:-11.46, Z:-1.93 [[ 9.73476558e-01 2.28079461e-01 1.79763592e-02 2.05135093e+02] [-2.28065424e-01 9.73641625e-01 -2.85449846e-03 -1.14551460e+01] [-1.81535841e-02 -1.32099865e-03 9.99834337e-01 -1.93156987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:-11.46, Z:-1.93 [[ 9.73326694e-01 2.28811389e-01 1.67479970e-02 2.05161854e+02] [-2.28799330e-01 9.73469979e-01 -2.65834479e-03 -1.14598626e+01] [-1.69119319e-02 -1.24449256e-03 9.99856209e-01 -1.93177636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.19, Y:-11.46, Z:-1.93 [[ 9.73098483e-01 2.29893348e-01 1.51126110e-02 2.05188933e+02] [-2.29883677e-01 9.73215160e-01 -2.39759389e-03 -1.14647514e+01] [-1.52590130e-02 -1.14104759e-03 9.99882923e-01 -1.93260211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:-11.47, Z:-1.93 [[ 9.72851939e-01 2.31011837e-01 1.38793066e-02 2.05216752e+02] [-2.31003805e-01 9.72950357e-01 -2.20108067e-03 -1.14689230e+01] [-1.40123520e-02 -1.06484704e-03 9.99901255e-01 -1.93370832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:-11.47, Z:-1.93 [[ 9.72565428e-01 2.32207181e-01 1.40111932e-02 2.05244671e+02] [-2.32199133e-01 9.72665734e-01 -2.22099573e-03 -1.14728248e+01] [-1.41439387e-02 -1.09332325e-03 9.99899372e-01 -1.93465219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:-11.48, Z:-1.93 [[ 9.72285387e-01 2.33309446e-01 1.50940037e-02 2.05272631e+02] [-2.33300250e-01 9.72401806e-01 -2.39190208e-03 -1.14760988e+01] [-1.52354898e-02 -1.19582339e-03 9.99883218e-01 -1.93456169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:-11.48, Z:-1.94 [[ 9.71695174e-01 2.35677350e-01 1.62688351e-02 2.05299784e+02] [-2.35667057e-01 9.71830444e-01 -2.57437821e-03 -1.14801743e+01] [-1.64172719e-02 -1.33251761e-03 9.99864340e-01 -1.93530826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:-11.48, Z:-1.94 [[ 9.71495153e-01 2.36568144e-01 1.52538998e-02 2.05327126e+02] [-2.36559223e-01 9.71614077e-01 -2.41253730e-03 -1.14848652e+01] [-1.53916332e-02 -1.26468238e-03 9.99880742e-01 -1.93648163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:-11.49, Z:-1.94 [[ 9.71474533e-01 2.36737205e-01 1.38826477e-02 2.05353845e+02] [-2.36729844e-01 9.71573036e-01 -2.19486292e-03 -1.14891614e+01] [-1.40076119e-02 -1.15418360e-03 9.99901222e-01 -1.93703555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:-11.49, Z:-1.94 [[ 9.71850182e-01 2.35229431e-01 1.32037351e-02 2.05381325e+02] [-2.35222648e-01 9.71939274e-01 -2.08646771e-03 -1.14941288e+01] [-1.33240273e-02 -1.07808351e-03 9.99910650e-01 -1.93878730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:-11.50, Z:-1.94 [[ 9.72238612e-01 2.33608179e-01 1.33903227e-02 2.05408388e+02] [-2.33601055e-01 9.72330228e-01 -2.11556937e-03 -1.14998750e+01] [-1.35140299e-02 -1.07115529e-03 9.99908108e-01 -1.93949177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.44, Y:-11.51, Z:-1.94 [[ 9.72676761e-01 2.31750839e-01 1.38371414e-02 2.05436186e+02] [-2.31743088e-01 9.72774576e-01 -2.18313021e-03 -1.15060100e+01] [-1.39663616e-02 -1.08318184e-03 9.99901879e-01 -1.94016929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.46, Y:-11.51, Z:-1.94 [[ 9.73030364e-01 2.30242190e-01 1.41578318e-02 2.05462929e+02] [-2.30233930e-01 9.73132752e-01 -2.23272216e-03 -1.15118305e+01] [-1.42915166e-02 -1.08710681e-03 9.99897280e-01 -1.94011451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.49, Y:-11.52, Z:-1.94 [[ 9.73189813e-01 2.29535848e-01 1.46588655e-02 2.05490241e+02] [-2.29526934e-01 9.73299568e-01 -2.31040219e-03 -1.15171239e+01] [-1.47977875e-02 -1.11614457e-03 9.99889884e-01 -1.94009711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.52, Y:-11.52, Z:-1.94 [[ 9.73098446e-01 2.29871545e-01 1.54430019e-02 2.05517865e+02] [-2.29861712e-01 9.73220260e-01 -2.43283752e-03 -1.15216954e+01] [-1.55886825e-02 -1.18236445e-03 9.99877790e-01 -1.94104437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:-11.52, Z:-1.94 [[ 9.72459451e-01 2.32588875e-01 1.50010529e-02 2.05544387e+02] [-2.32579932e-01 9.72574416e-01 -2.36223889e-03 -1.15245755e+01] [-1.51390707e-02 -1.19176233e-03 9.99884687e-01 -1.94250044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:-11.53, Z:-1.94 [[ 9.72215094e-01 2.33687205e-01 1.37150262e-02 2.05572027e+02] [-2.33679853e-01 9.72311198e-01 -2.15868177e-03 -1.15281075e+01] [-1.38397298e-02 -1.10622229e-03 9.99903614e-01 -1.94407316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:-11.53, Z:-1.95 [[ 9.72074230e-01 2.34325149e-01 1.27834537e-02 2.05599305e+02] [-2.34318827e-01 9.72157725e-01 -2.01125299e-03 -1.15322154e+01] [-1.28988204e-02 -1.04031667e-03 9.99916266e-01 -1.94536298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.63, Y:-11.54, Z:-1.95 [[ 9.72156413e-01 2.33959412e-01 1.32250453e-02 2.05626464e+02] [-2.33952624e-01 9.72245774e-01 -2.07982488e-03 -1.15363273e+01] [-1.33445890e-02 -1.07211895e-03 9.99910382e-01 -1.94591582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.65, Y:-11.54, Z:-1.95 [[ 9.72404867e-01 2.32849912e-01 1.44808033e-02 2.05653061e+02] [-2.32841671e-01 9.72511993e-01 -2.27598970e-03 -1.15404236e+01] [-1.46127189e-02 -1.15855099e-03 9.99892557e-01 -1.94669144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.68, Y:-11.54, Z:-1.95 [[ 9.73242452e-01 2.29199512e-01 1.63313522e-02 2.05680720e+02] [-2.29188544e-01 9.73378668e-01 -2.56532218e-03 -1.15444126e+01] [-1.64845605e-02 -1.24627839e-03 9.99863344e-01 -1.94766266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.675898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:205.71, Y:-11.55, Z:-1.95 [[ 9.73598034e-01 2.27684391e-01 1.63305261e-02 2.05708050e+02] [-2.27673231e-01 9.73734217e-01 -2.56407524e-03 -1.15487435e+01] [-1.64853920e-02 -1.22164502e-03 9.99863360e-01 -1.94900231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:-11.55, Z:-1.95 [[ 9.73852922e-01 2.26619395e-01 1.59416535e-02 2.05735616e+02] [-2.26608635e-01 9.73982683e-01 -2.50193548e-03 -1.15532949e+01] [-1.60938815e-02 -1.17599916e-03 9.99869794e-01 -1.94923045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.76, Y:-11.56, Z:-1.95 [[ 9.73911032e-01 2.26408742e-01 1.53747783e-02 2.05762443e+02] [-2.26398724e-01 9.74031725e-01 -2.41191158e-03 -1.15575763e+01] [-1.55215996e-02 -1.13184288e-03 9.99878892e-01 -1.94932572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:-11.56, Z:-1.95 [[ 9.73877661e-01 2.26531271e-01 1.56807210e-02 2.05788977e+02] [-2.26520888e-01 9.74003205e-01 -2.45850601e-03 -1.15613646e+01] [-1.58300010e-02 -1.15772678e-03 9.99874027e-01 -1.94992967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:-11.56, Z:-1.95 [[ 9.73724474e-01 2.27154561e-01 1.61695203e-02 2.05815528e+02] [-2.27143629e-01 9.73857973e-01 -2.53376712e-03 -1.15648070e+01] [-1.63223730e-02 -1.20561246e-03 9.99866054e-01 -1.95048023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.825898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:205.84, Y:-11.57, Z:-1.95 [[ 9.73194545e-01 2.29438371e-01 1.58244104e-02 2.05842824e+02] [-2.29428221e-01 9.73322428e-01 -2.47839549e-03 -1.15687621e+01] [-1.59708926e-02 -1.21860537e-03 9.99871715e-01 -1.95103772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:-11.57, Z:-1.95 [[ 9.73017928e-01 2.30229426e-01 1.51830165e-02 2.05870514e+02] [-2.30220193e-01 9.73135660e-01 -2.37697476e-03 -1.15739116e+01] [-1.53223843e-02 -1.18259793e-03 9.99881906e-01 -1.95165220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:-11.58, Z:-1.95 [[ 9.72978795e-01 2.30430295e-01 1.46336479e-02 2.05897962e+02] [-2.30421753e-01 9.73088162e-01 -2.29005632e-03 -1.15786723e+01] [-1.47675279e-02 -1.14373458e-03 9.99890300e-01 -1.95238353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:-11.59, Z:-1.95 [[ 9.73040147e-01 2.29984039e-01 1.73267072e-02 2.05925169e+02] [-2.30063675e-01 9.73171762e-01 2.72524319e-03 -1.15858239e+01] [-1.62350997e-02 -6.63801697e-03 9.99846167e-01 -1.95403840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:-11.59, Z:-1.95 [[ 9.73259881e-01 2.29197524e-01 1.52872456e-02 2.05953332e+02] [-2.29101206e-01 9.73371332e-01 -7.80299488e-03 -1.15867116e+01] [-1.66685937e-02 4.09201545e-03 9.99852696e-01 -1.95323868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:-11.59, Z:-1.95 [[ 9.73517451e-01 2.27923231e-01 1.77418591e-02 2.05980071e+02] [-2.27910348e-01 9.73678176e-01 -2.77171664e-03 -1.15947324e+01] [-1.79065996e-02 -1.34523876e-03 9.99838759e-01 -1.95338363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:-11.60, Z:-1.95 [[ 9.74149558e-01 2.25074843e-01 1.93378744e-02 2.06006296e+02] [-2.25059009e-01 9.74340456e-01 -3.01952757e-03 -1.16033978e+01] [-1.95212930e-02 -1.41069140e-03 9.99808446e-01 -1.95369947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.035898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:206.03, Y:-11.61, Z:-1.95 [[ 9.74538549e-01 2.23489514e-01 1.80846151e-02 2.06032435e+02] [-2.23618991e-01 9.74661346e-01 5.45969534e-03 -1.16121447e+01] [-1.64061907e-02 -9.36474697e-03 9.99821553e-01 -1.94972179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.065898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:206.06, Y:-11.61, Z:-1.96 [[ 9.74677527e-01 2.23019600e-01 1.63088115e-02 2.06061223e+02] [-2.22865309e-01 9.74789890e-01 -1.07575770e-02 -1.16120369e+01] [-1.82968151e-02 6.85050023e-03 9.99809130e-01 -1.95522161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:-11.62, Z:-1.96 [[ 9.74795611e-01 2.22466582e-01 1.67969017e-02 2.06087893e+02] [-2.22454322e-01 9.74939597e-01 -2.61855419e-03 -1.16215024e+01] [-1.69585054e-02 -1.18398825e-03 9.99855493e-01 -1.95541468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.11, Y:-11.63, Z:-1.96 [[ 9.74820480e-01 2.22342221e-01 1.69990752e-02 2.06113867e+02] [-2.22329663e-01 9.74967950e-01 -2.64896400e-03 -1.16277633e+01] [-1.71625301e-02 -1.19713431e-03 9.99851996e-01 -1.95568517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:-11.64, Z:-1.96 [[ 9.74791105e-01 2.22289717e-01 1.92245535e-02 2.06140274e+02] [-2.22273698e-01 9.74979715e-01 -2.99311757e-03 -1.16385509e+01] [-1.94088889e-02 -1.35544821e-03 9.99810711e-01 -1.95547379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:-11.65, Z:-1.96 [[ 9.74781610e-01 2.22365331e-01 1.88274329e-02 2.06167632e+02] [-2.22350005e-01 9.74962507e-01 -2.93002188e-03 -1.16457711e+01] [-1.90075765e-02 -1.33014834e-03 9.99818455e-01 -1.95581222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.19, Y:-11.65, Z:-1.96 [[ 9.74846846e-01 2.22144911e-01 1.80351223e-02 2.06194754e+02] [-2.22130832e-01 9.75012832e-01 -2.80553682e-03 -1.16528155e+01] [-1.82077114e-02 -1.27118800e-03 9.99833418e-01 -1.95736001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:-11.66, Z:-1.96 [[ 9.75048069e-01 2.21341404e-01 1.70072503e-02 2.06222119e+02] [-2.21328781e-01 9.75195661e-01 -2.64455201e-03 -1.16599800e+01] [-1.71707455e-02 -1.18562864e-03 9.99851869e-01 -1.95832074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:-11.67, Z:-1.96 [[ 9.75354697e-01 2.20025429e-01 1.64931954e-02 2.06248769e+02] [-2.20013388e-01 9.75493484e-01 -2.56353523e-03 -1.16675797e+01] [-1.66530475e-02 -1.12836766e-03 9.99860692e-01 -1.95896716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:-11.68, Z:-1.96 [[ 9.75698917e-01 2.18465326e-01 1.68678298e-02 2.06274766e+02] [-2.18452520e-01 9.75844060e-01 -2.62061007e-03 -1.16755225e+01] [-1.70328839e-02 -1.12789351e-03 9.99854294e-01 -1.95913275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.30, Y:-11.69, Z:-1.96 [[ 9.76309948e-01 2.15545466e-01 1.89482851e-02 2.06300739e+02] [-2.15528790e-01 9.76493054e-01 -2.94216457e-03 -1.16886704e+01] [-1.91370390e-02 -1.21143642e-03 9.99816136e-01 -1.95819263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.33, Y:-11.70, Z:-1.96 [[ 9.76560852e-01 2.14346697e-01 1.96060385e-02 2.06328802e+02] [-2.14328628e-01 9.76756868e-01 -3.04295562e-03 -1.16976070e+01] [-1.98025802e-02 -1.23050401e-03 9.99803152e-01 -1.95842424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.395898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.36, Y:-11.71, Z:-1.96 [[ 9.76721770e-01 2.13640161e-01 1.92993483e-02 2.06355245e+02] [-2.13622533e-01 9.76911688e-01 -2.99446252e-03 -1.17061308e+01] [-1.94934963e-02 -1.19801893e-03 9.99809266e-01 -1.95911005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:-11.72, Z:-1.96 [[ 9.76534234e-01 2.14676787e-01 1.71687583e-02 2.06382794e+02] [-2.14663012e-01 9.76684545e-01 -2.66298633e-03 -1.17188441e+01] [-1.73401422e-02 -1.08500005e-03 9.99849060e-01 -1.96017241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.41, Y:-11.73, Z:-1.96 [[ 9.76232512e-01 2.16113326e-01 1.62823056e-02 2.06411190e+02] [-2.16101146e-01 9.76367718e-01 -2.52481918e-03 -1.17268719e+01] [-1.64431646e-02 -1.05381433e-03 9.99864247e-01 -1.96122619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:-11.73, Z:-1.96 [[ 9.75777833e-01 2.18208763e-01 1.55742245e-02 2.06438781e+02] [-2.18197895e-01 9.75901557e-01 -2.41436976e-03 -1.17348769e+01] [-1.57257466e-02 -1.04237451e-03 9.99875799e-01 -1.96158820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:-11.74, Z:-1.96 [[ 9.75265856e-01 2.20483417e-01 1.56068312e-02 2.06466265e+02] [-2.20472805e-01 9.75390123e-01 -2.41872719e-03 -1.17420739e+01] [-1.57560383e-02 -1.08197981e-03 9.99875281e-01 -1.96239746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:-11.75, Z:-1.96 [[ 9.74805016e-01 2.22500603e-01 1.57690421e-02 2.06494348e+02] [-2.22490047e-01 9.74931901e-01 -2.44290732e-03 -1.17492122e+01] [-1.59172905e-02 -1.12709661e-03 9.99872677e-01 -1.96244978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:-11.76, Z:-1.96 [[ 9.74146359e-01 2.25357011e-01 1.59087932e-02 2.06521234e+02] [-2.25346656e-01 9.74275533e-01 -2.46384252e-03 -1.17577815e+01] [-1.60547921e-02 -1.18485013e-03 9.99870411e-01 -1.96274220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:-11.76, Z:-1.96 [[ 9.73913532e-01 2.26345482e-01 1.61293435e-02 2.06548903e+02] [-2.26334989e-01 9.74046322e-01 -2.49705587e-03 -1.17640577e+01] [-1.62759251e-02 -1.21871830e-03 9.99866796e-01 -1.96405933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:-11.77, Z:-1.96 [[ 9.73654384e-01 2.27480741e-01 1.58004119e-02 2.06576583e+02] [-2.27470834e-01 9.73781824e-01 -2.44525373e-03 -1.17702403e+01] [-1.59424020e-02 -1.21330085e-03 9.99872176e-01 -1.96440335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:-11.78, Z:-1.97 [[ 9.73362741e-01 2.28738211e-01 1.56142580e-02 2.06604652e+02] [-2.28728712e-01 9.73487207e-01 -2.41553880e-03 -1.17761535e+01] [-1.57528065e-02 -1.22023366e-03 9.99875172e-01 -1.96517484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:-11.78, Z:-1.97 [[ 9.73370316e-01 2.28705966e-01 1.56143694e-02 2.06633648e+02] [-2.28696474e-01 9.73494782e-01 -2.41481898e-03 -1.17805561e+01] [-1.57527906e-02 -1.22043810e-03 9.99875172e-01 -1.96572696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:-11.79, Z:-1.97 [[ 9.73017299e-01 2.30203063e-01 1.56168200e-02 2.06662343e+02] [-2.30193767e-01 9.73141819e-01 -2.41470227e-03 -1.17862701e+01] [-1.57532525e-02 -1.24534754e-03 9.99875134e-01 -1.96630339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:-11.79, Z:-1.97 [[ 9.72168210e-01 2.33700253e-01 1.65276590e-02 2.06689590e+02] [-2.33690356e-01 9.72307714e-01 -2.55476306e-03 -1.17915591e+01] [-1.66670191e-02 -1.37869507e-03 9.99860145e-01 -1.96660747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:-11.80, Z:-1.97 [[ 9.71761261e-01 2.35359172e-01 1.69148150e-02 2.06718213e+02] [-2.35349072e-01 9.71907394e-01 -2.61361250e-03 -1.17957606e+01] [-1.70547715e-02 -1.44107864e-03 9.99853518e-01 -1.96628688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:-11.80, Z:-1.96 [[ 9.71375267e-01 2.36948827e-01 1.68921018e-02 2.06744755e+02] [-2.37069701e-01 9.71476935e-01 5.52469239e-03 -1.18021733e+01] [-1.51012179e-02 -9.37115507e-03 9.99842055e-01 -1.96168332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:-11.80, Z:-1.97 [[ 9.70962940e-01 2.38699305e-01 1.59251640e-02 2.06775885e+02] [-2.38557802e-01 9.71073793e-01 -1.02890371e-02 -1.18009392e+01] [-1.79204954e-02 6.19120161e-03 9.99820246e-01 -1.96777169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.80, Y:-11.81, Z:-1.97 [[ 9.70566118e-01 2.40234691e-01 1.69912654e-02 2.06803136e+02] [-2.40225244e-01 9.70713624e-01 -2.62516917e-03 -1.18073837e+01] [-1.71243095e-02 -1.53383063e-03 9.99852192e-01 -1.96887329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:-11.81, Z:-1.97 [[ 9.70753593e-01 2.39440702e-01 1.74817647e-02 2.06831972e+02] [-2.39430594e-01 9.70909729e-01 -2.69986051e-03 -1.18111236e+01] [-1.76196719e-02 -1.56477000e-03 9.99843537e-01 -1.97000179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:-11.82, Z:-1.97 [[ 9.71165418e-01 2.37717497e-01 1.81141356e-02 2.06859995e+02] [-2.37706362e-01 9.71333035e-01 -2.79666022e-03 -1.18155825e+01] [-1.82596733e-02 -1.58982557e-03 9.99832014e-01 -1.97102966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:-11.82, Z:-1.97 [[ 9.71838017e-01 2.34911465e-01 1.86405992e-02 2.06888711e+02] [-2.34899177e-01 9.72015483e-01 -2.87706322e-03 -1.18209300e+01] [-1.87948062e-02 -1.58262200e-03 9.99822109e-01 -1.97195317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.92, Y:-11.83, Z:-1.97 [[ 9.72681846e-01 2.31371025e-01 1.89070254e-02 2.06916920e+02] [-2.31357736e-01 9.72864373e-01 -2.91729391e-03 -1.18270706e+01] [-1.90689487e-02 -1.53668776e-03 9.99816990e-01 -1.97219953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.95, Y:-11.83, Z:-1.97 [[ 9.73523644e-01 2.27776587e-01 1.92234478e-02 2.06946467e+02] [-2.27762165e-01 9.73712279e-01 -2.96544510e-03 -1.18333568e+01] [-1.93935662e-02 -1.49144319e-03 9.99810815e-01 -1.97275395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:-11.84, Z:-1.97 [[ 9.74457434e-01 2.23799644e-01 1.86126090e-02 2.06976033e+02] [-2.23785411e-01 9.74634213e-01 -2.87079726e-03 -1.18418006e+01] [-1.87829689e-02 -1.36776063e-03 9.99822649e-01 -1.97220342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:-11.85, Z:-1.97 [[ 9.74534314e-01 2.23506093e-01 1.81079150e-02 2.07004417e+02] [-2.23492570e-01 9.74701632e-01 -2.79297901e-03 -1.18475482e+01] [-1.82740621e-02 -1.32513057e-03 9.99832137e-01 -1.97246302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:-11.85, Z:-1.97 [[ 9.74349023e-01 2.24315778e-01 1.80669139e-02 2.07033953e+02] [-2.24302466e-01 9.74515593e-01 -2.78601869e-03 -1.18531835e+01] [-1.82314373e-02 -1.33789875e-03 9.99832898e-01 -1.97279129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:-11.86, Z:-1.97 [[ 9.74072627e-01 2.25485110e-01 1.84114497e-02 2.07063600e+02] [-2.25471502e-01 9.74245628e-01 -2.83871458e-03 -1.18587141e+01] [-1.85773622e-02 -1.38614304e-03 9.99826465e-01 -1.97395170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:-11.87, Z:-1.97 [[ 9.73852123e-01 2.26327017e-01 1.97008576e-02 2.07094114e+02] [-2.26311616e-01 9.74050219e-01 -3.03706144e-03 -1.18654391e+01] [-1.98769937e-02 -1.50088418e-03 9.99801306e-01 -1.97448917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:-11.87, Z:-1.98 [[ 9.73951326e-01 2.25864495e-01 2.01008387e-02 2.07123588e+02] [-2.25848355e-01 9.74157541e-01 -3.09919785e-03 -1.18713107e+01] [-2.02813824e-02 -1.52127350e-03 9.99793154e-01 -1.97512497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:-11.88, Z:-1.98 [[ 9.74187272e-01 2.24871810e-01 1.97946277e-02 2.07154298e+02] [-2.24855949e-01 9.74387236e-01 -3.05222975e-03 -1.18772486e+01] [-1.99739931e-02 -1.47749643e-03 9.99799408e-01 -1.97651023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:-11.88, Z:-1.98 [[ 9.74470612e-01 2.23714990e-01 1.89374958e-02 2.07184510e+02] [-2.23700247e-01 9.74653616e-01 -2.92050455e-03 -1.18831656e+01] [-1.91108594e-02 -1.39037664e-03 9.99816404e-01 -1.97699203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.21, Y:-11.89, Z:-1.97 [[ 9.74631508e-01 2.23082827e-01 1.80963134e-02 2.07213681e+02] [-2.23168683e-01 9.74775685e-01 2.84668557e-03 -1.18904999e+01] [-1.70047996e-02 -6.81299988e-03 9.99832196e-01 -1.97463123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:-11.89, Z:-1.98 [[ 9.74931037e-01 2.21937346e-01 1.59150295e-02 2.07245342e+02] [-2.21833489e-01 9.75051409e-01 -8.04076119e-03 -1.18907356e+01] [-1.73025171e-02 4.30870113e-03 9.99841016e-01 -1.97916103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:-11.90, Z:-1.98 [[ 9.75112907e-01 2.21050085e-01 1.70785835e-02 2.07274450e+02] [-2.21037620e-01 9.75261715e-01 -2.63770727e-03 -1.18968466e+01] [-1.72391540e-02 -1.20294704e-03 9.99850671e-01 -1.97930825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:-11.90, Z:-1.98 [[ 9.75306592e-01 2.20135989e-01 1.78100737e-02 2.07304253e+02] [-2.20122278e-01 9.75468408e-01 -2.75093862e-03 -1.19006686e+01] [-1.79787449e-02 -1.23738543e-03 9.99837604e-01 -1.97964972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:-11.90, Z:-1.98 [[ 9.75443537e-01 2.19475908e-01 1.84453809e-02 2.07334019e+02] [-2.19461083e-01 9.75617095e-01 -2.84906798e-03 -1.19045787e+01] [-1.86209307e-02 -1.26893834e-03 9.99825810e-01 -1.98084752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.445898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.37, Y:-11.91, Z:-1.98 [[ 9.75653055e-01 2.18602922e-01 1.77166437e-02 2.07365009e+02] [-2.18589103e-01 9.75813156e-01 -2.73648108e-03 -1.19084283e+01] [-1.78863368e-02 -1.20280914e-03 9.99839303e-01 -1.98190085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:-11.91, Z:-1.98 [[ 9.75943428e-01 2.17510833e-01 1.49486912e-02 2.07395257e+02] [-2.17500862e-01 9.76057397e-01 -2.30927570e-03 -1.19132985e+01] [-1.50930731e-02 -9.97630774e-04 9.99885595e-01 -1.98268738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:-11.92, Z:-1.98 [[ 9.76088119e-01 2.16915814e-01 1.41249507e-02 2.07424302e+02] [-2.16906846e-01 9.76189868e-01 -2.18228617e-03 -1.19172939e+01] [-1.42620061e-02 -9.33694898e-04 9.99897856e-01 -1.98310937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:-11.92, Z:-1.98 [[ 9.76201468e-01 2.16425124e-01 1.38152144e-02 2.07452562e+02] [-2.16416496e-01 9.76298799e-01 -2.13439303e-03 -1.19214680e+01] [-1.39497135e-02 -9.06242694e-04 9.99902287e-01 -1.98299861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:-11.93, Z:-1.98 [[ 9.76266346e-01 2.16062211e-01 1.48708854e-02 2.07480737e+02] [-2.16052182e-01 9.76379116e-01 -2.29692766e-03 -1.19256101e+01] [-1.50159012e-02 -9.70474059e-04 9.99886784e-01 -1.98328037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.595898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:207.51, Y:-11.93, Z:-1.98 [[ 9.76247299e-01 2.16062430e-01 1.60697467e-02 2.07511327e+02] [-2.16050729e-01 9.76378986e-01 -2.48140981e-03 -1.19303985e+01] [-1.62263024e-02 -1.04941087e-03 9.99867794e-01 -1.98348067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:-11.94, Z:-1.98 [[ 9.75829012e-01 2.17815706e-01 1.77216712e-02 2.07541016e+02] [-2.17801764e-01 9.75989192e-01 -2.73647857e-03 -1.19375448e+01] [-1.78922076e-02 -1.18947608e-03 9.99839214e-01 -1.98391953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:-11.95, Z:-1.98 [[ 9.75531487e-01 2.19074417e-01 1.85665732e-02 2.07569985e+02] [-2.19208982e-01 9.75662274e-01 5.52716570e-03 -1.19471544e+01] [-1.69038444e-02 -9.46188378e-03 9.99812349e-01 -1.98020796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:-11.95, Z:-1.99 [[ 9.75402741e-01 2.19846308e-01 1.60341447e-02 2.07602851e+02] [-2.19692458e-01 9.75509190e-01 -1.08186568e-02 -1.19471190e+01] [-1.80198973e-02 7.02996686e-03 9.99812914e-01 -1.98559009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:-11.96, Z:-1.98 [[ 9.74923154e-01 2.21899712e-01 1.68926215e-02 2.07632023e+02] [-2.21887597e-01 9.75068753e-01 -2.61178409e-03 -1.19591418e+01] [-1.70510216e-02 -1.20197441e-03 9.99853898e-01 -1.98471611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:-11.97, Z:-1.98 [[ 9.74654430e-01 2.23046926e-01 1.72861418e-02 2.07661473e+02] [-2.23034415e-01 9.74806907e-01 -2.67284834e-03 -1.19657236e+01] [-1.74468210e-02 -1.25030104e-03 9.99847011e-01 -1.98491781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:-11.97, Z:-1.99 [[ 9.74400472e-01 2.24063615e-01 1.84178245e-02 2.07691544e+02] [-2.24049593e-01 9.74573584e-01 -2.84782841e-03 -1.19720881e+01] [-1.85876199e-02 -1.35158072e-03 9.99826322e-01 -1.98525239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:-11.98, Z:-1.99 [[ 9.74204860e-01 2.24869200e-01 1.89402571e-02 2.07722835e+02] [-2.24854519e-01 9.74387945e-01 -2.92883066e-03 -1.19778111e+01] [-1.91137620e-02 -1.40552134e-03 9.99816327e-01 -1.98564375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:-11.98, Z:-1.99 [[ 9.73956473e-01 2.25895461e-01 1.94943465e-02 2.07752340e+02] [-2.25880104e-01 9.74150445e-01 -3.01497008e-03 -1.19830081e+01] [-1.96714944e-02 -1.46693538e-03 9.99805421e-01 -1.98689710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:-11.99, Z:-1.99 [[ 9.73714957e-01 2.26953973e-01 1.92633357e-02 2.07784903e+02] [-2.26939177e-01 9.73904375e-01 -2.97953457e-03 -1.19882476e+01] [-1.94368641e-02 -1.47038818e-03 9.99810005e-01 -1.98756969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:-11.99, Z:-1.99 [[ 9.73096051e-01 2.29704921e-01 1.78808357e-02 2.07815444e+02] [-2.29692577e-01 9.73259294e-01 -2.76888218e-03 -1.19934190e+01] [-1.80387154e-02 -1.41270690e-03 9.99836291e-01 -1.98870674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:-12.00, Z:-1.99 [[ 9.72911106e-01 2.30525129e-01 1.73823099e-02 2.07844450e+02] [-2.30513544e-01 9.73065386e-01 -2.69453213e-03 -1.19971731e+01] [-1.75352814e-02 -1.38531762e-03 9.99845285e-01 -1.98867915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:-12.00, Z:-1.99 [[ 9.72847656e-01 2.30800397e-01 1.72804905e-02 2.07873761e+02] [-2.30788997e-01 9.73000136e-01 -2.67837016e-03 -1.20003068e+01] [-1.74320885e-02 -1.38250092e-03 9.99847094e-01 -1.98906766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.985898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:207.91, Y:-12.00, Z:-1.99 [[ 9.72834508e-01 2.30882547e-01 1.69195179e-02 2.07905420e+02] [-2.30871638e-01 9.72980684e-01 -2.62196750e-03 -1.20028993e+01] [-1.70677306e-02 -1.35549635e-03 9.99853417e-01 -1.98983808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:-12.00, Z:-1.99 [[ 9.72790079e-01 2.31170491e-01 1.54811652e-02 2.07935141e+02] [-2.31161387e-01 9.72912460e-01 -2.39951014e-03 -1.20049343e+01] [-1.56165145e-02 -1.24442796e-03 9.99877280e-01 -1.98996333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:-12.01, Z:-1.99 [[ 9.72980320e-01 2.30377541e-01 1.53455374e-02 2.07965827e+02] [-2.30368502e-01 9.73100559e-01 -2.37818964e-03 -1.20092353e+01] [-1.54806325e-02 -1.22119675e-03 9.99879422e-01 -1.99059513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:-12.01, Z:-1.99 [[ 9.73238319e-01 2.29246874e-01 1.59073760e-02 2.07995653e+02] [-2.29237005e-01 9.73367513e-01 -2.46568831e-03 -1.20133701e+01] [-1.60489744e-02 -1.24685689e-03 9.99870429e-01 -1.99083562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:-12.02, Z:-1.99 [[ 9.73759947e-01 2.27004283e-01 1.61437539e-02 2.08026233e+02] [-2.26993808e-01 9.73892986e-01 -2.50255332e-03 -1.20174976e+01] [-1.62903791e-02 -1.22764600e-03 9.99866549e-01 -1.99068328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:-12.02, Z:-1.99 [[ 9.74173276e-01 2.25141323e-01 1.72572791e-02 2.08053724e+02] [-2.25238897e-01 9.74295718e-01 3.91064598e-03 -1.20245856e+01] [-1.59332451e-02 -7.69665731e-03 9.99843434e-01 -1.98853298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:-12.03, Z:-1.99 [[ 9.74859012e-01 2.22297554e-01 1.52874220e-02 2.08086006e+02] [-2.22181885e-01 9.74964521e-01 -8.91027737e-03 -1.20251331e+01] [-1.68854269e-02 5.28967595e-03 9.99843439e-01 -1.99246912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:-12.04, Z:-1.99 [[ 9.75668438e-01 2.18652054e-01 1.61980927e-02 2.08116783e+02] [-2.18640378e-01 9.75802278e-01 -2.50996874e-03 -1.20363045e+01] [-1.63549456e-02 -1.09265984e-03 9.99865652e-01 -1.99218450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:-12.04, Z:-1.99 [[ 9.75786668e-01 2.18108134e-01 1.64079502e-02 2.08146470e+02] [-2.18096026e-01 9.75923995e-01 -2.54556610e-03 -1.20428453e+01] [-1.65681210e-02 -1.09457927e-03 9.99862140e-01 -1.99314564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:-12.05, Z:-1.99 [[ 9.75779161e-01 2.18152605e-01 1.62625460e-02 2.08176681e+02] [-2.18140713e-01 9.75914065e-01 -2.52316562e-03 -1.20497031e+01] [-1.64212825e-02 -1.08547096e-03 9.99864572e-01 -1.99373624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:-12.06, Z:-1.99 [[ 9.75313898e-01 2.20229184e-01 1.61835614e-02 2.08207212e+02] [-2.20217692e-01 9.75447520e-01 -2.51091518e-03 -1.20612041e+01] [-1.63391916e-02 -1.11497607e-03 9.99865885e-01 -1.99433863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:-12.07, Z:-1.99 [[ 9.74954452e-01 2.21813108e-01 1.62099136e-02 2.08239478e+02] [-2.21801754e-01 9.75088531e-01 -2.51758794e-03 -1.20697264e+01] [-1.63645348e-02 -1.14085369e-03 9.99865441e-01 -1.99485536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:-12.08, Z:-2.00 [[ 9.74577378e-01 2.23472534e-01 1.60922493e-02 2.08271083e+02] [-2.23461517e-01 9.74709540e-01 -2.50250078e-03 -1.20770864e+01] [-1.62445091e-02 -1.15711779e-03 9.99867380e-01 -1.99548486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:-12.08, Z:-2.00 [[ 9.74097196e-01 2.25578964e-01 1.57728871e-02 2.08301261e+02] [-2.25568628e-01 9.74224188e-01 -2.45453378e-03 -1.20832418e+01] [-1.59200194e-02 -1.16691403e-03 9.99872588e-01 -1.99607540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:-12.09, Z:-2.00 [[ 9.73487360e-01 2.28189361e-01 1.58737266e-02 2.08333939e+02] [-2.28179200e-01 9.73616012e-01 -2.47249860e-03 -1.20895495e+01] [-1.60191122e-02 -1.21510810e-03 9.99870947e-01 -1.99742285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.435898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:208.36, Y:-12.10, Z:-2.00 [[ 9.72284951e-01 2.33292463e-01 1.53818250e-02 2.08364459e+02] [-2.33283512e-01 9.72405805e-01 -2.39878533e-03 -1.20963697e+01] [-1.55169945e-02 -1.25602328e-03 9.99878815e-01 -1.99836268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:-12.10, Z:-2.00 [[ 9.71728560e-01 2.35601941e-01 1.53405322e-02 2.08396372e+02] [-2.35593289e-01 9.71848789e-01 -2.39453660e-03 -1.21027237e+01] [-1.54728351e-02 -1.28728683e-03 9.99879460e-01 -1.99886136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:-12.11, Z:-2.00 [[ 9.71439588e-01 2.36831551e-01 1.46950101e-02 2.08428121e+02] [-2.36823713e-01 9.71549924e-01 -2.29643483e-03 -1.21081010e+01] [-1.48208042e-02 -1.24927915e-03 9.99889385e-01 -1.99950578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:-12.11, Z:-2.00 [[ 9.71370035e-01 2.37159757e-01 1.39823305e-02 2.08458565e+02] [-2.37152660e-01 9.71469933e-01 -2.18746305e-03 -1.21128378e+01] [-1.41021918e-02 -1.19111080e-03 9.99899850e-01 -2.00079397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:-12.12, Z:-2.00 [[ 9.71460706e-01 2.36806138e-01 1.36729528e-02 2.08490008e+02] [-2.36799290e-01 9.71556232e-01 -2.14095498e-03 -1.21180824e+01] [-1.37910338e-02 -1.15789189e-03 9.99904229e-01 -2.00131246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:-12.12, Z:-2.00 [[ 9.71452757e-01 2.36838770e-01 1.36725188e-02 2.08521443e+02] [-2.36831887e-01 9.71548281e-01 -2.14372292e-03 -1.21230565e+01] [-1.37912288e-02 -1.15556289e-03 9.99904229e-01 -2.00191899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:-12.13, Z:-2.00 [[ 9.71885517e-01 2.34991510e-01 1.47489624e-02 2.08552690e+02] [-2.34983288e-01 9.71996660e-01 -2.31254668e-03 -1.21284550e+01] [-1.48793711e-02 -1.21822907e-03 9.99888554e-01 -2.00223154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:-12.13, Z:-2.00 [[ 9.72073984e-01 2.34187765e-01 1.51082903e-02 2.08583068e+02] [-2.34179003e-01 9.72190604e-01 -2.37142321e-03 -1.21327303e+01] [-1.52434962e-02 -1.23284556e-03 9.99883051e-01 -2.00229817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:-12.14, Z:-2.00 [[ 9.72238896e-01 2.33507449e-01 1.50266810e-02 2.08613631e+02] [-2.33498660e-01 9.72354256e-01 -2.36133285e-03 -1.21363732e+01] [-1.51626461e-02 -1.21293024e-03 9.99884305e-01 -2.00253254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:-12.14, Z:-2.00 [[ 9.72193311e-01 2.33711036e-01 1.48093877e-02 2.08643946e+02] [-2.33702520e-01 9.72305361e-01 -2.32739213e-03 -1.21381993e+01] [-1.49431842e-02 -1.19831615e-03 9.99887626e-01 -2.00237267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:-12.14, Z:-2.00 [[ 9.72040690e-01 2.34299784e-01 1.55083328e-02 2.08674715e+02] [-2.34290519e-01 9.72163573e-01 -2.43723593e-03 -1.21416261e+01] [-1.56476801e-02 -1.26436285e-03 9.99876768e-01 -2.00274420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:-12.14, Z:-2.00 [[ 9.71829225e-01 2.35100691e-01 1.66018744e-02 2.08705582e+02] [-2.35090190e-01 9.71970059e-01 -2.60904283e-03 -1.21445861e+01] [-1.67499126e-02 -1.36739374e-03 9.99858775e-01 -2.00314434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:-12.15, Z:-2.00 [[ 9.71648364e-01 2.35779278e-01 1.75382088e-02 2.08736614e+02] [-2.35767662e-01 9.71805542e-01 -2.75661416e-03 -1.21468212e+01] [-1.76936810e-02 -1.45648285e-03 9.99842394e-01 -2.00364618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:-12.15, Z:-2.00 [[ 9.71430051e-01 2.36655060e-01 1.78336429e-02 2.08767214e+02] [-2.36643187e-01 9.71592580e-01 -2.80348153e-03 -1.21489159e+01] [-1.79904932e-02 -1.49682389e-03 9.99837038e-01 -2.00470868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.80, Y:-12.15, Z:-2.01 [[ 9.71320617e-01 2.37180314e-01 1.67856468e-02 2.08796923e+02] [-2.37169870e-01 9.71464610e-01 -2.63896189e-03 -1.21507518e+01] [-1.69325716e-02 -1.41777158e-03 9.99855629e-01 -2.00613909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:-12.15, Z:-2.01 [[ 9.71538604e-01 2.36493152e-01 1.35546785e-02 2.08828124e+02] [-2.36486278e-01 9.71632492e-01 -2.13083492e-03 -1.21512976e+01] [-1.36740939e-02 -1.13530708e-03 9.99905861e-01 -2.00853812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:-12.15, Z:-2.01 [[ 9.71791428e-01 2.35466699e-01 1.32986237e-02 2.08856565e+02] [-2.35459984e-01 9.71881796e-01 -2.09077196e-03 -1.21548251e+01] [-1.34169975e-02 -1.09949945e-03 9.99909384e-01 -2.00928541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:-12.16, Z:-2.01 [[ 9.72108957e-01 2.34117649e-01 1.38961574e-02 2.08885968e+02] [-2.34110187e-01 9.72207617e-01 -2.18415235e-03 -1.21584025e+01] [-1.40212986e-02 -1.12999795e-03 9.99901058e-01 -2.00974712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:-12.16, Z:-2.01 [[ 9.72465373e-01 2.32582134e-01 1.47189845e-02 2.08915026e+02] [-2.32573594e-01 9.72576050e-01 -2.31311462e-03 -1.21619636e+01] [-1.48533210e-02 -1.17382326e-03 9.99888994e-01 -2.01011415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:-12.17, Z:-2.01 [[ 9.72803426e-01 2.31141211e-01 1.50743110e-02 2.08944034e+02] [-2.31132088e-01 9.72919497e-01 -2.36855100e-03 -1.21655329e+01] [-1.52135608e-02 -1.18002245e-03 9.99883571e-01 -2.01063651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:-12.17, Z:-2.01 [[ 9.73053983e-01 2.30072873e-01 1.52452845e-02 2.08972944e+02] [-2.30063413e-01 9.73172692e-01 -2.39523776e-03 -1.21697516e+01] [-1.53873738e-02 -1.17668655e-03 9.99880915e-01 -2.01119099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:-12.18, Z:-2.01 [[ 9.73469957e-01 2.28326336e-01 1.49441538e-02 2.09002720e+02] [-2.28317045e-01 9.73584005e-01 -2.34771518e-03 -1.21755929e+01] [-1.50854344e-02 -1.12657485e-03 9.99885574e-01 -2.01185868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:-12.18, Z:-2.01 [[ 9.73537285e-01 2.28076982e-01 1.43542330e-02 2.09033019e+02] [-2.28068383e-01 9.73642505e-01 -2.25503907e-03 -1.21817297e+01] [-1.44902139e-02 -1.07838210e-03 9.99894430e-01 -2.01245827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:-12.19, Z:-2.01 [[ 9.73515154e-01 2.28194573e-01 1.39814529e-02 2.09062336e+02] [-2.28186428e-01 9.73614980e-01 -2.19641399e-03 -1.21882480e+01] [-1.41137617e-02 -1.05213547e-03 9.99899842e-01 -2.01323581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:-12.19, Z:-2.01 [[ 9.73482913e-01 2.28338844e-01 1.38704929e-02 2.09091012e+02] [-2.28330837e-01 9.73581162e-01 -2.17933255e-03 -1.21943119e+01] [-1.40016768e-02 -1.04551825e-03 9.99901425e-01 -2.01368659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:-12.20, Z:-2.01 [[ 9.73381362e-01 2.28664579e-01 1.55317501e-02 2.09119280e+02] [-2.28654589e-01 9.73504559e-01 -2.43983155e-03 -1.22018703e+01] [-1.56781326e-02 -1.17651938e-03 9.99876398e-01 -2.01338040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:-12.21, Z:-2.01 [[ 9.73275162e-01 2.29029561e-01 1.67606284e-02 2.09149526e+02] [-2.29017978e-01 9.73418632e-01 -2.63308012e-03 -1.22083811e+01] [-1.69181612e-02 -1.27577375e-03 9.99856064e-01 -2.01355547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:-12.22, Z:-2.01 [[ 9.73179476e-01 2.29397823e-01 1.72727204e-02 2.09181517e+02] [-2.29385576e-01 9.73331852e-01 -2.71367354e-03 -1.22155581e+01] [-1.74345997e-02 -1.32122153e-03 9.99847133e-01 -2.01346510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:-12.22, Z:-2.01 [[ 9.72982122e-01 2.30202164e-01 1.76848628e-02 2.09212877e+02] [-2.30189394e-01 9.73141872e-01 -2.78198960e-03 -1.22225826e+01] [-1.78503005e-02 -1.36404172e-03 9.99839740e-01 -2.01423167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:-12.23, Z:-2.02 [[ 9.72777506e-01 2.31061923e-01 1.77288271e-02 2.09244463e+02] [-2.31049173e-01 9.72938068e-01 -2.79218819e-03 -1.22294253e+01] [-1.78942192e-02 -1.38005298e-03 9.99838933e-01 -2.01514189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:-12.24, Z:-2.02 [[ 9.72454055e-01 2.32427555e-01 1.76221939e-02 2.09274611e+02] [-2.32415130e-01 9.72612713e-01 -2.77826176e-03 -1.22356009e+01] [-1.77853144e-02 -1.39393258e-03 9.99840857e-01 -2.01552239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:-12.24, Z:-2.02 [[ 9.71494860e-01 2.36352754e-01 1.83060837e-02 2.09307164e+02] [-2.36339985e-01 9.71666129e-01 -2.88892733e-03 -1.22422183e+01] [-1.84702074e-02 -1.51988149e-03 9.99828256e-01 -2.01677195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:-12.25, Z:-2.02 [[ 9.70865311e-01 2.38930422e-01 1.82428287e-02 2.09338671e+02] [-2.38918128e-01 9.71035437e-01 -2.88242675e-03 -1.22476029e+01] [-1.84031326e-02 -1.56009434e-03 9.99829431e-01 -2.01748713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:-12.25, Z:-2.02 [[ 9.70232139e-01 2.41544869e-01 1.74835074e-02 2.09368785e+02] [-2.41533942e-01 9.70388430e-01 -2.76564406e-03 -1.22522559e+01] [-1.76338204e-02 -1.53954371e-03 9.99843327e-01 -2.01788089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.455898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:209.40, Y:-12.26, Z:-2.02 [[ 9.69623454e-01 2.44051231e-01 1.64120259e-02 2.09399562e+02] [-2.44041955e-01 9.69761199e-01 -2.59629475e-03 -1.22550699e+01] [-1.65493749e-02 -1.48779462e-03 9.99861943e-01 -2.01933573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.485898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.43, Y:-12.26, Z:-2.02 [[ 9.68977281e-01 2.46672226e-01 1.53571371e-02 2.09429834e+02] [-2.46664425e-01 9.69097909e-01 -2.42978912e-03 -1.22575073e+01] [-1.54819309e-02 -1.43364893e-03 9.99879120e-01 -2.01951891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:-12.26, Z:-2.02 [[ 9.67827354e-01 2.51131226e-01 1.55987033e-02 2.09460147e+02] [-2.51123746e-01 9.67951844e-01 -2.46830748e-03 -1.22554901e+01] [-1.57186627e-02 -1.52830932e-03 9.99875286e-01 -2.02084068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.545898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:209.49, Y:-12.26, Z:-2.02 [[ 9.67547394e-01 2.52182328e-01 1.60035769e-02 2.09489094e+02] [-2.52174603e-01 9.67678438e-01 -2.53201941e-03 -1.22561148e+01] [-1.61248468e-02 -1.58584687e-03 9.99868729e-01 -2.02178669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:-12.26, Z:-2.02 [[ 9.67550715e-01 2.52140115e-01 1.64613530e-02 2.09518106e+02] [-2.52131945e-01 9.67689362e-01 -2.60385426e-03 -1.22572088e+01] [-1.65860123e-02 -1.63107190e-03 9.99861112e-01 -2.02181922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:-12.26, Z:-2.02 [[ 9.67962429e-01 2.50584126e-01 1.60103612e-02 2.09547998e+02] [-2.50576197e-01 9.68093569e-01 -2.53191610e-03 -1.22583206e+01] [-1.61339857e-02 -1.56101576e-03 9.99868620e-01 -2.02260790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.635898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:209.58, Y:-12.26, Z:-2.02 [[ 9.69555829e-01 2.44484312e-01 1.37446492e-02 2.09578305e+02] [-2.44477862e-01 9.69652438e-01 -2.17347902e-03 -1.22577287e+01] [-1.38589141e-02 -1.25295318e-03 9.99903176e-01 -2.02441283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:-12.26, Z:-2.02 [[ 9.70628310e-01 2.40225936e-01 1.31218912e-02 2.09607277e+02] [-2.40219669e-01 9.70716336e-01 -2.07504515e-03 -1.22605267e+01] [-1.32361138e-02 -1.13803880e-03 9.99911751e-01 -2.02458856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:-12.26, Z:-2.02 [[ 9.71813319e-01 2.35375946e-01 1.33055114e-02 2.09637039e+02] [-2.35369061e-01 9.71903792e-01 -2.10334239e-03 -1.22631472e+01] [-1.34267532e-02 -1.08764959e-03 9.99909266e-01 -2.02456380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:-12.27, Z:-2.02 [[ 9.72843518e-01 2.31016140e-01 1.43886226e-02 2.09667130e+02] [-2.31007620e-01 9.72949283e-01 -2.27419514e-03 -1.22655992e+01] [-1.45247758e-02 -1.11144545e-03 9.99893892e-01 -2.02485328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:-12.27, Z:-2.03 [[ 9.73626403e-01 2.27599528e-01 1.58139713e-02 2.09695826e+02] [-2.27588794e-01 9.73754125e-01 -2.49906705e-03 -1.22678000e+01] [-1.59677063e-02 -1.16592498e-03 9.99871828e-01 -2.02510945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.785898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:209.72, Y:-12.27, Z:-2.03 [[ 9.74128494e-01 2.25365714e-01 1.68514531e-02 2.09724800e+02] [-2.25353202e-01 9.74273496e-01 -2.66252483e-03 -1.22703540e+01] [-1.70179660e-02 -1.20388762e-03 9.99854459e-01 -2.02601297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:-12.27, Z:-2.03 [[ 9.74604982e-01 2.23368965e-01 1.58567039e-02 2.09754235e+02] [-2.23357632e-01 9.74733345e-01 -2.50481433e-03 -1.22731050e+01] [-1.60155558e-02 -1.10051130e-03 9.99871137e-01 -2.02731350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:-12.28, Z:-2.03 [[ 9.74619096e-01 2.23433912e-01 1.39608190e-02 2.09783238e+02] [-2.23425137e-01 9.74718598e-01 -2.20505197e-03 -1.22771557e+01] [-1.41005533e-02 -9.70112142e-04 9.99900112e-01 -2.02821221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:-12.28, Z:-2.03 [[ 9.74538624e-01 2.23867342e-01 1.25651332e-02 2.09811823e+02] [-2.23860272e-01 9.74619229e-01 -1.98442850e-03 -1.22813918e+01] [-1.26904691e-02 -8.78931906e-04 9.99919086e-01 -2.02906107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:-12.29, Z:-2.03 [[ 9.74470588e-01 2.24174045e-01 1.23721760e-02 2.09840212e+02] [-2.24167220e-01 9.74548737e-01 -1.95359918e-03 -1.22856825e+01] [-1.24952347e-02 -8.69711347e-04 9.99921553e-01 -2.02953215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:-12.29, Z:-2.03 [[ 9.74500070e-01 2.23975967e-01 1.35786497e-02 2.09868108e+02] [-2.23967735e-01 9.74594202e-01 -2.14343618e-03 -1.22904579e+01] [-1.37137515e-02 -9.52400718e-04 9.99905509e-01 -2.02999406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:-12.30, Z:-2.03 [[ 9.74657749e-01 2.23161603e-01 1.55297138e-02 2.09896529e+02] [-2.23150751e-01 9.74780867e-01 -2.45031253e-03 -1.22958903e+01] [-1.56848835e-02 -1.07725120e-03 9.99876404e-01 -2.03002950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:-12.30, Z:-2.03 [[ 9.75221169e-01 2.20512144e-01 1.78344082e-02 2.09924635e+02] [-2.20497408e-01 9.75383504e-01 -2.81298223e-03 -1.23040599e+01] [-1.80156843e-02 -1.18916096e-03 9.99836997e-01 -2.03071555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:-12.31, Z:-2.03 [[ 9.75482692e-01 2.19357508e-01 1.77707970e-02 2.09953413e+02] [-2.19342697e-01 9.75643853e-01 -2.80232192e-03 -1.23107676e+01] [-1.79526792e-02 -1.16427801e-03 9.99838160e-01 -2.03110409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:-12.32, Z:-2.03 [[ 9.75581798e-01 2.18858645e-01 1.84675153e-02 2.09981582e+02] [-2.18842569e-01 9.75755836e-01 -2.91174446e-03 -1.23193136e+01] [-1.86570462e-02 -1.20083358e-03 9.99825221e-01 -2.03123630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:-12.33, Z:-2.03 [[ 9.75298327e-01 2.20085176e-01 1.88596941e-02 2.10010548e+02] [-2.20068643e-01 9.75479857e-01 -2.97335867e-03 -1.23255496e+01] [-1.90516438e-02 -1.25051554e-03 9.99817719e-01 -2.03095030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:-12.33, Z:-2.03 [[ 9.74878642e-01 2.21946404e-01 1.87464135e-02 2.10040082e+02] [-2.21930415e-01 9.75058027e-01 -2.95528881e-03 -1.23313697e+01] [-1.89347567e-02 -1.27935141e-03 9.99819903e-01 -2.03105077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:-12.34, Z:-2.03 [[ 9.74364595e-01 2.24252306e-01 1.80149828e-02 2.10068953e+02] [-2.24237940e-01 9.74530288e-01 -2.83959228e-03 -1.23368526e+01] [-1.81929315e-02 -1.27284445e-03 9.99833685e-01 -2.03109543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:-12.34, Z:-2.03 [[ 9.73792379e-01 2.26796683e-01 1.70782846e-02 2.10098200e+02] [-2.26784167e-01 9.73941321e-01 -2.69158264e-03 -1.23422013e+01] [-1.72436891e-02 -1.25204189e-03 9.99850533e-01 -2.03211353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:-12.35, Z:-2.03 [[ 9.73211453e-01 2.29329023e-01 1.63605399e-02 2.10127447e+02] [-2.29317898e-01 9.73348167e-01 -2.57811329e-03 -1.23473332e+01] [-1.65157378e-02 -1.24271526e-03 9.99862834e-01 -2.03290919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:-12.35, Z:-2.03 [[ 9.71976859e-01 2.34498056e-01 1.64817378e-02 2.10155061e+02] [-2.34487509e-01 9.72115664e-01 -2.59692217e-03 -1.23515168e+01] [-1.66311287e-02 -1.34061338e-03 9.99860794e-01 -2.03398318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:-12.36, Z:-2.03 [[ 9.71368029e-01 2.36984044e-01 1.68141532e-02 2.10183686e+02] [-2.36973454e-01 9.71512516e-01 -2.64826514e-03 -1.23560942e+01] [-1.69627569e-02 -1.41206788e-03 9.99855125e-01 -2.03378768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:-12.36, Z:-2.03 [[ 9.70762020e-01 2.39377983e-01 1.78684517e-02 2.10211378e+02] [-2.39366440e-01 9.70925225e-01 -2.81349198e-03 -1.23605492e+01] [-1.80224186e-02 -1.54587653e-03 9.99836388e-01 -2.03407927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:-12.36, Z:-2.03 [[ 9.70274680e-01 2.41286455e-01 1.86518899e-02 2.10240201e+02] [-2.41274248e-01 9.70452533e-01 -2.93578034e-03 -1.23643843e+01] [-1.88091378e-02 -1.65170737e-03 9.99821728e-01 -2.03415388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:-12.37, Z:-2.03 [[ 9.69877773e-01 2.42878399e-01 1.86329833e-02 2.10269249e+02] [-2.42866523e-01 9.70055285e-01 -2.93199308e-03 -1.23672974e+01] [-1.87871417e-02 -1.68165295e-03 9.99822092e-01 -2.03471491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:-12.37, Z:-2.04 [[ 9.69549612e-01 2.44230987e-01 1.80215303e-02 2.10297490e+02] [-2.44220123e-01 9.69715677e-01 -2.83503252e-03 -1.23694475e+01] [-1.81681633e-02 -1.65251567e-03 9.99833580e-01 -2.03580047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:-12.37, Z:-2.04 [[ 9.69106071e-01 2.46115645e-01 1.61404027e-02 2.10325921e+02] [-2.46107201e-01 9.69239290e-01 -2.53836919e-03 -1.23687112e+01] [-1.62686449e-02 -1.51232036e-03 9.99866513e-01 -2.03769626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:-12.37, Z:-2.04 [[ 9.69133759e-01 2.46024953e-01 1.58581217e-02 2.10353809e+02] [-2.46016806e-01 9.69262357e-01 -2.49297403e-03 -1.23706223e+01] [-1.59840142e-02 -1.48533915e-03 9.99871144e-01 -2.03784234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:-12.37, Z:-2.04 [[ 9.69373486e-01 2.45033043e-01 1.65484601e-02 2.10381806e+02] [-2.45024047e-01 9.69513514e-01 -2.60036071e-03 -1.23734422e+01] [-1.66811300e-02 -1.53404994e-03 9.99859683e-01 -2.03875797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:-12.38, Z:-2.04 [[ 9.69386136e-01 2.44982986e-01 1.65485951e-02 2.10409975e+02] [-2.44973997e-01 9.69526164e-01 -2.59950107e-03 -1.23777404e+01] [-1.66811295e-02 -1.53405521e-03 9.99859683e-01 -2.03930058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:-12.38, Z:-2.04 [[ 9.69736359e-01 2.43594431e-01 1.65271630e-02 2.10437690e+02] [-2.43585280e-01 9.69876011e-01 -2.59526086e-03 -1.23814781e+01] [-1.66614900e-02 -1.50905482e-03 9.99860049e-01 -2.03925243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:-12.39, Z:-2.04 [[ 9.70191797e-01 2.41106961e-01 2.43989849e-02 2.10464916e+02] [-2.41531270e-01 9.70257408e-01 1.62236989e-02 -1.23932191e+01] [-1.97616491e-02 -2.16332174e-02 9.99570648e-01 -2.04024136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:-12.38, Z:-2.04 [[ 9.70776647e-01 2.39644492e-01 1.27757197e-02 2.10495450e+02] [-2.39332740e-01 9.70687820e-01 -2.20226106e-02 -1.23806929e+01] [-1.76788328e-02 1.83213880e-02 9.99675840e-01 -2.04168157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:-12.39, Z:-2.04 [[ 9.72035090e-01 2.34312197e-01 1.56709537e-02 2.10522209e+02] [-2.34302801e-01 9.72160559e-01 -2.45883766e-03 -1.23911599e+01] [-1.58108188e-02 -1.28167186e-03 9.99874180e-01 -2.04058082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:-12.40, Z:-2.04 [[ 9.72646911e-01 2.31703444e-01 1.64772711e-02 2.10551207e+02] [-2.31692699e-01 9.72785595e-01 -2.58442526e-03 -1.23954961e+01] [-1.66276722e-02 -1.30393018e-03 9.99860900e-01 -2.04099863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:-12.40, Z:-2.04 [[ 9.73237242e-01 2.29120483e-01 1.76939396e-02 2.10578681e+02] [-2.29107684e-01 9.73397130e-01 -2.77438717e-03 -1.24002401e+01] [-1.78588989e-02 -1.35368060e-03 9.99839601e-01 -2.04148101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.715898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:210.61, Y:-12.41, Z:-2.04 [[ 9.73816647e-01 2.26575385e-01 1.85669693e-02 2.10607431e+02] [-2.26560853e-01 9.73992665e-01 -2.91014992e-03 -1.24051326e+01] [-1.87434603e-02 -1.37259596e-03 9.99823384e-01 -2.04208721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:-12.41, Z:-2.04 [[ 9.74303627e-01 2.24488403e-01 1.83684297e-02 2.10636727e+02] [-2.24473819e-01 9.74475868e-01 -2.87860990e-03 -1.24114934e+01] [-1.85458060e-02 -1.31859150e-03 9.99827142e-01 -2.04278546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:-12.42, Z:-2.04 [[ 9.75208570e-01 2.20768781e-01 1.51456648e-02 2.10665108e+02] [-2.20758423e-01 9.75325631e-01 -2.37323353e-03 -1.24185350e+01] [-1.52958910e-02 -1.02913542e-03 9.99882481e-01 -2.04401074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:-12.42, Z:-2.04 [[ 9.75498250e-01 2.19569113e-01 1.38769348e-02 2.10693981e+02] [-2.19560299e-01 9.75596509e-01 -2.17434347e-03 -1.24247893e+01] [-1.40157078e-02 -9.25755694e-04 9.99901347e-01 -2.04476107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:-12.43, Z:-2.05 [[ 9.75580260e-01 2.19098899e-01 1.54540776e-02 2.10720816e+02] [-2.19150350e-01 9.75689624e-01 1.69748751e-03 -1.24330754e+01] [-1.47064655e-02 -5.04280182e-03 9.99879138e-01 -2.04544704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.865898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:210.75, Y:-12.44, Z:-2.05 [[ 9.75834269e-01 2.18040527e-01 1.43460044e-02 2.10751766e+02] [-2.17973356e-01 9.75935600e-01 -6.10913599e-03 -1.24361565e+01] [-1.53328157e-02 2.83445752e-03 9.99878428e-01 -2.04686763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:-12.45, Z:-2.05 [[ 9.75832632e-01 2.17953860e-01 1.57095237e-02 2.10781832e+02] [-2.17942310e-01 9.75958543e-01 -2.46435034e-03 -1.24451807e+01] [-1.58689586e-02 -1.01897640e-03 9.99873561e-01 -2.04606336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:-12.45, Z:-2.05 [[ 9.75502912e-01 2.19386198e-01 1.62408115e-02 2.10811022e+02] [-2.19374044e-01 9.75637502e-01 -2.54813675e-03 -1.24520945e+01] [-1.64041708e-02 -1.07709768e-03 9.99864862e-01 -2.04552596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:-12.46, Z:-2.05 [[ 9.75124539e-01 2.21085196e-01 1.59207422e-02 2.10840364e+02] [-2.21073736e-01 9.75253896e-01 -2.49821628e-03 -1.24574584e+01] [-1.60790845e-02 -1.08358596e-03 9.99870136e-01 -2.04587270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:-12.46, Z:-2.05 [[ 9.74617590e-01 2.23329295e-01 1.56390262e-02 2.10869087e+02] [-2.23318529e-01 9.74742435e-01 -2.45369343e-03 -1.24621554e+01] [-1.57920041e-02 -1.10107154e-03 9.99874692e-01 -2.04622731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:-12.47, Z:-2.05 [[ 9.73283541e-01 2.28998639e-01 1.66964844e-02 2.10898652e+02] [-2.28987208e-01 9.73425909e-01 -2.61895571e-03 -1.24654003e+01] [-1.68525278e-02 -1.27429487e-03 9.99857174e-01 -2.04663292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:-12.47, Z:-2.05 [[ 9.72466917e-01 2.32368688e-01 1.76886495e-02 2.10927848e+02] [-2.32356419e-01 9.72626752e-01 -2.77414751e-03 -1.24682940e+01] [-1.78490788e-02 -1.41230459e-03 9.99839695e-01 -2.04718362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:-12.47, Z:-2.05 [[ 9.71633431e-01 2.35805526e-01 1.80063818e-02 2.10956060e+02] [-2.35793406e-01 9.71799103e-01 -2.82355612e-03 -1.24704503e+01] [-1.81643958e-02 -1.50232457e-03 9.99833885e-01 -2.04742020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-12.47, Z:-2.05 [[ 9.70878401e-01 2.38912082e-01 1.77805344e-02 2.10983921e+02] [-2.38900792e-01 9.71039979e-01 -2.78754934e-03 -1.24724923e+01] [-1.79315889e-02 -1.54141230e-03 9.99838028e-01 -2.04850671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:-12.47, Z:-2.05 [[ 9.70233826e-01 2.41591321e-01 1.67319178e-02 2.11012957e+02] [-2.41581734e-01 9.70376932e-01 -2.62225234e-03 -1.24745030e+01] [-1.68697805e-02 -1.49792780e-03 9.99856573e-01 -2.04930013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:-12.48, Z:-2.05 [[ 9.69658496e-01 2.43355068e-01 2.32532065e-02 2.11038268e+02] [-2.43761241e-01 9.69693734e-01 1.65686522e-02 -1.24844576e+01] [-1.85164231e-02 -2.17341648e-02 9.99592301e-01 -2.05052382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:-12.47, Z:-2.05 [[ 9.69539477e-01 2.44674776e-01 1.12896835e-02 2.11071073e+02] [-2.44389403e-01 9.69426322e-01 -2.20550618e-02 -1.24680391e+01] [-1.63408337e-02 1.86241740e-02 9.99693012e-01 -2.05333204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:-12.48, Z:-2.05 [[ 9.69757561e-01 2.43207397e-01 2.05045276e-02 2.11096194e+02] [-2.43457240e-01 9.69852750e-01 1.06872136e-02 -1.24841406e+01] [-1.72871631e-02 -1.53559819e-02 9.99732638e-01 -2.05265323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:-12.48, Z:-2.05 [[ 9.70174665e-01 2.42002210e-01 1.40017894e-02 2.11126569e+02] [-2.41785286e-01 9.70205073e-01 -1.55561005e-02 -1.24759190e+01] [-1.73492178e-02 1.17067079e-02 9.99780955e-01 -2.05366257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:-12.49, Z:-2.05 [[ 9.70820588e-01 2.38482171e-01 2.51722136e-02 2.11152127e+02] [-2.39004721e-01 9.70806457e-01 2.02871137e-02 -1.24930382e+01] [-1.95992326e-02 -2.57114255e-02 9.99477260e-01 -2.05356435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:-12.48, Z:-2.05 [[ 9.70900593e-01 2.38953456e-01 1.59148963e-02 2.11183268e+02] [-2.38642271e-01 9.70917094e-01 -1.92318374e-02 -1.24799341e+01] [-2.00475589e-02 1.48742353e-02 9.99688378e-01 -2.05480719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:-12.49, Z:-2.05 [[ 9.70862005e-01 2.39021607e-01 1.71941583e-02 2.11210698e+02] [-2.38947856e-01 9.71012266e-01 -6.25319102e-03 -1.24878011e+01] [-1.81903864e-02 1.96247832e-03 9.99832615e-01 -2.05335315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:-12.49, Z:-2.05 [[ 9.70583923e-01 2.40230280e-01 1.60081718e-02 2.11239327e+02] [-2.40162345e-01 9.70713775e-01 -6.06761236e-03 -1.24896568e+01] [-1.69969771e-02 2.04456693e-03 9.99853451e-01 -2.05327781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:-12.49, Z:-2.05 [[ 9.70189036e-01 2.41815013e-01 1.60851787e-02 2.11268086e+02] [-2.41806288e-01 9.70321285e-01 -2.51440601e-03 -1.24920468e+01] [-1.62158124e-02 -1.45004822e-03 9.99867464e-01 -2.05362324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:-12.49, Z:-2.05 [[ 9.69605211e-01 2.44189779e-01 1.53976381e-02 2.11295352e+02] [-2.44182087e-01 9.69726414e-01 -2.40649028e-03 -1.24927403e+01] [-1.55191367e-02 -1.42648190e-03 9.99878553e-01 -2.05386854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:-12.49, Z:-2.06 [[ 9.68436392e-01 2.48487024e-01 1.96253215e-02 2.11323046e+02] [-2.48584794e-01 9.68606455e-01 2.67129634e-03 -1.24932397e+01] [-1.83454306e-02 -7.46553708e-03 9.99803836e-01 -2.05536847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:-12.49, Z:-2.05 [[ 9.68150983e-01 2.49774732e-01 1.72121500e-02 2.11351778e+02] [-2.49663176e-01 9.68296433e-01 -8.38549166e-03 -1.24901161e+01] [-1.87609474e-02 3.82118196e-03 9.99816696e-01 -2.05496046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:-12.49, Z:-2.06 [[ 9.68006789e-01 2.50225071e-01 1.87155253e-02 2.11378843e+02] [-2.50214938e-01 9.68185914e-01 -2.91899340e-03 -1.24938069e+01] [-1.88505133e-02 -1.85729857e-03 9.99820588e-01 -2.05551683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:-12.50, Z:-2.06 [[ 9.68050946e-01 2.50054354e-01 1.87132805e-02 2.11406583e+02] [-2.50044232e-01 9.68230022e-01 -2.91646882e-03 -1.24953157e+01] [-1.88480357e-02 -1.85585745e-03 9.99820638e-01 -2.05609906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:-12.50, Z:-2.06 [[ 9.68226827e-01 2.49425034e-01 1.79990261e-02 2.11433500e+02] [-2.49415583e-01 9.68392485e-01 -2.80399406e-03 -1.24963282e+01] [-1.81295079e-02 -1.77433533e-03 9.99834073e-01 -2.05670399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:-12.50, Z:-2.06 [[ 9.68480658e-01 2.48478427e-01 1.74266237e-02 2.11461964e+02] [-2.48469436e-01 9.68635935e-01 -2.71370309e-03 -1.24978788e+01] [-1.75543507e-02 -1.70181442e-03 9.99844462e-01 -2.05803474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:-12.50, Z:-2.06 [[ 9.68910320e-01 2.46806571e-01 1.73005436e-02 2.11489953e+02] [-2.46797466e-01 9.69063341e-01 -2.69293311e-03 -1.24968249e+01] [-1.74299562e-02 -1.66051964e-03 9.99846708e-01 -2.05902417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:-12.50, Z:-2.06 [[ 9.69008382e-01 2.46426162e-01 1.72308558e-02 2.11518137e+02] [-2.46417090e-01 9.69160168e-01 -2.68090143e-03 -1.24983952e+01] [-1.73601034e-02 -1.64816140e-03 9.99847944e-01 -2.05890639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.705898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:211.55, Y:-12.50, Z:-2.06 [[ 9.69103068e-01 2.46061369e-01 1.71186095e-02 2.11545606e+02] [-2.46052379e-01 9.69252877e-01 -2.66227037e-03 -1.24989179e+01] [-1.72473434e-02 -1.63206020e-03 9.99849922e-01 -2.05923843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:-12.50, Z:-2.06 [[ 9.69079679e-01 2.46186894e-01 1.66309686e-02 2.11573221e+02] [-2.46178449e-01 9.69221073e-01 -2.58510902e-03 -1.25000807e+01] [-1.67555052e-02 -1.58900945e-03 9.99858354e-01 -2.05953025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:-12.50, Z:-2.06 [[ 9.69141730e-01 2.45985542e-01 1.59818663e-02 2.11602154e+02] [-2.45977737e-01 9.69272298e-01 -2.48295649e-03 -1.24977342e+01] [-1.61015517e-02 -1.52484656e-03 9.99869199e-01 -2.06060611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:-12.50, Z:-2.06 [[ 9.69254130e-01 2.45530357e-01 1.61640161e-02 2.11628975e+02] [-2.45522327e-01 9.69387686e-01 -2.51017187e-03 -1.24982608e+01] [-1.62855216e-02 -1.53563241e-03 9.99866203e-01 -2.06133798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:-12.50, Z:-2.06 [[ 9.69435566e-01 2.44807948e-01 1.62404338e-02 2.11657568e+02] [-2.44799764e-01 9.69570380e-01 -2.52069973e-03 -1.24985869e+01] [-1.63633309e-02 -1.53199841e-03 9.99864938e-01 -2.06227275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:-12.50, Z:-2.06 [[ 9.69626790e-01 2.44028815e-01 1.65476956e-02 2.11685268e+02] [-2.44020225e-01 9.69766745e-01 -2.56723006e-03 -1.24993892e+01] [-1.66738830e-02 -1.54871735e-03 9.99859782e-01 -2.06365406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:-12.50, Z:-2.06 [[ 9.69923538e-01 2.42857557e-01 1.63871096e-02 2.11713434e+02] [-2.42848986e-01 9.70060778e-01 -2.54121037e-03 -1.25003354e+01] [-1.65136444e-02 -1.51481319e-03 9.99862493e-01 -2.06417303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:-12.50, Z:-2.06 [[ 9.70487243e-01 2.40607412e-01 1.62044300e-02 2.11741364e+02] [-2.40598737e-01 9.70621419e-01 -2.51181126e-03 -1.24988321e+01] [-1.63327273e-02 -1.46108461e-03 9.99865545e-01 -2.06370718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:-12.50, Z:-2.06 [[ 9.70760436e-01 2.39523583e-01 1.58943014e-02 2.11769650e+02] [-2.39515114e-01 9.70889513e-01 -2.46244262e-03 -1.24998792e+01] [-1.60214237e-02 -1.41648354e-03 9.99870645e-01 -2.06406892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:-12.50, Z:-2.06 [[ 9.71046055e-01 2.38368188e-01 1.58166231e-02 2.11797136e+02] [-2.38359665e-01 9.71173862e-01 -2.44937025e-03 -1.25006875e+01] [-1.59445429e-02 -1.39159368e-03 9.99871909e-01 -2.06465291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.005898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:211.83, Y:-12.50, Z:-2.07 [[ 9.71387953e-01 2.36934873e-01 1.63496386e-02 2.11825708e+02] [-2.36925588e-01 9.71524504e-01 -2.53050825e-03 -1.25016265e+01] [-1.64836402e-02 -1.41554251e-03 9.99863134e-01 -2.06607068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:-12.51, Z:-2.06 [[ 9.72185464e-01 2.33750023e-01 1.47088405e-02 2.11852453e+02] [-2.33890695e-01 9.72224120e-01 8.68346973e-03 -1.25050207e+01] [-1.22705282e-02 -1.18822040e-02 9.99854113e-01 -2.06004905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:-12.50, Z:-2.07 [[ 9.72614931e-01 2.31968582e-01 1.45180315e-02 2.11883124e+02] [-2.31787710e-01 9.72677874e-01 -1.31229378e-02 -1.24985249e+01] [-1.71654773e-02 9.39846401e-03 9.99808489e-01 -2.06656915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.095898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.91, Y:-12.50, Z:-2.07 [[ 9.73136460e-01 2.29614378e-01 1.68127485e-02 2.11910669e+02] [-2.29603566e-01 9.73280771e-01 -2.59666145e-03 -1.25048549e+01] [-1.69597557e-02 -1.33336109e-03 9.99855284e-01 -2.06725749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.125898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.94, Y:-12.51, Z:-2.07 [[ 9.73544940e-01 2.27795472e-01 1.78737884e-02 2.11937654e+02] [-2.27782973e-01 9.73708018e-01 -2.75913560e-03 -1.25073178e+01] [-1.80323696e-02 -1.38520215e-03 9.99836444e-01 -2.06772084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:-12.51, Z:-2.07 [[ 9.74036683e-01 2.25656304e-01 1.82146150e-02 2.11965512e+02] [-2.25642982e-01 9.74206009e-01 -2.81011577e-03 -1.25101409e+01] [-1.83789077e-02 -1.37284422e-03 9.99830151e-01 -2.06816827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.99, Y:-12.51, Z:-2.07 [[ 9.74880445e-01 2.21991106e-01 1.81126023e-02 2.11992854e+02] [-2.21977326e-01 9.75047827e-01 -2.79312095e-03 -1.25126253e+01] [-1.82807015e-02 -1.29762803e-03 9.99832052e-01 -2.06851703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:-12.52, Z:-2.07 [[ 9.75252523e-01 2.20321032e-01 1.84705096e-02 2.12019576e+02] [-2.20306434e-01 9.75426559e-01 -2.84674049e-03 -1.25163531e+01] [-1.86438224e-02 -1.29288126e-03 9.99825353e-01 -2.06975789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:-12.52, Z:-2.07 [[ 9.75548769e-01 2.18987418e-01 1.86844821e-02 2.12047382e+02] [-2.18972261e-01 9.75726839e-01 -2.87840630e-03 -1.25205485e+01] [-1.88612854e-02 -1.28335756e-03 9.99821286e-01 -2.07026300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:-12.53, Z:-2.07 [[ 9.75731389e-01 2.18161859e-01 1.88058274e-02 2.12075376e+02] [-2.18146377e-01 9.75911765e-01 -2.89576766e-03 -1.25251440e+01] [-1.89845743e-02 -1.27693170e-03 9.99818961e-01 -2.07114509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:-12.53, Z:-2.07 [[ 9.75807851e-01 2.17911251e-01 1.77123015e-02 2.12103033e+02] [-2.17897496e-01 9.75967852e-01 -2.72622373e-03 -1.25301547e+01] [-1.78807116e-02 -1.19919563e-03 9.99839408e-01 -2.07125133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:-12.54, Z:-2.07 [[ 9.75728941e-01 2.18312891e-01 1.71030925e-02 2.12130554e+02] [-2.18300148e-01 9.75878128e-01 -2.63130757e-03 -1.25350689e+01] [-1.72649823e-02 -1.16616467e-03 9.99850269e-01 -2.07165447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:-12.54, Z:-2.07 [[ 9.75501664e-01 2.19355551e-01 1.67226389e-02 2.12157163e+02] [-2.19343540e-01 9.75644299e-01 -2.57163160e-03 -1.25402758e+01] [-1.68794490e-02 -1.15937191e-03 9.99856860e-01 -2.07273512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:-12.54, Z:-2.07 [[ 9.75537507e-01 2.19196076e-01 1.67228113e-02 2.12185336e+02] [-2.19184061e-01 9.75680142e-01 -2.57050982e-03 -1.25444194e+01] [-1.68795606e-02 -1.15774495e-03 9.99856860e-01 -2.07330400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:-12.55, Z:-2.07 [[ 9.75281400e-01 2.20343279e-01 1.65840218e-02 2.12212327e+02] [-2.20331678e-01 9.75421688e-01 -2.54614510e-03 -1.25494244e+01] [-1.67374405e-02 -1.17077740e-03 9.99859234e-01 -2.07394906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:-12.55, Z:-2.07 [[ 9.74980483e-01 2.21675752e-01 1.65202455e-02 2.12239986e+02] [-2.21664452e-01 9.75119708e-01 -2.53504902e-03 -1.25548064e+01] [-1.66711759e-02 -1.19032785e-03 9.99860318e-01 -2.07469685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:-12.56, Z:-2.08 [[ 9.74536101e-01 2.23564223e-01 1.72749922e-02 2.12267545e+02] [-2.23552184e-01 9.74688361e-01 -2.64961439e-03 -1.25604621e+01] [-1.74300928e-02 -1.27971735e-03 9.99847265e-01 -2.07567804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:-12.57, Z:-2.08 [[ 9.74374210e-01 2.24263351e-01 1.73449564e-02 2.12294051e+02] [-2.24251345e-01 9.74527713e-01 -2.65915884e-03 -1.25652689e+01] [-1.74994926e-02 -1.29861402e-03 9.99846029e-01 -2.07599315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:-12.57, Z:-2.08 [[ 9.74235998e-01 2.24857672e-01 1.74140049e-02 2.12321822e+02] [-2.24845690e-01 9.74390731e-01 -2.66831032e-03 -1.25701080e+01] [-1.75680350e-02 -1.31589998e-03 9.99844804e-01 -2.07706856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:-12.57, Z:-2.08 [[ 9.74161854e-01 2.25164685e-01 1.75939397e-02 2.12348688e+02] [-2.25152525e-01 9.74319803e-01 -2.69466169e-03 -1.25749585e+01] [-1.77488665e-02 -1.33628333e-03 9.99841583e-01 -2.07734691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:-12.58, Z:-2.08 [[ 9.74192378e-01 2.25035124e-01 1.75614217e-02 2.12376233e+02] [-2.25023014e-01 9.74349740e-01 -2.68823858e-03 -1.25798098e+01] [-1.77159148e-02 -1.33286251e-03 9.99842172e-01 -2.07768567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:-12.58, Z:-2.08 [[ 9.74231604e-01 2.24863356e-01 1.75855727e-02 2.12402749e+02] [-2.24851205e-01 9.74389396e-01 -2.69079848e-03 -1.25846450e+01] [-1.77402575e-02 -1.33267629e-03 9.99841741e-01 -2.07753848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:-12.59, Z:-2.08 [[ 9.74254338e-01 2.24723937e-01 1.81007346e-02 2.12428857e+02] [-2.24711085e-01 9.74421506e-01 -2.76713146e-03 -1.25903528e+01] [-1.82595858e-02 -1.37154590e-03 9.99832339e-01 -2.07766389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:-12.60, Z:-2.08 [[ 9.74239395e-01 2.24755589e-01 1.85074647e-02 2.12456052e+02] [-2.24742187e-01 9.74414159e-01 -2.82783322e-03 -1.25952267e+01] [-1.86695070e-02 -1.40442157e-03 9.99824723e-01 -2.07773665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:-12.60, Z:-2.08 [[ 9.74153823e-01 2.25089095e-01 1.89533189e-02 2.12482437e+02] [-2.25075127e-01 9.74337112e-01 -2.89461178e-03 -1.25995399e+01] [-1.91184675e-02 -1.44612352e-03 9.99816180e-01 -2.07830749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.755898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:212.51, Y:-12.60, Z:-2.08 [[ 9.74120757e-01 2.25220156e-01 1.90953340e-02 2.12509885e+02] [-2.25206034e-01 9.74306803e-01 -2.91473290e-03 -1.26037054e+01] [-1.92611704e-02 -1.46108263e-03 9.99813419e-01 -2.07965385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.785898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:212.54, Y:-12.61, Z:-2.08 [[ 9.74123807e-01 2.25169974e-01 1.95266735e-02 2.12536788e+02] [-2.25155224e-01 9.74318351e-01 -2.97916489e-03 -1.26075351e+01] [-1.96960148e-02 -1.49445711e-03 9.99804898e-01 -2.08047019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.815898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.56, Y:-12.61, Z:-2.08 [[ 9.74315164e-01 2.24362809e-01 1.92689231e-02 2.12564630e+02] [-2.24348320e-01 9.74504591e-01 -2.93827409e-03 -1.26123108e+01] [-1.94368935e-02 -1.46014553e-03 9.99810020e-01 -2.07992575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:-12.62, Z:-2.08 [[ 9.74638083e-01 2.23032644e-01 1.83588546e-02 2.12591022e+02] [-2.23019280e-01 9.74810018e-01 -2.79822799e-03 -1.26162881e+01] [-1.85204916e-02 -1.36711898e-03 9.99827546e-01 -2.08045719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:-12.62, Z:-2.08 [[ 9.74949413e-01 2.21728800e-01 1.76062859e-02 2.12618903e+02] [-2.21716320e-01 9.75107522e-01 -2.68229677e-03 -1.26206532e+01] [-1.77627643e-02 -1.28849726e-03 9.99841399e-01 -2.08152768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.65, Y:-12.62, Z:-2.08 [[ 9.75618072e-01 2.18815175e-01 1.70087377e-02 2.12646590e+02] [-2.18803106e-01 9.75765593e-01 -2.59012609e-03 -1.26236833e+01] [-1.71632999e-02 -1.19459081e-03 9.99851986e-01 -2.08177077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.67, Y:-12.63, Z:-2.08 [[ 9.75863101e-01 2.17714467e-01 1.70768735e-02 2.12673978e+02] [-2.17702154e-01 9.76011791e-01 -2.59931198e-03 -1.26267068e+01] [-1.72331377e-02 -1.18109949e-03 9.99850801e-01 -2.08223019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.70, Y:-12.63, Z:-2.08 [[ 9.76018435e-01 2.17004177e-01 1.72395512e-02 2.12701774e+02] [-2.16991538e-01 9.76169961e-01 -2.62286827e-03 -1.26301131e+01] [-1.73979054e-02 -1.18086895e-03 9.99847948e-01 -2.08232075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:-12.63, Z:-2.08 [[ 9.76116855e-01 2.16490901e-01 1.80990296e-02 2.12729248e+02] [-2.16476908e-01 9.76283859e-01 -2.75230317e-03 -1.26332357e+01] [-1.82656390e-02 -1.23145244e-03 9.99832411e-01 -2.08285149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:-12.64, Z:-2.08 [[ 9.76068388e-01 2.16647723e-01 1.88219599e-02 2.12756612e+02] [-2.16632645e-01 9.76249001e-01 -2.86087005e-03 -1.26365718e+01] [-1.89947206e-02 -1.28504613e-03 9.99818758e-01 -2.08262646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.78, Y:-12.64, Z:-2.08 [[ 9.75981308e-01 2.17051111e-01 1.86896300e-02 2.12783470e+02] [-2.17036341e-01 9.76159395e-01 -2.83945844e-03 -1.26389655e+01] [-1.88603655e-02 -1.28507056e-03 9.99821302e-01 -2.08314006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.81, Y:-12.64, Z:-2.08 [[ 9.76122117e-01 2.16609935e-01 1.63018241e-02 2.12811634e+02] [-2.16598658e-01 9.76257596e-01 -2.47547725e-03 -1.26399454e+01] [-1.64509926e-02 -1.11458512e-03 9.99864052e-01 -2.08397905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.84, Y:-12.64, Z:-2.09 [[ 9.76363872e-01 2.15570726e-01 1.55836855e-02 2.12838151e+02] [-2.15560300e-01 9.76487665e-01 -2.36566094e-03 -1.26424489e+01] [-1.57272440e-02 -1.04947805e-03 9.99875768e-01 -2.08511657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.87, Y:-12.64, Z:-2.09 [[ 9.76651053e-01 2.14264373e-01 1.56044335e-02 2.12866524e+02] [-2.14253774e-01 9.76775161e-01 -2.36748001e-03 -1.26449947e+01] [-1.57492897e-02 -1.03110693e-03 9.99875441e-01 -2.08533716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.89, Y:-12.65, Z:-2.09 [[ 9.77157409e-01 2.11810651e-01 1.73102987e-02 2.12894854e+02] [-2.11797248e-01 9.77310102e-01 -2.62491837e-03 -1.26453131e+01] [-1.74735154e-02 -1.10131519e-03 9.99846720e-01 -2.08588229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:-12.65, Z:-2.09 [[ 9.77467072e-01 2.10320047e-01 1.79888934e-02 2.12922238e+02] [-2.10305345e-01 9.77631949e-01 -2.72655577e-03 -1.26478642e+01] [-1.81599663e-02 -1.11804195e-03 9.99834469e-01 -2.08663492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.95, Y:-12.65, Z:-2.09 [[ 9.77916271e-01 2.08199636e-01 1.82394908e-02 2.12950146e+02] [-2.08184200e-01 9.78085738e-01 -2.76202014e-03 -1.26512012e+01] [-1.84148374e-02 -1.09614938e-03 9.99829832e-01 -2.08739226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.98, Y:-12.65, Z:-2.09 [[ 9.78490657e-01 2.05518153e-01 1.78416262e-02 2.12977277e+02] [-2.05502961e-01 9.78652768e-01 -2.70052030e-03 -1.26546173e+01] [-1.80157628e-02 -1.02407314e-03 9.99837179e-01 -2.08802044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.00, Y:-12.66, Z:-2.09 [[ 9.79180090e-01 2.02249449e-01 1.73641038e-02 2.13004761e+02] [-2.02234573e-01 9.79333588e-01 -2.62676132e-03 -1.26581027e+01] [-1.75365111e-02 -9.39549733e-04 9.99845782e-01 -2.08858496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.325898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:213.03, Y:-12.66, Z:-2.09 [[ 9.79769242e-01 1.99437064e-01 1.66460250e-02 2.13031804e+02] [-1.99423002e-01 9.79910266e-01 -2.51724539e-03 -1.26619146e+01] [-1.68136428e-02 -8.53280671e-04 9.99858277e-01 -2.08967606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.06, Y:-12.66, Z:-2.09 [[ 9.80546529e-01 1.95609261e-01 1.62948367e-02 2.13058265e+02] [-1.95595282e-01 9.80681610e-01 -2.46277411e-03 -1.26648496e+01] [-1.64617881e-02 -7.72328570e-04 9.99864197e-01 -2.08943638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.09, Y:-12.67, Z:-2.09 [[ 9.80738355e-01 1.94626591e-01 1.65157440e-02 2.13085781e+02] [-1.94612115e-01 9.80877108e-01 -2.49473965e-03 -1.26673934e+01] [-1.66854579e-02 -7.67477008e-04 9.99860494e-01 -2.08975378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:-12.67, Z:-2.09 [[ 9.80669198e-01 1.94955106e-01 1.67460899e-02 2.13113415e+02] [-1.94940291e-01 9.80811853e-01 -2.52833755e-03 -1.26698189e+01] [-1.69176758e-02 -7.85024885e-04 9.99856578e-01 -2.08999227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.14, Y:-12.67, Z:-2.09 [[ 9.80457223e-01 1.96033721e-01 1.65654668e-02 2.13141086e+02] [-1.96019398e-01 9.80596832e-01 -2.49985694e-03 -1.26717666e+01] [-1.67341005e-02 -7.96150028e-04 9.99859658e-01 -2.09032266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.17, Y:-12.67, Z:-2.09 [[ 9.79633889e-01 2.00144625e-01 1.61112616e-02 2.13168046e+02] [-2.00131646e-01 9.79766001e-01 -2.43037862e-03 -1.26722604e+01] [-1.62716935e-02 -8.43492047e-04 9.99867251e-01 -2.09082255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:-12.68, Z:-2.09 [[ 9.79274295e-01 2.01883658e-01 1.62740415e-02 2.13194812e+02] [-2.01870694e-01 9.79409112e-01 -2.45254172e-03 -1.26753296e+01] [-1.64340726e-02 -8.83540990e-04 9.99864561e-01 -2.09107557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.22, Y:-12.68, Z:-2.09 [[ 9.79095394e-01 2.02700704e-01 1.68711214e-02 2.13222413e+02] [-2.02686917e-01 9.79240296e-01 -2.54104317e-03 -1.26790709e+01] [-1.70359532e-02 -9.31631922e-04 9.99854444e-01 -2.09082686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:-12.68, Z:-2.09 [[ 9.79049287e-01 2.02846419e-01 1.77714177e-02 2.13250202e+02] [-2.02831171e-01 9.79210069e-01 -2.67525421e-03 -1.26839939e+01] [-1.79446169e-02 -9.85391725e-04 9.99838497e-01 -2.09085642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:-12.69, Z:-2.09 [[ 9.79125123e-01 2.02399960e-01 1.86614283e-02 2.13276977e+02] [-2.02383092e-01 9.79302405e-01 -2.80780926e-03 -1.26893740e+01] [-1.88434821e-02 -1.02756098e-03 9.99821918e-01 -2.09175696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:-12.69, Z:-2.09 [[ 9.79226935e-01 2.01869763e-01 1.90580295e-02 2.13304365e+02] [-2.01852102e-01 9.79411821e-01 -2.86582071e-03 -1.26948995e+01] [-1.92441819e-02 -1.04061448e-03 9.99814272e-01 -2.09270467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.655898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:213.33, Y:-12.70, Z:-2.09 [[ 9.79471167e-01 2.00683348e-01 1.90375080e-02 2.13330419e+02] [-2.00665528e-01 9.79655633e-01 -2.86136374e-03 -1.27000049e+01] [-1.92244300e-02 -1.01754832e-03 9.99814676e-01 -2.09498929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.36, Y:-12.71, Z:-2.10 [[ 9.79533579e-01 2.00359528e-01 1.92360780e-02 2.13357780e+02] [-2.00341304e-01 9.79721906e-01 -2.88956538e-03 -1.27050988e+01] [-1.94249589e-02 -1.02335463e-03 9.99810794e-01 -2.09503571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.39, Y:-12.71, Z:-2.10 [[ 9.79555654e-01 2.00275480e-01 1.89855691e-02 2.13385748e+02] [-2.00257738e-01 9.79739104e-01 -2.85060671e-03 -1.27101816e+01] [-1.91718111e-02 -1.00967920e-03 9.99815694e-01 -2.09519537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.41, Y:-12.72, Z:-2.10 [[ 9.79555855e-01 2.00320820e-01 1.84904313e-02 2.13412142e+02] [-2.00304022e-01 9.79729860e-01 -2.77499998e-03 -1.27152001e+01] [-1.86715179e-02 -9.85440274e-04 9.99825186e-01 -2.09551009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.44, Y:-12.72, Z:-2.10 [[ 9.79255754e-01 2.01936725e-01 1.67250517e-02 2.13439459e+02] [-2.01923238e-01 9.79398138e-01 -2.50879197e-03 -1.27215685e+01] [-1.68871017e-02 -9.20427638e-04 9.99856979e-01 -2.09579122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.805898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:213.47, Y:-12.73, Z:-2.10 [[ 9.79096057e-01 2.02795068e-01 1.56547705e-02 2.13466730e+02] [-2.02783377e-01 9.79220809e-01 -2.34724955e-03 -1.27259406e+01] [-1.58054876e-02 -8.76344434e-04 9.99874701e-01 -2.09679447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:-12.73, Z:-2.10 [[ 9.78854747e-01 2.03969538e-01 1.54858309e-02 2.13492986e+02] [-2.03958261e-01 9.78976834e-01 -2.32084719e-03 -1.27300326e+01] [-1.56336518e-02 -8.86690856e-04 9.99877394e-01 -2.09730175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.52, Y:-12.73, Z:-2.10 [[ 9.78643584e-01 2.04959061e-01 1.57644832e-02 2.13520401e+02] [-2.04947526e-01 9.78770114e-01 -2.36118401e-03 -1.27333660e+01] [-1.59137511e-02 -9.20134257e-04 9.99872945e-01 -2.09721128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.55, Y:-12.74, Z:-2.10 [[ 9.78466967e-01 2.05729007e-01 1.66724648e-02 2.13547835e+02] [-2.05716237e-01 9.78608502e-01 -2.49588664e-03 -1.27360353e+01] [-1.68292921e-02 -9.87654101e-04 9.99857890e-01 -2.09716464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.58, Y:-12.74, Z:-2.10 [[ 9.78385687e-01 2.06061769e-01 1.73203529e-02 2.13575387e+02] [-2.06048062e-01 9.78538441e-01 -2.59158683e-03 -1.27369887e+01] [-1.74826581e-02 -1.03325370e-03 9.99846633e-01 -2.09761942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.60, Y:-12.74, Z:-2.10 [[ 9.78694322e-01 2.04614089e-01 1.70439932e-02 2.13603351e+02] [-2.04600623e-01 9.78842219e-01 -2.54878466e-03 -1.27404399e+01] [-1.72048974e-02 -9.92730544e-04 9.99851492e-01 -2.09841832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.63, Y:-12.74, Z:-2.10 [[ 9.79207914e-01 2.02170111e-01 1.67065348e-02 2.13630557e+02] [-2.02156836e-01 9.79349977e-01 -2.49718336e-03 -1.27436483e+01] [-1.68664003e-02 -9.32078524e-04 9.99857318e-01 -2.09888080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:-12.75, Z:-2.10 [[ 9.79907573e-01 1.98749855e-01 1.67225607e-02 2.13658454e+02] [-1.98736083e-01 9.80049860e-01 -2.49814308e-03 -1.27462905e+01] [-1.68854489e-02 -8.75426899e-04 9.99857047e-01 -2.09917957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.69, Y:-12.75, Z:-2.10 [[ 9.80649020e-01 1.95019189e-01 1.71760371e-02 2.13686213e+02] [-1.95004110e-01 9.80799072e-01 -2.56463197e-03 -1.27487916e+01] [-1.73463937e-02 -8.34394002e-04 9.99849192e-01 -2.09861443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.71, Y:-12.75, Z:-2.10 [[ 9.81343687e-01 1.91383620e-01 1.83542074e-02 2.13713924e+02] [-1.91365793e-01 9.81514967e-01 -2.73915304e-03 -1.27512251e+01] [-1.85391583e-02 -8.24316906e-04 9.99827795e-01 -2.09844849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.74, Y:-12.75, Z:-2.10 [[ 9.82439763e-01 1.85429319e-01 2.06901066e-02 2.13740947e+02] [-1.85405380e-01 9.82657276e-01 -3.08611147e-03 -1.27529993e+01] [-2.09035393e-02 -8.04138446e-04 9.99781174e-01 -2.09779114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.77, Y:-12.76, Z:-2.10 [[ 9.82865413e-01 1.83062641e-01 2.15324966e-02 2.13769231e+02] [-1.83036185e-01 9.83100936e-01 -3.20994953e-03 -1.27557514e+01] [-2.17562394e-02 -7.86277667e-04 9.99762996e-01 -2.09796493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.80, Y:-12.76, Z:-2.10 [[ 9.83167434e-01 1.81413492e-01 2.17011758e-02 2.13797132e+02] [-1.81386252e-01 9.83406616e-01 -3.23355266e-03 -1.27580923e+01] [-2.19276899e-02 -7.57171276e-04 9.99759273e-01 -2.09798522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.82, Y:-12.76, Z:-2.10 [[ 9.83304396e-01 1.80627524e-01 2.20490808e-02 2.13824003e+02] [-1.80599244e-01 9.83551285e-01 -3.28370808e-03 -1.27599073e+01] [-2.22795298e-02 -7.53162731e-04 9.99751497e-01 -2.09913037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.85, Y:-12.76, Z:-2.10 [[ 9.83296020e-01 1.80708606e-01 2.17562918e-02 2.13850834e+02] [-1.80681132e-01 9.83536396e-01 -3.23826672e-03 -1.27621632e+01] [-2.19832874e-02 -7.46776647e-04 9.99758059e-01 -2.09922617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.88, Y:-12.76, Z:-2.10 [[ 9.83376693e-01 1.80295801e-01 2.15337885e-02 2.13878311e+02] [-1.80268827e-01 9.83612164e-01 -3.20334618e-03 -1.27631378e+01] [-2.17584462e-02 -7.31774822e-04 9.99762989e-01 -2.10063585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.91, Y:-12.77, Z:-2.10 [[ 9.83526825e-01 1.79577497e-01 2.06617353e-02 2.13906170e+02] [-1.79552553e-01 9.83743588e-01 -3.07135934e-03 -1.27659683e+01] [-2.08773966e-02 -6.89103004e-04 9.99781806e-01 -2.10082597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.93, Y:-12.77, Z:-2.10 [[ 9.83537945e-01 1.79516558e-01 2.06619619e-02 2.13934366e+02] [-1.79491632e-01 9.83754710e-01 -3.06983416e-03 -1.27700328e+01] [-2.08773884e-02 -6.89350887e-04 9.99781806e-01 -2.10139512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.96, Y:-12.77, Z:-2.10 [[ 9.83714806e-01 1.78662090e-01 1.96223700e-02 2.13960874e+02] [-1.78639463e-01 9.83910285e-01 -2.91420167e-03 -1.27731606e+01] [-1.98273090e-02 -6.38586312e-04 9.99803216e-01 -2.10259516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.99, Y:-12.78, Z:-2.10 [[ 9.83800858e-01 1.78272827e-01 1.88327284e-02 2.13988786e+02] [-1.78251944e-01 9.83980910e-01 -2.79532165e-03 -1.27772760e+01] [-1.90293751e-02 -6.06930592e-04 9.99818741e-01 -2.10359723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.02, Y:-12.78, Z:-2.10 [[ 9.83603475e-01 1.79391574e-01 1.85166591e-02 2.14016535e+02] [-1.79371607e-01 9.83777556e-01 -2.74713509e-03 -1.27816295e+01] [-1.87090865e-02 -6.19271281e-04 9.99824778e-01 -2.10382545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.04, Y:-12.78, Z:-2.10 [[ 9.83359470e-01 1.80715963e-01 1.85982052e-02 2.14043974e+02] [-1.80696082e-01 9.83535114e-01 -2.75790238e-03 -1.27847304e+01] [-1.87903849e-02 -6.48613388e-04 9.99823235e-01 -2.10367820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.465898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:214.07, Y:-12.79, Z:-2.11 [[ 9.83017399e-01 1.82576317e-01 1.85116609e-02 2.14070602e+02] [-1.82556974e-01 9.83191448e-01 -2.74376473e-03 -1.27866485e+01] [-1.87014531e-02 -6.82264315e-04 9.99824880e-01 -2.10535918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.10, Y:-12.79, Z:-2.10 [[ 9.82603293e-01 1.84874652e-01 1.76672459e-02 2.14098345e+02] [-1.84857430e-01 9.82761864e-01 -2.61719012e-03 -1.27893670e+01] [-1.78465476e-02 -6.94262042e-04 9.99840497e-01 -2.10496157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.13, Y:-12.79, Z:-2.11 [[ 9.82165136e-01 1.87273924e-01 1.67368819e-02 2.14125020e+02] [-1.87258834e-01 9.82307481e-01 -2.47826322e-03 -1.27917765e+01] [-1.69048783e-02 -7.00065249e-04 9.99856857e-01 -2.10594863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:-12.79, Z:-2.11 [[ 9.81777164e-01 1.89367915e-01 1.59183287e-02 2.14152784e+02] [-1.89354561e-01 9.81905953e-01 -2.35574994e-03 -1.27940013e+01] [-1.60764052e-02 -7.01386651e-04 9.99870520e-01 -2.10700725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:-12.79, Z:-2.11 [[ 9.80999012e-01 1.93471352e-01 1.44835876e-02 2.14181482e+02] [-1.93460755e-01 9.81105675e-01 -2.14250412e-03 -1.27940670e+01] [-1.46244432e-02 -7.00211376e-04 9.99892812e-01 -2.10633015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.21, Y:-12.80, Z:-2.11 [[ 9.80625420e-01 1.95356875e-01 1.44733194e-02 2.14208141e+02] [-1.95346513e-01 9.80731951e-01 -2.14000314e-03 -1.27958009e+01] [-1.46125111e-02 -7.28770994e-04 9.99892966e-01 -2.10708075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.24, Y:-12.80, Z:-2.11 [[ 9.80397788e-01 1.96483553e-01 1.46420563e-02 2.14236251e+02] [-1.96473084e-01 9.80506830e-01 -2.16424853e-03 -1.27979506e+01] [-1.47818754e-02 -7.54945468e-04 9.99890457e-01 -2.10652790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:-12.80, Z:-2.11 [[ 9.80268240e-01 1.97069426e-01 1.54213478e-02 2.14264328e+02] [-1.97057933e-01 9.80389203e-01 -2.27635595e-03 -1.28011121e+01] [-1.55675231e-02 -8.07459481e-04 9.99878493e-01 -2.10680309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:-12.81, Z:-2.11 [[ 9.80269904e-01 1.96962621e-01 1.66325432e-02 2.14292376e+02] [-1.96949301e-01 9.80410610e-01 -2.45130118e-03 -1.28053601e+01] [-1.67895366e-02 -8.72830981e-04 9.99858665e-01 -2.10760039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.32, Y:-12.81, Z:-2.11 [[ 9.80406190e-01 1.96184549e-01 1.77574256e-02 2.14318954e+02] [-1.96169264e-01 9.80566560e-01 -2.61569494e-03 -1.28099979e+01] [-1.79254966e-02 -9.19017587e-04 9.99838903e-01 -2.10773751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:-12.82, Z:-2.11 [[ 9.80881496e-01 1.93585521e-01 1.99031720e-02 2.14344746e+02] [-1.93565822e-01 9.81082916e-01 -2.92985759e-03 -1.28167225e+01] [-2.00938400e-02 -9.78730759e-04 9.99797619e-01 -2.10827513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-12.82, Z:-2.11 [[ 9.81110942e-01 1.92397926e-01 2.01086419e-02 2.14372233e+02] [-1.92377605e-01 9.81316516e-01 -2.95842505e-03 -1.28228913e+01] [-2.03021373e-02 -9.65909185e-04 9.99793424e-01 -2.10837168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.40, Y:-12.83, Z:-2.11 [[ 9.81237500e-01 1.91772641e-01 1.99053400e-02 2.14398317e+02] [-1.91752629e-01 9.81438924e-01 -2.92705887e-03 -1.28291776e+01] [-2.00972053e-02 -9.44761337e-04 9.99797584e-01 -2.10900678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.43, Y:-12.84, Z:-2.11 [[ 9.80782709e-01 1.94171212e-01 1.90477805e-02 2.14425316e+02] [-1.94153368e-01 9.80967193e-01 -2.79938362e-03 -1.28384298e+01] [-1.92288074e-02 -9.52603678e-04 9.99814656e-01 -2.10870465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:-12.84, Z:-2.11 [[ 9.80280229e-01 1.96726612e-01 1.86899035e-02 2.14452994e+02] [-1.96709920e-01 9.80457888e-01 -2.74550287e-03 -1.28441171e+01] [-1.88647768e-02 -9.85127224e-04 9.99821559e-01 -2.10917579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.48, Y:-12.85, Z:-2.11 [[ 9.79615451e-01 2.00082894e-01 1.78998200e-02 2.14479978e+02] [-2.00068163e-01 9.79778456e-01 -2.62823243e-03 -1.28490168e+01] [-1.80637224e-02 -1.00652701e-03 9.99836331e-01 -2.10955866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:-12.85, Z:-2.11 [[ 9.78782125e-01 2.04199985e-01 1.69681417e-02 2.14507240e+02] [-2.04187388e-01 9.78928654e-01 -2.49007197e-03 -1.28534186e+01] [-1.71190727e-02 -1.02744258e-03 9.99852930e-01 -2.11043507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.53, Y:-12.86, Z:-2.11 [[ 9.77861198e-01 2.08627446e-01 1.61884684e-02 2.14534664e+02] [-2.08616594e-01 9.77994620e-01 -2.37499158e-03 -1.28576672e+01] [-1.63277234e-02 -1.05477102e-03 9.99866137e-01 -2.11137093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.56, Y:-12.86, Z:-2.11 [[ 9.76997800e-01 2.12675120e-01 1.56394676e-02 2.14562104e+02] [-2.12665551e-01 9.77122363e-01 -2.29162370e-03 -1.28615808e+01] [-1.57690449e-02 -1.08706469e-03 9.99875070e-01 -2.11159422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:-12.87, Z:-2.11 [[ 9.75547469e-01 2.19200579e-01 1.60698736e-02 2.14589141e+02] [-2.19191414e-01 9.75679044e-01 -2.35115435e-03 -1.28652781e+01] [-1.61944133e-02 -1.22871562e-03 9.99868107e-01 -2.11193523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.62, Y:-12.87, Z:-2.11 [[ 9.75188363e-01 2.20757185e-01 1.65505755e-02 2.14615716e+02] [-2.20747709e-01 9.75327941e-01 -2.42007793e-03 -1.28680548e+01] [-1.66764884e-02 -1.29346979e-03 9.99860101e-01 -2.11231055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.64, Y:-12.87, Z:-2.11 [[ 9.75094536e-01 2.21169689e-01 1.65714851e-02 2.14643505e+02] [-2.21160265e-01 9.75234469e-01 -2.42214231e-03 -1.28709093e+01] [-1.66967879e-02 -1.30313631e-03 9.99859750e-01 -2.11310093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.67, Y:-12.87, Z:-2.11 [[ 9.75138095e-01 2.21013062e-01 1.60910467e-02 2.14670281e+02] [-2.21004209e-01 9.75270026e-01 -2.34862207e-03 -1.28736963e+01] [-1.62121917e-02 -1.26595819e-03 9.99867772e-01 -2.11385464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.70, Y:-12.88, Z:-2.12 [[ 9.75363529e-01 2.20074620e-01 1.52692147e-02 2.14697790e+02] [-2.20066544e-01 9.75482318e-01 -2.22797548e-03 -1.28767946e+01] [-1.53851698e-02 -1.18715729e-03 9.99880937e-01 -2.11526481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-12.88, Z:-2.12 [[ 9.75667434e-01 2.18782624e-01 1.43951984e-02 2.14724375e+02] [-2.18775350e-01 9.75773000e-01 -2.09742834e-03 -1.28802034e+01] [-1.45053268e-02 -1.10292206e-03 9.99894184e-01 -2.11606427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.215898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:214.75, Y:-12.88, Z:-2.12 [[ 9.76169797e-01 2.16512605e-01 1.46567011e-02 2.14752309e+02] [-2.16504829e-01 9.76279214e-01 -2.13425739e-03 -1.28818798e+01] [-1.47711263e-02 -1.08984897e-03 9.99890307e-01 -2.11618166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.245898227 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:214.78, Y:-12.88, Z:-2.12 [[ 9.76370315e-01 2.15551497e-01 1.54453712e-02 2.14779846e+02] [-2.15542752e-01 9.76491816e-01 -2.24846967e-03 -1.28843350e+01] [-1.55669396e-02 -1.13379878e-03 9.99878185e-01 -2.11687548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.81, Y:-12.89, Z:-2.12 [[ 9.76428538e-01 2.15246682e-01 1.60054746e-02 2.14806506e+02] [-2.15237306e-01 9.76559005e-01 -2.32656307e-03 -1.28868677e+01] [-1.61310754e-02 -1.17325266e-03 9.99869197e-01 -2.11662846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:-12.89, Z:-2.12 [[ 9.76434852e-01 2.15232360e-01 1.58117291e-02 2.14834247e+02] [-2.15223221e-01 9.76562177e-01 -2.29756236e-03 -1.28897384e+01] [-1.59356463e-02 -1.15963130e-03 9.99872347e-01 -2.11690779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:-12.89, Z:-2.12 [[ 9.76320814e-01 2.15817396e-01 1.48499256e-02 2.14860694e+02] [-2.15809446e-01 9.76433121e-01 -2.15481385e-03 -1.28922008e+01] [-1.49650055e-02 -1.10096461e-03 9.99887412e-01 -2.11733901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:-12.89, Z:-2.12 [[ 9.76228811e-01 2.16310019e-01 1.36852187e-02 2.14888999e+02] [-2.16303321e-01 9.76324194e-01 -1.98546413e-03 -1.28946204e+01] [-1.37906859e-02 -1.02189095e-03 9.99904382e-01 -2.11817426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:-12.89, Z:-2.12 [[ 9.76058023e-01 2.17061985e-01 1.39581760e-02 2.14916030e+02] [-2.17055135e-01 9.76157251e-01 -2.02213816e-03 -1.28949186e+01] [-1.40643040e-02 -1.05596959e-03 9.99900535e-01 -2.11864022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:-12.90, Z:-2.12 [[ 9.76125766e-01 2.16673320e-01 1.52039711e-02 2.14942508e+02] [-2.16665180e-01 9.76243493e-01 -2.20032662e-03 -1.28974809e+01] [-1.53195299e-02 -1.14637562e-03 9.99881992e-01 -2.11933809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:-12.90, Z:-2.12 [[ 9.76412909e-01 2.15320196e-01 1.59701270e-02 2.14970710e+02] [-2.15311051e-01 9.76542787e-01 -2.31026073e-03 -1.29006378e+01] [-1.60929581e-02 -1.18277642e-03 9.99869800e-01 -2.11988266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:-12.90, Z:-2.12 [[ 9.76849137e-01 2.13309083e-01 1.62787887e-02 2.14997324e+02] [-2.13299357e-01 9.76984060e-01 -2.35159225e-03 -1.29038149e+01] [-1.64057331e-02 -1.17510431e-03 9.99864726e-01 -2.12053971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-12.91, Z:-2.12 [[ 9.78124886e-01 2.07468378e-01 1.51188356e-02 2.15024851e+02] [-2.07459302e-01 9.78241213e-01 -2.18342154e-03 -1.29076023e+01] [-1.52428590e-02 -1.00088414e-03 9.99883320e-01 -2.12122261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.05, Y:-12.91, Z:-2.12 [[ 9.78820809e-01 2.04216317e-01 1.43359598e-02 2.15051269e+02] [-2.04207851e-01 9.78925370e-01 -2.06750617e-03 -1.29123923e+01] [-1.44560533e-02 -9.03797484e-04 9.99895097e-01 -2.12177997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:-12.92, Z:-2.12 [[ 9.79492063e-01 2.01000205e-01 1.39361579e-02 2.15078296e+02] [-2.00991886e-01 9.79590845e-01 -2.00941442e-03 -1.29178148e+01] [-1.40556255e-02 -8.32849196e-04 9.99900868e-01 -2.12258719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:-12.92, Z:-2.12 [[ 9.80111146e-01 1.97928470e-01 1.43688229e-02 2.15105198e+02] [-1.97919349e-01 9.80216126e-01 -2.06826380e-03 -1.29232890e+01] [-1.44939202e-02 -8.16739677e-04 9.99894624e-01 -2.12362355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:-12.93, Z:-2.12 [[ 9.80612941e-01 1.95396460e-01 1.47811960e-02 2.15132546e+02] [-1.95386541e-01 9.80724007e-01 -2.12626140e-03 -1.29287400e+01] [-1.49117378e-02 -8.03007312e-04 9.99888491e-01 -2.12398418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:-12.93, Z:-2.12 [[ 9.80971915e-01 1.93570909e-01 1.49801571e-02 2.15159405e+02] [-1.93560526e-01 9.81085972e-01 -2.15377527e-03 -1.29345622e+01] [-1.51137302e-02 -7.86774029e-04 9.99885472e-01 -2.12400479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:-12.94, Z:-2.12 [[ 9.81232864e-01 1.92234432e-01 1.50993213e-02 2.15186106e+02] [-1.92223743e-01 9.81348728e-01 -2.16969223e-03 -1.29427592e+01] [-1.52347892e-02 -7.73474730e-04 9.99883645e-01 -2.12388761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.725898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:215.21, Y:-12.95, Z:-2.12 [[ 9.81039379e-01 1.93235914e-01 1.48868594e-02 2.15212550e+02] [-1.93225664e-01 9.81152014e-01 -2.13750128e-03 -1.29486904e+01] [-1.50193141e-02 -7.79550354e-04 9.99886900e-01 -2.12481164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.24, Y:-12.95, Z:-2.12 [[ 9.80619189e-01 1.95395663e-01 1.43715520e-02 2.15239801e+02] [-1.95386371e-01 9.80724180e-01 -2.06144667e-03 -1.29542740e+01] [-1.44973262e-02 -7.86511219e-04 9.99894599e-01 -2.12487043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.27, Y:-12.96, Z:-2.13 [[ 9.80126688e-01 1.97870779e-01 1.41007006e-02 2.15266491e+02] [-1.97862103e-01 9.80227780e-01 -2.02165462e-03 -1.29590884e+01] [-1.42219248e-02 -8.08516614e-04 9.99898536e-01 -2.12660538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.815898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:215.29, Y:-12.96, Z:-2.13 [[ 9.79654594e-01 2.00220150e-01 1.37392597e-02 2.15293707e+02] [-2.00212151e-01 9.79750589e-01 -1.96927512e-03 -1.29632771e+01] [-1.38553363e-02 -8.21557319e-04 9.99903673e-01 -2.12746559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.32, Y:-12.97, Z:-2.13 [[ 9.78813907e-01 2.04209666e-01 1.48912023e-02 2.15321623e+02] [-2.04200782e-01 9.78926708e-01 -2.13087034e-03 -1.29691179e+01] [-1.50125399e-02 -9.55069625e-04 9.99886849e-01 -2.12801187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-12.97, Z:-2.13 [[ 9.78436344e-01 2.05984685e-01 1.52521971e-02 2.15347939e+02] [-2.05975596e-01 9.78554697e-01 -2.18142431e-03 -1.29742466e+01] [-1.53744491e-02 -1.00719555e-03 9.99881299e-01 -2.12884432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.38, Y:-12.98, Z:-2.13 [[ 9.78142828e-01 2.07360125e-01 1.54397518e-02 2.15375062e+02] [-2.07351004e-01 9.78264121e-01 -2.20687556e-03 -1.29791499e+01] [-1.55617732e-02 -1.04280854e-03 9.99878364e-01 -2.12917650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.935898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:215.40, Y:-12.98, Z:-2.13 [[ 9.77908444e-01 2.08472451e-01 1.53072571e-02 2.15401618e+02] [-2.08463637e-01 9.78027673e-01 -2.18688283e-03 -1.29835161e+01] [-1.54268258e-02 -1.05243529e-03 9.99880446e-01 -2.13020632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.43, Y:-12.99, Z:-2.13 [[ 9.77653098e-01 2.09702386e-01 1.48097864e-02 2.15428763e+02] [-2.09694291e-01 9.77764712e-01 -2.11484369e-03 -1.29877635e+01] [-1.49239743e-02 -1.03794418e-03 9.99888093e-01 -2.12997816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.46, Y:-12.99, Z:-2.13 [[ 9.77371634e-01 2.11058604e-01 1.41050980e-02 2.15455374e+02] [-2.11051430e-01 9.77472887e-01 -2.01219260e-03 -1.29910178e+01] [-1.42120414e-02 -1.01024112e-03 9.99898493e-01 -2.13065445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.025898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:215.48, Y:-12.99, Z:-2.13 [[ 9.76774656e-01 2.13883362e-01 1.28522126e-02 2.15482862e+02] [-2.13877651e-01 9.76858736e-01 -1.83328822e-03 -1.29927994e+01] [-1.29469060e-02 -9.58091578e-04 9.99915726e-01 -2.13213302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.51, Y:-13.00, Z:-2.13 [[ 9.76557121e-01 2.14858350e-01 1.31179067e-02 2.15509489e+02] [-2.14852526e-01 9.76644716e-01 -1.86827462e-03 -1.29953661e+01] [-1.32129487e-02 -9.93938519e-04 9.99912211e-01 -2.13237531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.54, Y:-13.00, Z:-2.13 [[ 9.76437776e-01 2.15385260e-01 1.33589070e-02 2.15537653e+02] [-2.15379287e-01 9.76528621e-01 -1.90130405e-03 -1.29982681e+01] [-1.34548679e-02 -1.02072676e-03 9.99908958e-01 -2.13236395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.56, Y:-13.00, Z:-2.13 [[ 9.76401005e-01 2.15562859e-01 1.31807323e-02 2.15564215e+02] [-2.15557103e-01 9.76489441e-01 -1.87268634e-03 -1.30011331e+01] [-1.32745275e-02 -1.01270765e-03 9.99911377e-01 -2.13220132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.145898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.59, Y:-13.00, Z:-2.13 [[ 9.76631447e-01 2.14544655e-01 1.27124787e-02 2.15591237e+02] [-2.14539228e-01 9.76713705e-01 -1.80510413e-03 -1.30037822e+01] [-1.28037276e-02 -9.64403915e-04 9.99917564e-01 -2.13179397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.62, Y:-13.01, Z:-2.13 [[ 9.76740845e-01 2.14048587e-01 1.26698137e-02 2.15619015e+02] [-2.14043159e-01 9.76822548e-01 -1.79877031e-03 -1.30073298e+01] [-1.27611839e-02 -9.54954522e-04 9.99918117e-01 -2.13201042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.65, Y:-13.01, Z:-2.13 [[ 9.76842853e-01 2.13557615e-01 1.30837928e-02 2.15646574e+02] [-2.13551815e-01 9.76929977e-01 -1.85507029e-03 -1.30110669e+01] [-1.31781138e-02 -9.81955548e-04 9.99912683e-01 -2.13243957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:-13.01, Z:-2.13 [[ 9.76880647e-01 2.13384645e-01 1.30841541e-02 2.15674787e+02] [-2.13378864e-01 9.76967773e-01 -1.85251744e-03 -1.30148927e+01] [-1.31780957e-02 -9.82193496e-04 9.99912683e-01 -2.13300849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.265898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.70, Y:-13.02, Z:-2.13 [[ 9.76984763e-01 2.12834107e-01 1.42273245e-02 2.15701072e+02] [-2.12827262e-01 9.77087771e-01 -2.01095440e-03 -1.30189641e+01] [-1.43293444e-02 -1.06329071e-03 9.99896764e-01 -2.13387376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.73, Y:-13.02, Z:-2.13 [[ 9.77071345e-01 2.12360520e-01 1.53165382e-02 2.15728595e+02] [-2.12352544e-01 9.77190726e-01 -2.16399229e-03 -1.30234873e+01] [-1.54267256e-02 -1.13813099e-03 9.99880353e-01 -2.13442650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.76, Y:-13.03, Z:-2.13 [[ 9.77058413e-01 2.12369467e-01 1.60021040e-02 2.15755764e+02] [-2.12360822e-01 9.77188716e-01 -2.25711223e-03 -1.30283135e+01] [-1.61164172e-02 -1.19288948e-03 9.99869411e-01 -2.13455266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.78, Y:-13.03, Z:-2.13 [[ 9.76951304e-01 2.12769590e-01 1.71828790e-02 2.15782353e+02] [-2.12759705e-01 9.77101550e-01 -2.42247100e-03 -1.30346404e+01] [-1.73048459e-02 -1.28918805e-03 9.99849429e-01 -2.13380726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.81, Y:-13.04, Z:-2.13 [[ 9.76862075e-01 2.13151808e-01 1.75155412e-02 2.15809961e+02] [-2.13141641e-01 9.77018196e-01 -2.46688136e-03 -1.30399513e+01] [-1.76388226e-02 -1.32348835e-03 9.99843548e-01 -2.13352811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.415898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.84, Y:-13.04, Z:-2.13 [[ 9.76807888e-01 2.13399898e-01 1.75166814e-02 2.15836093e+02] [-2.13389792e-01 9.76964030e-01 -2.46579015e-03 -1.30444535e+01] [-1.76393671e-02 -1.32927773e-03 9.99843531e-01 -2.13428241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.86, Y:-13.05, Z:-2.13 [[ 9.76683133e-01 2.14036777e-01 1.66827906e-02 2.15863260e+02] [-2.14027725e-01 9.76824766e-01 -2.34703484e-03 -1.30490809e+01] [-1.67985148e-02 -1.27827039e-03 9.99858078e-01 -2.13460024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.89, Y:-13.05, Z:-2.14 [[ 9.76596914e-01 2.14463922e-01 1.62386512e-02 2.15889572e+02] [-2.14455423e-01 9.76731108e-01 -2.28342909e-03 -1.30529846e+01] [-1.63505089e-02 -1.25247701e-03 9.99865537e-01 -2.13540969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.92, Y:-13.06, Z:-2.14 [[ 9.76566419e-01 2.14663814e-01 1.54102919e-02 2.15917015e+02] [-2.14656205e-01 9.76687270e-01 -2.16564232e-03 -1.30592031e+01] [-1.55159210e-02 -1.19302120e-03 9.99878909e-01 -2.13679059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.94, Y:-13.07, Z:-2.14 [[ 9.76684931e-01 2.14141526e-01 1.51641907e-02 2.15943459e+02] [-2.14134111e-01 9.76801948e-01 -2.13005730e-03 -1.30651507e+01] [-1.52685447e-02 -1.16677562e-03 9.99882748e-01 -2.13764891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.97, Y:-13.07, Z:-2.14 [[ 9.76966321e-01 2.12867345e-01 1.49766690e-02 2.15971010e+02] [-2.12859983e-01 9.77080451e-01 -2.10244568e-03 -1.30716009e+01] [-1.50809525e-02 -1.13391487e-03 9.99885633e-01 -2.13818924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.00, Y:-13.08, Z:-2.14 [[ 9.77409887e-01 2.10835320e-01 1.47777249e-02 2.15997624e+02] [-2.10827931e-01 9.77520988e-01 -2.07378976e-03 -1.30776910e+01] [-1.48827644e-02 -1.08861456e-03 9.99888653e-01 -2.13848467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.02, Y:-13.08, Z:-2.14 [[ 9.77768541e-01 2.09177601e-01 1.46086252e-02 2.16024861e+02] [-2.09170228e-01 9.77877100e-01 -2.04791028e-03 -1.30842424e+01] [-1.47138170e-02 -1.05330721e-03 9.99891191e-01 -2.13853226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.05, Y:-13.09, Z:-2.14 [[ 9.78069287e-01 2.07776246e-01 1.44741441e-02 2.16051939e+02] [-2.07768869e-01 9.78175845e-01 -2.02813817e-03 -1.30907479e+01] [-1.45796571e-02 -1.02361689e-03 9.99893187e-01 -2.13949985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.08, Y:-13.10, Z:-2.14 [[ 9.78400883e-01 2.06243450e-01 1.39768153e-02 2.16077663e+02] [-2.06236428e-01 9.78500232e-01 -1.95753080e-03 -1.31014910e+01] [-1.40800449e-02 -9.67278590e-04 9.99900403e-01 -2.14035059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.10, Y:-13.11, Z:-2.14 [[ 9.78519687e-01 2.05731335e-01 1.31848360e-02 2.16103617e+02] [-2.05725051e-01 9.78608091e-01 -1.84578389e-03 -1.31085656e+01] [-1.32825228e-02 -9.06315186e-04 9.99911373e-01 -2.14074897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.13, Y:-13.12, Z:-2.14 [[ 9.78599435e-01 2.05365660e-01 1.29650381e-02 2.16130457e+02] [-2.05359576e-01 9.78684912e-01 -1.81316963e-03 -1.31154693e+01] [-1.30610500e-02 -8.88127955e-04 9.99914306e-01 -2.14160678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.16, Y:-13.13, Z:-2.14 [[ 9.78520933e-01 2.05707570e-01 1.34602866e-02 2.16156987e+02] [-2.05701058e-01 9.78613067e-01 -1.88144470e-03 -1.31260218e+01] [-1.35594397e-02 -9.27762165e-04 9.99907636e-01 -2.14155164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.18, Y:-13.13, Z:-2.14 [[ 9.78433692e-01 2.06077576e-01 1.41260002e-02 2.16184105e+02] [-2.06070457e-01 9.78535167e-01 -1.97345456e-03 -1.31333976e+01] [-1.42294727e-02 -9.80056880e-04 9.99898276e-01 -2.14201918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.21, Y:-13.14, Z:-2.14 [[ 9.78277819e-01 2.06796613e-01 1.44107254e-02 2.16211744e+02] [-2.06789297e-01 9.78383431e-01 -2.01218993e-03 -1.31412740e+01] [-1.45153290e-02 -1.01150300e-03 9.99894135e-01 -2.14267236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.865898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.24, Y:-13.15, Z:-2.14 [[ 9.78223817e-01 2.07061300e-01 1.42752300e-02 2.16238926e+02] [-2.07054164e-01 9.78327452e-01 -1.99228138e-03 -1.31485258e+01] [-1.43783738e-02 -1.00684872e-03 9.99896119e-01 -2.14312040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:-13.16, Z:-2.14 [[ 9.78126090e-01 2.07510823e-01 1.44433678e-02 2.16265033e+02] [-2.07503581e-01 9.78232183e-01 -2.01475572e-03 -1.31564512e+01] [-1.45470509e-02 -1.02636541e-03 9.99893659e-01 -2.14327139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.29, Y:-13.16, Z:-2.14 [[ 9.78095454e-01 2.07610116e-01 1.50772160e-02 2.16291739e+02] [-2.07602256e-01 9.78211064e-01 -2.10178846e-03 -1.31641453e+01] [-1.51850520e-02 -1.07431432e-03 9.99884123e-01 -2.14390554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.32, Y:-13.18, Z:-2.14 [[ 9.77968588e-01 2.08036815e-01 1.72663000e-02 2.16318020e+02] [-2.08026600e-01 9.78120211e-01 -2.40549259e-03 -1.31772465e+01] [-1.73889480e-02 -1.23935349e-03 9.99848033e-01 -2.14499999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.35, Y:-13.19, Z:-2.15 [[ 9.77823076e-01 2.08704074e-01 1.74540093e-02 2.16345739e+02] [-2.08693764e-01 9.77978019e-01 -2.43031013e-03 -1.31860475e+01] [-1.75768531e-02 -1.26612957e-03 9.99844714e-01 -2.14545943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.015898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:216.37, Y:-13.19, Z:-2.15 [[ 9.77644694e-01 2.09569489e-01 1.70728121e-02 2.16373825e+02] [-2.09559770e-01 9.77792951e-01 -2.37642921e-03 -1.31942323e+01] [-1.71917024e-02 -1.25447117e-03 9.99851425e-01 -2.14641278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.40, Y:-13.20, Z:-2.15 [[ 9.77322619e-01 2.11115683e-01 1.64519376e-02 2.16400737e+02] [-2.11106887e-01 9.77460302e-01 -2.28928651e-03 -1.32025648e+01] [-1.65644201e-02 -1.23574584e-03 9.99862037e-01 -2.14738654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.43, Y:-13.21, Z:-2.15 [[ 9.77016905e-01 2.12623649e-01 1.51377241e-02 2.16429006e+02] [-2.12616395e-01 9.77133479e-01 -2.10554561e-03 -1.32104780e+01] [-1.52392658e-02 -1.16137467e-03 9.99883201e-01 -2.14790022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.46, Y:-13.22, Z:-2.15 [[ 9.76543068e-01 2.14879824e-01 1.37948493e-02 2.16455628e+02] [-2.14874031e-01 9.76639888e-01 -1.91825258e-03 -1.32180642e+01] [-1.38847939e-02 -1.09089862e-03 9.99903007e-01 -2.14863815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.48, Y:-13.23, Z:-2.15 [[ 9.75517207e-01 2.19540306e-01 1.29704345e-02 2.16482647e+02] [-2.19535602e-01 9.75602823e-01 -1.80289752e-03 -1.32292567e+01] [-1.30498012e-02 -1.08871460e-03 9.99914255e-01 -2.14944348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.51, Y:-13.24, Z:-2.15 [[ 9.75006761e-01 2.21771445e-01 1.33881442e-02 2.16509895e+02] [-2.21766654e-01 9.75097991e-01 -1.86015491e-03 -1.32361541e+01] [-1.34672818e-02 -1.15538033e-03 9.99908645e-01 -2.14999310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.54, Y:-13.24, Z:-2.15 [[ 9.74545244e-01 2.23754041e-01 1.39891703e-02 2.16538291e+02] [-2.23749026e-01 9.74644858e-01 -1.94265118e-03 -1.32424570e+01] [-1.40691490e-02 -1.23686176e-03 9.99900260e-01 -2.15045201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.57, Y:-13.25, Z:-2.15 [[ 9.74136929e-01 2.25475842e-01 1.47610228e-02 2.16565365e+02] [-2.25470464e-01 9.74247849e-01 -2.04916230e-03 -1.32478358e+01] [-1.48429313e-02 -1.33200999e-03 9.99888950e-01 -2.15135070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.59, Y:-13.25, Z:-2.15 [[ 9.73794020e-01 2.26920674e-01 1.52385967e-02 2.16593010e+02] [-2.26915132e-01 9.73912240e-01 -2.11455296e-03 -1.32531908e+01] [-1.53208916e-02 -1.39872915e-03 9.99881650e-01 -2.15193543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:-13.26, Z:-2.15 [[ 9.73511568e-01 2.28073940e-01 1.60469900e-02 2.16621489e+02] [-2.28067967e-01 9.73642670e-01 -2.22571229e-03 -1.32594688e+01] [-1.61316611e-02 -1.49304771e-03 9.99868762e-01 -2.15340814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.65, Y:-13.26, Z:-2.15 [[ 9.73502645e-01 2.28113966e-01 1.60193466e-02 2.16649463e+02] [-2.28108030e-01 9.73633295e-01 -2.22116741e-03 -1.32644709e+01] [-1.61036486e-02 -1.49182926e-03 9.99869215e-01 -2.15336223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.68, Y:-13.27, Z:-2.15 [[ 9.73401971e-01 2.28579056e-01 1.54989550e-02 2.16677186e+02] [-2.28573569e-01 9.73524272e-01 -2.14835866e-03 -1.32693061e+01] [-1.55796786e-02 -1.45143489e-03 9.99877576e-01 -2.15385752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.71, Y:-13.27, Z:-2.15 [[ 9.73259983e-01 2.29249370e-01 1.44821032e-02 2.16706030e+02] [-2.29244664e-01 9.73366764e-01 -2.00656389e-03 -1.32731556e+01] [-1.45564015e-02 -1.36703656e-03 9.99893115e-01 -2.15439175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.73, Y:-13.28, Z:-2.16 [[ 9.72956666e-01 2.30626161e-01 1.29189549e-02 2.16734218e+02] [-2.30622542e-01 9.73041644e-01 -1.78959463e-03 -1.32760556e+01] [-1.29834084e-02 -1.23820418e-03 9.99914945e-01 -2.15503371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.76, Y:-13.28, Z:-2.16 [[ 9.72238003e-01 2.33636226e-01 1.29374952e-02 2.16763788e+02] [-2.33632872e-01 9.72323235e-01 -1.79125714e-03 -1.32758017e+01] [-1.29979298e-02 -1.28109590e-03 9.99914703e-01 -2.15592636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.465898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:216.79, Y:-13.28, Z:-2.16 [[ 9.71938264e-01 2.34789843e-01 1.44824194e-02 2.16791600e+02] [-2.34785778e-01 9.72045071e-01 -2.00444061e-03 -1.32764041e+01] [-1.45481867e-02 -1.45207357e-03 9.99893115e-01 -2.15681409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.82, Y:-13.28, Z:-2.16 [[ 9.71680112e-01 2.35780611e-01 1.56608993e-02 2.16820748e+02] [-2.35776000e-01 9.71805013e-01 -2.16651374e-03 -1.32778261e+01] [-1.57301624e-02 -1.58730587e-03 9.99875013e-01 -2.15719955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.85, Y:-13.28, Z:-2.16 [[ 9.71659220e-01 2.35849487e-01 1.59179080e-02 2.16849062e+02] [-2.35844744e-01 9.71788254e-01 -2.20136175e-03 -1.32788658e+01] [-1.59880261e-02 -1.61518150e-03 9.99870879e-01 -2.15778943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.88, Y:-13.28, Z:-2.16 [[ 9.71890321e-01 2.34904724e-01 1.57789270e-02 2.16876612e+02] [-2.34899955e-01 9.72017105e-01 -2.18123969e-03 -1.32798652e+01] [-1.58497705e-02 -1.58654350e-03 9.99873126e-01 -2.15899902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:-13.28, Z:-2.16 [[ 9.72478698e-01 2.32522143e-01 1.47863373e-02 2.16905604e+02] [-2.32517694e-01 9.72590020e-01 -2.04320321e-03 -1.32812902e+01] [-1.48561341e-02 -1.45111345e-03 9.99888589e-01 -2.15950547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.615898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:216.93, Y:-13.28, Z:-2.16 [[ 9.74276422e-01 2.24934790e-01 1.37765975e-02 2.16934449e+02] [-2.24930183e-01 9.74373025e-01 -1.90309808e-03 -1.32789861e+01] [-1.38516179e-02 -1.24462900e-03 9.99903287e-01 -2.16113157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:-13.28, Z:-2.16 [[ 9.75170862e-01 2.21000042e-01 1.41693654e-02 2.16962384e+02] [-2.20994763e-01 9.75273031e-01 -1.95680388e-03 -1.32807536e+01] [-1.42514537e-02 -1.22313742e-03 9.99897695e-01 -2.16190432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.99, Y:-13.28, Z:-2.16 [[ 9.76070371e-01 2.16953279e-01 1.47616186e-02 2.16990548e+02] [-2.16947107e-01 9.76181234e-01 -2.03745442e-03 -1.32828812e+01] [-1.48520475e-02 -1.21379155e-03 9.99888966e-01 -2.16279503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.02, Y:-13.29, Z:-2.16 [[ 9.76967759e-01 2.12853989e-01 1.50724039e-02 2.17017985e+02] [-2.12847083e-01 9.77083310e-01 -2.07945835e-03 -1.32858183e+01] [-1.51696153e-02 -1.17655344e-03 9.99884243e-01 -2.16352280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.05, Y:-13.29, Z:-2.16 [[ 9.77826298e-01 2.08853281e-01 1.53635086e-02 2.17046884e+02] [-2.08845629e-01 9.77946325e-01 -2.11867308e-03 -1.32895873e+01] [-1.54671786e-02 -1.13690737e-03 9.99879730e-01 -2.16432041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.08, Y:-13.29, Z:-2.16 [[ 9.79263257e-01 2.02088788e-01 1.42687063e-02 2.17075281e+02] [-2.02081480e-01 9.79366737e-01 -1.96711200e-03 -1.32931317e+01] [-1.43718276e-02 -9.57120792e-04 9.99896262e-01 -2.16465865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.10, Y:-13.30, Z:-2.16 [[ 9.79821273e-01 1.99404684e-01 1.37129878e-02 2.17103789e+02] [-1.99397681e-01 9.79916830e-01 -1.88989559e-03 -1.32971330e+01] [-1.38144416e-02 -8.82578071e-04 9.99904187e-01 -2.16497898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.13, Y:-13.30, Z:-2.17 [[ 9.80190085e-01 1.97599855e-01 1.34794414e-02 2.17132412e+02] [-1.97592927e-01 9.80282401e-01 -1.85709428e-03 -1.33016615e+01] [-1.35806207e-02 -8.43136883e-04 9.99907424e-01 -2.16573306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.16, Y:-13.31, Z:-2.17 [[ 9.80492169e-01 1.96082197e-01 1.36703430e-02 2.17159465e+02] [-1.96074932e-01 9.80587108e-01 -1.88284239e-03 -1.33063306e+01] [-1.37741540e-02 -8.34299367e-04 9.99904784e-01 -2.16553948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.19, Y:-13.31, Z:-2.17 [[ 9.80541033e-01 1.95762782e-01 1.47042390e-02 2.17187289e+02] [-1.95754357e-01 9.80650873e-01 -2.02415087e-03 -1.33127457e+01] [-1.48159782e-02 -8.93655867e-04 9.99889838e-01 -2.16550297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.915898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:217.22, Y:-13.32, Z:-2.17 [[ 9.80343160e-01 1.96692037e-01 1.54768305e-02 2.17215345e+02] [-1.96682830e-01 9.80464853e-01 -2.12972655e-03 -1.33176445e+01] [-1.55933886e-02 -9.56163963e-04 9.99877959e-01 -2.16569966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.24, Y:-13.32, Z:-2.17 [[ 9.79965887e-01 1.98481423e-01 1.64919509e-02 2.17244471e+02] [-1.98471237e-01 9.80104087e-01 -2.26848807e-03 -1.33237704e+01] [-1.66140813e-02 -1.05013698e-03 9.99861425e-01 -2.16592371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.27, Y:-13.33, Z:-2.17 [[ 9.79503428e-01 2.00629738e-01 1.79093126e-02 2.17272568e+02] [-2.00618092e-01 9.79666430e-01 -2.46301493e-03 -1.33290895e+01] [-1.80393064e-02 -1.18040055e-03 9.99836582e-01 -2.16639537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.30, Y:-13.33, Z:-2.17 [[ 9.79012609e-01 2.02955919e-01 1.85258243e-02 2.17301217e+02] [-2.02943890e-01 9.79187056e-01 -2.54683224e-03 -1.33339681e+01] [-1.86571421e-02 -1.26632197e-03 9.99825138e-01 -2.16657712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.33, Y:-13.34, Z:-2.17 [[ 9.78605214e-01 2.04901979e-01 1.86283064e-02 2.17330875e+02] [-2.04890176e-01 9.78781620e-01 -2.56046079e-03 -1.33389859e+01] [-1.87576874e-02 -1.31107668e-03 9.99823199e-01 -2.16745867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.36, Y:-13.35, Z:-2.17 [[ 9.77929682e-01 2.08292694e-01 1.63612791e-02 2.17359328e+02] [-2.08284065e-01 9.78065791e-01 -2.24856174e-03 -1.33452450e+01] [-1.64707664e-02 -1.20885846e-03 9.99863617e-01 -2.16904300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.39, Y:-13.35, Z:-2.17 [[ 9.77654548e-01 2.09664173e-01 1.52485816e-02 2.17387587e+02] [-2.09656850e-01 9.77772783e-01 -2.09519193e-03 -1.33499998e+01] [-1.53489347e-02 -1.14859566e-03 9.99881538e-01 -2.16998475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.42, Y:-13.35, Z:-2.17 [[ 9.77671163e-01 2.09586679e-01 1.52486602e-02 2.17416652e+02] [-2.09579356e-01 9.77789398e-01 -2.09461912e-03 -1.33538988e+01] [-1.53489826e-02 -1.14795568e-03 9.99881538e-01 -2.17057052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.44, Y:-13.36, Z:-2.17 [[ 9.77385883e-01 2.10966595e-01 1.44890441e-02 2.17443916e+02] [-2.10960151e-01 9.77492638e-01 -1.98909790e-03 -1.33579699e+01] [-1.45825672e-02 -1.11249474e-03 9.99893050e-01 -2.17044007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.47, Y:-13.36, Z:-2.17 [[ 9.77062190e-01 2.12411141e-01 1.51981971e-02 2.17472821e+02] [-2.12404241e-01 9.77179661e-01 -2.08534027e-03 -1.33615557e+01] [-1.52943186e-02 -1.19065440e-03 9.99882326e-01 -2.17073265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.50, Y:-13.36, Z:-2.17 [[ 9.76649721e-01 2.14235196e-01 1.60811610e-02 2.17500910e+02] [-2.14227730e-01 9.76781252e-01 -2.20569113e-03 -1.33643232e+01] [-1.61803133e-02 -1.29084301e-03 9.99868257e-01 -2.17092584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.53, Y:-13.37, Z:-2.17 [[ 9.75862398e-01 2.17749893e-01 1.66602612e-02 2.17529654e+02] [-2.17742406e-01 9.76003600e-01 -2.28402780e-03 -1.33663618e+01] [-1.67578218e-02 -1.39874852e-03 9.99858599e-01 -2.17151680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.56, Y:-13.37, Z:-2.17 [[ 9.75557515e-01 2.19101653e-01 1.67928430e-02 2.17558106e+02] [-2.19094259e-01 9.75700983e-01 -2.30141300e-03 -1.33692676e+01] [-1.68890368e-02 -1.43405474e-03 9.99856342e-01 -2.17246571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.59, Y:-13.37, Z:-2.17 [[ 9.75377851e-01 2.19933408e-01 1.63506629e-02 2.17585463e+02] [-2.19926526e-01 9.75513867e-01 -2.24010018e-03 -1.33719026e+01] [-1.64429713e-02 -1.41100041e-03 9.99863810e-01 -2.17300369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.61, Y:-13.37, Z:-2.17 [[ 9.75616290e-01 2.18944555e-01 1.53667302e-02 2.17613530e+02] [-2.18938367e-01 9.75736421e-01 -2.10445744e-03 -1.33729168e+01] [-1.54546378e-02 -1.31122386e-03 9.99879710e-01 -2.17367832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:-13.38, Z:-2.17 [[ 9.76039599e-01 2.17040749e-01 1.54924111e-02 2.17642226e+02] [-2.17034236e-01 9.76161689e-01 -2.12071649e-03 -1.33757543e+01] [-1.55833801e-02 -1.29248033e-03 9.99877736e-01 -2.17426537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.67, Y:-13.38, Z:-2.17 [[ 9.76510967e-01 2.14876083e-01 1.59561969e-02 2.17671086e+02] [-2.14868900e-01 9.76640460e-01 -2.18343984e-03 -1.33789345e+01] [-1.60526365e-02 -1.29633753e-03 9.99870308e-01 -2.17457022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.70, Y:-13.38, Z:-2.17 [[ 9.76915838e-01 2.12945527e-01 1.70190276e-02 2.17698930e+02] [-2.12937078e-01 9.77063141e-01 -2.32805107e-03 -1.33825046e+01] [-1.71244126e-02 -1.34967205e-03 9.99852456e-01 -2.17476922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.73, Y:-13.39, Z:-2.17 [[ 9.77194800e-01 2.11607502e-01 1.76801585e-02 2.17726182e+02] [-2.11598186e-01 9.77353756e-01 -2.41741347e-03 -1.33858573e+01] [-1.77913121e-02 -1.37880559e-03 9.99840771e-01 -2.17493650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.75, Y:-13.39, Z:-2.18 [[ 9.77343711e-01 2.10918381e-01 1.76835336e-02 2.17754831e+02] [-2.10908967e-01 9.77502719e-01 -2.41682579e-03 -1.33894188e+01] [-1.77954551e-02 -1.36754631e-03 9.99840713e-01 -2.17525670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.78, Y:-13.39, Z:-2.18 [[ 9.77304169e-01 2.11165630e-01 1.69008033e-02 2.17783237e+02] [-2.11157080e-01 9.77449413e-01 -2.30911325e-03 -1.33915279e+01] [-1.70072856e-02 -1.31201827e-03 9.99854505e-01 -2.17599322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.81, Y:-13.39, Z:-2.18 [[ 9.77173646e-01 2.11754659e-01 1.70771739e-02 2.17811717e+02] [-2.11746033e-01 9.77321941e-01 -2.33241606e-03 -1.33938450e+01] [-1.71837968e-02 -1.33684833e-03 9.99851454e-01 -2.17689587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:-13.40, Z:-2.18 [[ 9.77007945e-01 2.12464133e-01 1.77332351e-02 2.17839852e+02] [-2.12454963e-01 9.77167860e-01 -2.42115397e-03 -1.33958716e+01] [-1.78427557e-02 -1.40202713e-03 9.99839822e-01 -2.17712838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.605898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:217.87, Y:-13.40, Z:-2.18 [[ 9.76888213e-01 2.12962916e-01 1.83361886e-02 2.17868260e+02] [-2.12953221e-01 9.77059192e-01 -2.50231435e-03 -1.33976595e+01] [-1.84484418e-02 -1.46026904e-03 9.99828747e-01 -2.17781799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.90, Y:-13.40, Z:-2.18 [[ 9.76757856e-01 2.13530590e-01 1.86756176e-02 2.17896971e+02] [-2.13520652e-01 9.76935228e-01 -2.54775400e-03 -1.34006543e+01] [-1.87888921e-02 -1.49909131e-03 9.99822349e-01 -2.17839657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.92, Y:-13.40, Z:-2.18 [[ 9.76813761e-01 2.13294995e-01 1.84423845e-02 2.17924312e+02] [-2.13285278e-01 9.76986727e-01 -2.51508008e-03 -1.34029060e+01] [-1.85544189e-02 -1.47672427e-03 9.99826761e-01 -2.17903560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:-13.40, Z:-2.18 [[ 9.77093330e-01 2.12101425e-01 1.73668996e-02 2.17952107e+02] [-2.12092638e-01 9.77246698e-01 -2.36743859e-03 -1.34036587e+01] [-1.74738824e-02 -1.37018309e-03 9.99846381e-01 -2.18019678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.98, Y:-13.41, Z:-2.18 [[ 9.77245971e-01 2.11413738e-01 1.71622901e-02 2.17980894e+02] [-2.11405068e-01 9.77395738e-01 -2.33855518e-03 -1.34061166e+01] [-1.72687518e-02 -1.34285147e-03 9.99849982e-01 -2.18094500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.01, Y:-13.41, Z:-2.18 [[ 9.77369121e-01 2.10803141e-01 1.76532622e-02 2.18008227e+02] [-2.10793885e-01 9.77527573e-01 -2.40462611e-03 -1.34087083e+01] [-1.77634533e-02 -1.37099241e-03 9.99841277e-01 -2.18167437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:-13.41, Z:-2.18 [[ 9.77454561e-01 2.10413728e-01 1.75682611e-02 2.18037052e+02] [-2.10404516e-01 9.77611486e-01 -2.39200261e-03 -1.34117430e+01] [-1.76782440e-02 -1.35836762e-03 9.99842805e-01 -2.18173097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.06, Y:-13.41, Z:-2.18 [[ 9.77596301e-01 2.09842485e-01 1.64804096e-02 2.18064469e+02] [-2.09834309e-01 9.77734387e-01 -2.24318651e-03 -1.34130868e+01] [-1.65841790e-02 -1.26522451e-03 9.99861673e-01 -2.18262443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:-13.42, Z:-2.18 [[ 9.77618632e-01 2.09795547e-01 1.57365764e-02 2.18093347e+02] [-2.09788101e-01 9.77744531e-01 -2.14100046e-03 -1.34162572e+01] [-1.58355239e-02 -1.20826454e-03 9.99873880e-01 -2.18303211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.12, Y:-13.42, Z:-2.18 [[ 9.77550862e-01 2.10137356e-01 1.53819180e-02 2.18121108e+02] [-2.10130295e-01 9.77671152e-01 -2.09207419e-03 -1.34191625e+01] [-1.54780805e-02 -1.18709805e-03 9.99879503e-01 -2.18383210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:-13.42, Z:-2.18 [[ 9.77403924e-01 2.10798622e-01 1.56687553e-02 2.18149400e+02] [-2.10791394e-01 9.77528747e-01 -2.13015408e-03 -1.34219699e+01] [-1.57656923e-02 -1.22081782e-03 9.99874968e-01 -2.18412743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.18, Y:-13.42, Z:-2.18 [[ 9.77182286e-01 2.11753661e-01 1.65881593e-02 2.18176013e+02] [-2.11745716e-01 9.77322194e-01 -2.25400332e-03 -1.34242081e+01] [-1.66892697e-02 -1.30989953e-03 9.99859866e-01 -2.18460803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.20, Y:-13.43, Z:-2.18 [[ 9.76848231e-01 2.13202780e-01 1.76665737e-02 2.18204405e+02] [-2.13194039e-01 9.77006934e-01 -2.39856756e-03 -1.34262113e+01] [-1.77717462e-02 -1.42337172e-03 9.99841057e-01 -2.18461935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.23, Y:-13.43, Z:-2.19 [[ 9.75985727e-01 2.17074015e-01 1.81860436e-02 2.18232958e+02] [-2.17065443e-01 9.76153934e-01 -2.46780226e-03 -1.34255770e+01] [-1.82880738e-02 -1.53902183e-03 9.99831575e-01 -2.18508977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.26, Y:-13.43, Z:-2.19 [[ 9.75533809e-01 2.19146266e-01 1.75698810e-02 2.18260060e+02] [-2.19138619e-01 9.75690825e-01 -2.38304540e-03 -1.34263570e+01] [-1.76650072e-02 -1.52549810e-03 9.99842798e-01 -2.18613061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:-13.43, Z:-2.19 [[ 9.75161339e-01 2.20866754e-01 1.66805542e-02 2.18287016e+02] [-2.20860138e-01 9.75302870e-01 -2.26075828e-03 -1.34264346e+01] [-1.67679187e-02 -1.47946544e-03 9.99858314e-01 -2.18687343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.32, Y:-13.43, Z:-2.19 [[ 9.74792398e-01 2.22528180e-01 1.61552086e-02 2.18315363e+02] [-2.22522222e-01 9.74925162e-01 -2.18825864e-03 -1.34259577e+01] [-1.62370686e-02 -1.46179502e-03 9.99867102e-01 -2.18789104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.115898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:218.34, Y:-13.42, Z:-2.19 [[ 9.74567371e-01 2.23472175e-01 1.66921109e-02 2.18343667e+02] [-2.23465972e-01 9.74709112e-01 -2.25977413e-03 -1.34247549e+01] [-1.67749492e-02 -1.52781665e-03 9.99858123e-01 -2.18874758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.37, Y:-13.42, Z:-2.19 [[ 9.74374925e-01 2.24260892e-01 1.73365869e-02 2.18372194e+02] [-2.24254347e-01 9.74527827e-01 -2.34577133e-03 -1.34246591e+01] [-1.74210512e-02 -1.60214421e-03 9.99846958e-01 -2.18873584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.40, Y:-13.42, Z:-2.19 [[ 9.74638409e-01 2.23012384e-01 1.85862624e-02 2.18399868e+02] [-2.23004662e-01 9.74814138e-01 -2.51343868e-03 -1.34196113e+01] [-1.86786793e-02 -1.69512930e-03 9.99824101e-01 -2.18876733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:-13.42, Z:-2.19 [[ 9.74973009e-01 2.21529003e-01 1.87758559e-02 2.18426705e+02] [-2.21520881e-01 9.75152327e-01 -2.53749997e-03 -1.34191991e+01] [-1.88714494e-02 -1.68525015e-03 9.99820498e-01 -2.18939398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.45, Y:-13.42, Z:-2.19 [[ 9.75374166e-01 2.19737755e-01 1.89883220e-02 2.18454246e+02] [-2.19729140e-01 9.75557547e-01 -2.56466533e-03 -1.34184440e+01] [-1.90877547e-02 -1.67077937e-03 9.99816416e-01 -2.18998780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.48, Y:-13.41, Z:-2.19 [[ 9.75977843e-01 2.16980046e-01 1.96700197e-02 2.18482922e+02] [-2.16970295e-01 9.76174598e-01 -2.65420283e-03 -1.34141524e+01] [-1.97772826e-02 -1.67736683e-03 9.99803003e-01 -2.19101287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.51, Y:-13.41, Z:-2.19 [[ 9.76174002e-01 2.16086658e-01 1.97705261e-02 2.18511368e+02] [-2.16076649e-01 9.76372762e-01 -2.66657703e-03 -1.34144563e+01] [-1.98796149e-02 -1.66890585e-03 9.99800988e-01 -2.19139143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.54, Y:-13.41, Z:-2.19 [[ 9.76375946e-01 2.15191515e-01 1.95607651e-02 2.18539501e+02] [-2.15181566e-01 9.76570499e-01 -2.63689612e-03 -1.34147598e+01] [-1.96699038e-02 -1.63451414e-03 9.99805193e-01 -2.19182624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.57, Y:-13.42, Z:-2.19 [[ 9.76612192e-01 2.14185301e-01 1.87958426e-02 2.18566700e+02] [-2.14175954e-01 9.76791814e-01 -2.53253734e-03 -1.34150808e+01] [-1.89020575e-02 -1.55231067e-03 9.99820135e-01 -2.19242383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:-13.42, Z:-2.19 [[ 9.76805897e-01 2.13363784e-01 1.80592306e-02 2.18594809e+02] [-2.13355059e-01 9.76971704e-01 -2.43091585e-03 -1.34158359e+01] [-1.81620267e-02 -1.47849526e-03 9.99833964e-01 -2.19355921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.62, Y:-13.42, Z:-2.19 [[ 9.77043467e-01 2.12341010e-01 1.72440803e-02 2.18621481e+02] [-2.12332913e-01 9.77194633e-01 -2.32016757e-03 -1.34162373e+01] [-1.73434895e-02 -1.39458124e-03 9.99848618e-01 -2.19385323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.65, Y:-13.41, Z:-2.19 [[ 9.77492402e-01 2.10252556e-01 1.73915613e-02 2.18650022e+02] [-2.10244030e-01 9.77646144e-01 -2.33785184e-03 -1.34147249e+01] [-1.74943322e-02 -1.37123952e-03 9.99846022e-01 -2.19444945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.68, Y:-13.42, Z:-2.19 [[ 9.77806102e-01 2.08776434e-01 1.75392914e-02 2.18677762e+02] [-2.08767588e-01 9.77962449e-01 -2.35420185e-03 -1.34155279e+01] [-1.76442702e-02 -1.35968262e-03 9.99843403e-01 -2.19462155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.70, Y:-13.42, Z:-2.20 [[ 9.78099951e-01 2.07373230e-01 1.77996833e-02 2.18704543e+02] [-2.07363909e-01 9.78260960e-01 -2.38801066e-03 -1.34161071e+01] [-1.79079447e-02 -1.35529879e-03 9.99838721e-01 -2.19564701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:-13.42, Z:-2.20 [[ 9.78407486e-01 2.05922953e-01 1.77349625e-02 2.18732480e+02] [-2.05913505e-01 9.78567309e-01 -2.37698434e-03 -1.34169174e+01] [-1.78443302e-02 -1.32620902e-03 9.99839898e-01 -2.19613619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:-13.42, Z:-2.20 [[ 9.78982218e-01 2.03142812e-01 1.80780068e-02 2.18759942e+02] [-2.03132547e-01 9.79148254e-01 -2.42164857e-03 -1.34160702e+01] [-1.81929893e-02 -1.30148067e-03 9.99833647e-01 -2.19713059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:-13.42, Z:-2.20 [[ 9.79232491e-01 2.01857765e-01 1.88989932e-02 2.18788145e+02] [-2.01846340e-01 9.79413934e-01 -2.52994622e-03 -1.34183578e+01] [-1.90206265e-02 -1.33728707e-03 9.99818197e-01 -2.19754026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.82, Y:-13.42, Z:-2.20 [[ 9.79464624e-01 2.00662716e-01 1.95837611e-02 2.18816330e+02] [-2.00650239e-01 9.79659439e-01 -2.62018135e-03 -1.34206711e+01] [-1.97111891e-02 -1.36311141e-03 9.99804786e-01 -2.19804029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:-13.42, Z:-2.20 [[ 9.79676153e-01 1.99585012e-01 2.00114454e-02 2.18843754e+02] [-1.99571789e-01 9.79879554e-01 -2.67595930e-03 -1.34232735e+01] [-2.01428875e-02 -1.37214645e-03 9.99796170e-01 -2.19843491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.87, Y:-13.43, Z:-2.20 [[ 9.79810809e-01 1.98975655e-01 1.94799397e-02 2.18871070e+02] [-1.98963032e-01 9.80003537e-01 -2.60355100e-03 -1.34256907e+01] [-1.96084531e-02 -1.32480046e-03 9.99806858e-01 -2.19888810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:-13.43, Z:-2.20 [[ 9.79952986e-01 1.98565876e-01 1.62400349e-02 2.18899295e+02] [-1.98557064e-01 9.80086928e-01 -2.16942642e-03 -1.34278510e+01] [-1.63474200e-02 -1.09863776e-03 9.99865768e-01 -2.20008851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.93, Y:-13.43, Z:-2.20 [[ 9.80147881e-01 1.97669436e-01 1.53924025e-02 2.18926410e+02] [-1.97661426e-01 9.80268196e-01 -2.05520670e-03 -1.34303186e+01] [-1.54949342e-02 -1.02807773e-03 9.99879418e-01 -2.20103556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:-13.43, Z:-2.20 [[ 9.80387101e-01 1.96518678e-01 1.48842774e-02 2.18953846e+02] [-1.96511066e-01 9.80499594e-01 -1.98665924e-03 -1.34334261e+01] [-1.49844436e-02 -9.77230112e-04 9.99887249e-01 -2.20218942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.98, Y:-13.44, Z:-2.20 [[ 9.80709349e-01 1.94917003e-01 1.47151303e-02 2.18981491e+02] [-1.94909431e-01 9.80819284e-01 -1.96082467e-03 -1.34368783e+01] [-1.48150816e-02 -9.45118592e-04 9.99889804e-01 -2.20296514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:-13.44, Z:-2.20 [[ 9.81100155e-01 1.92961020e-01 1.44405903e-02 2.19008496e+02] [-1.92953528e-01 9.81206011e-01 -1.92354056e-03 -1.34412450e+01] [-1.45403623e-02 -8.99176891e-04 9.99893879e-01 -2.20366705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:-13.45, Z:-2.20 [[ 9.81559470e-01 1.90636074e-01 1.41029710e-02 2.19035740e+02] [-1.90628719e-01 9.81660415e-01 -1.87644030e-03 -1.34469073e+01] [-1.42020455e-02 -8.46593537e-04 9.99898787e-01 -2.20457122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.06, Y:-13.46, Z:-2.21 [[ 9.82600895e-01 1.85141676e-01 1.47662090e-02 2.19061391e+02] [-1.85133010e-01 9.82711511e-01 -1.96363240e-03 -1.34556600e+01] [-1.48744737e-02 -8.04245761e-04 9.99889045e-01 -2.20584875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.925898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:219.09, Y:-13.46, Z:-2.21 [[ 9.83017118e-01 1.82861412e-01 1.54612124e-02 2.19088809e+02] [-1.82851651e-01 9.83138369e-01 -2.05460094e-03 -1.34616642e+01] [-1.55762184e-02 -8.07400325e-04 9.99878357e-01 -2.20577678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.12, Y:-13.47, Z:-2.21 [[ 9.83265464e-01 1.81416832e-01 1.66421237e-02 2.19115526e+02] [-1.81405334e-01 9.83405928e-01 -2.21052117e-03 -1.34678015e+01] [-1.67669888e-02 -8.45440883e-04 9.99859067e-01 -2.20602970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.14, Y:-13.47, Z:-2.21 [[ 9.83277828e-01 1.81281217e-01 1.73733412e-02 2.19142753e+02] [-1.81268693e-01 9.83430904e-01 -2.30608905e-03 -1.34735078e+01] [-1.75035313e-02 -8.81716628e-04 9.99846413e-01 -2.20567104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.17, Y:-13.48, Z:-2.21 [[ 9.82748942e-01 1.84214495e-01 1.64175772e-02 2.19170602e+02] [-1.84203737e-01 9.82885669e-01 -2.17814709e-03 -1.34802058e+01] [-1.65378476e-02 -8.83607327e-04 9.99862850e-01 -2.20539846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.20, Y:-13.48, Z:-2.21 [[ 9.82759495e-01 1.84158173e-01 1.64177319e-02 2.19198858e+02] [-1.84147426e-01 9.82896224e-01 -2.17698058e-03 -1.34838247e+01] [-1.65378354e-02 -8.83834726e-04 9.99862850e-01 -2.20596759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:219.23, Y:-13.49, Z:-2.21 [[ 9.82274213e-01 1.86822590e-01 1.53196083e-02 2.19225952e+02] [-1.86813567e-01 9.82393286e-01 -2.03065681e-03 -1.34879400e+01] [-1.54292529e-02 -8.67248841e-04 9.99880586e-01 -2.20651640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.25, Y:-13.49, Z:-2.21 [[ 9.81765195e-01 1.89522118e-01 1.47807027e-02 2.19253942e+02] [-1.89514041e-01 9.81876059e-01 -1.95803787e-03 -1.34922095e+01] [-1.48839096e-02 -8.78817266e-04 9.99888842e-01 -2.20759662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.28, Y:-13.50, Z:-2.21 [[ 9.81298986e-01 1.91901546e-01 1.50365168e-02 2.19280643e+02] [-1.91893481e-01 9.81413740e-01 -1.99086033e-03 -1.34962792e+01] [-1.51390933e-02 -9.31780324e-04 9.99884963e-01 -2.20823291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.31, Y:-13.50, Z:-2.21 [[ 9.80934629e-01 1.93736150e-01 1.52826038e-02 2.19308479e+02] [-1.93728062e-01 9.81053184e-01 -2.02206357e-03 -1.35005029e+01] [-1.53847940e-02 -9.77157044e-04 9.99881170e-01 -2.20820211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.33, Y:-13.51, Z:-2.21 [[ 9.80481383e-01 1.95902808e-01 1.66837250e-02 2.19334805e+02] [-1.95893500e-01 9.80622694e-01 -2.20629150e-03 -1.35054036e+01] [-1.67926580e-02 -1.10500555e-03 9.99858383e-01 -2.20843219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.36, Y:-13.51, Z:-2.21 [[ 9.80407417e-01 1.96232398e-01 1.71505715e-02 2.19361136e+02] [-1.96222655e-01 9.80556748e-01 -2.26556686e-03 -1.35094942e+01] [-1.72616862e-02 -1.14415213e-03 9.99850351e-01 -2.20879630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.39, Y:-13.51, Z:-2.21 [[ 9.80375318e-01 1.96364698e-01 1.74682717e-02 2.19388376e+02] [-1.96354637e-01 9.80530233e-01 -2.30606261e-03 -1.35138635e+01] [-1.75809978e-02 -1.16916929e-03 9.99844759e-01 -2.20965421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:-13.52, Z:-2.21 [[ 9.80356090e-01 1.96260362e-01 1.95909968e-02 2.19415292e+02] [-1.96340316e-01 9.80533286e-01 2.22589471e-03 -1.35202792e+01] [-1.87727695e-02 -6.02867194e-03 9.99805600e-01 -2.21055500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.44, Y:-13.52, Z:-2.21 [[ 9.80526900e-01 1.95626293e-01 1.72438685e-02 2.19444021e+02] [-1.95532515e-01 9.80672360e-01 -6.98266898e-03 -1.35234086e+01] [-1.82765789e-02 3.47495780e-03 9.99826931e-01 -2.21107258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.47, Y:-13.53, Z:-2.21 [[ 9.80713305e-01 1.94653292e-01 1.76496487e-02 2.19469802e+02] [-1.94642833e-01 9.80871430e-01 -2.32508777e-03 -1.35304847e+01] [-1.77646222e-02 -1.15513313e-03 9.99841529e-01 -2.21190813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.50, Y:-13.54, Z:-2.21 [[ 9.80889316e-01 1.93781737e-01 1.74582016e-02 2.19497037e+02] [-1.93771391e-01 9.81044018e-01 -2.29844162e-03 -1.35364346e+01] [-1.75726603e-02 -1.12838320e-03 9.99844952e-01 -2.21243818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.52, Y:-13.54, Z:-2.21 [[ 9.81053940e-01 1.92954606e-01 1.73691500e-02 2.19524021e+02] [-1.92944258e-01 9.81207058e-01 -2.28552058e-03 -1.35428797e+01] [-1.74837343e-02 -1.10905879e-03 9.99846533e-01 -2.21284630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:-13.55, Z:-2.21 [[ 9.81220162e-01 1.92117186e-01 1.72621359e-02 2.19551882e+02] [-1.92106855e-01 9.81371388e-01 -2.27025282e-03 -1.35493699e+01] [-1.73767209e-02 -1.08855681e-03 9.99848421e-01 -2.21260850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:-13.56, Z:-2.21 [[ 9.81284126e-01 1.91830356e-01 1.68100572e-02 2.19578982e+02] [-1.91820537e-01 9.81427531e-01 -2.20967450e-03 -1.35556537e+01] [-1.69217356e-02 -1.05619570e-03 9.99856259e-01 -2.21253692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.61, Y:-13.56, Z:-2.21 [[ 9.81094803e-01 1.92802503e-01 1.67386423e-02 2.19605760e+02] [-1.92792927e-01 9.81237000e-01 -2.19913593e-03 -1.35637106e+01] [-1.68485741e-02 -1.06953102e-03 9.99857481e-01 -2.21293542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.63, Y:-13.57, Z:-2.21 [[ 9.80823206e-01 1.94185058e-01 1.66733779e-02 2.19633111e+02] [-1.94175775e-01 9.80964309e-01 -2.18939153e-03 -1.35687867e+01] [-1.67811358e-02 -1.09016006e-03 9.99858593e-01 -2.21306601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.66, Y:-13.57, Z:-2.21 [[ 9.80474405e-01 1.95961034e-01 1.64077431e-02 2.19659910e+02] [-1.95952311e-01 9.80611062e-01 -2.15340316e-03 -1.35736940e+01] [-1.65115975e-02 -1.10377850e-03 9.99863065e-01 -2.21331182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.69, Y:-13.58, Z:-2.21 [[ 9.79556954e-01 2.00560288e-01 1.56123085e-02 2.19687201e+02] [-2.00552991e-01 9.79680716e-01 -2.04774057e-03 -1.35788126e+01] [-1.57057730e-02 -1.12521665e-03 9.99876024e-01 -2.21332973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.615898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:219.72, Y:-13.58, Z:-2.21 [[ 9.79015551e-01 2.03180159e-01 1.56963031e-02 2.19715312e+02] [-2.03173135e-01 9.79140666e-01 -2.05765557e-03 -1.35816145e+01] [-1.57869635e-02 -1.17459031e-03 9.99874688e-01 -2.21406573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.74, Y:-13.58, Z:-2.21 [[ 9.78394030e-01 2.06185915e-01 1.52476480e-02 2.19742934e+02] [-2.06179664e-01 9.78512113e-01 -1.99782433e-03 -1.35847455e+01] [-1.53319315e-02 -1.18909555e-03 9.99881752e-01 -2.21395681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.77, Y:-13.59, Z:-2.21 [[ 9.77853809e-01 2.08773089e-01 1.46876048e-02 2.19771276e+02] [-2.08767594e-01 9.77963390e-01 -1.92347306e-03 -1.35867833e+01] [-1.47655092e-02 -1.18542046e-03 9.99890281e-01 -2.21399561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.80, Y:-13.59, Z:-2.21 [[ 9.77347857e-01 2.11143386e-01 1.44788155e-02 2.19799511e+02] [-2.11138319e-01 9.77454356e-01 -1.89514112e-03 -1.35884086e+01] [-1.45525278e-02 -1.20482065e-03 9.99893380e-01 -2.21362903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:-13.59, Z:-2.21 [[ 9.76923381e-01 2.13064903e-01 1.49684735e-02 2.19827394e+02] [-2.13059727e-01 9.77037214e-01 -1.95816804e-03 -1.35894801e+01] [-1.50419725e-02 -1.27619873e-03 9.99886049e-01 -2.21411486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.85, Y:-13.59, Z:-2.21 [[ 9.76511792e-01 2.14868785e-01 1.60039474e-02 2.19854584e+02] [-2.14863128e-01 9.76641929e-01 -2.09242282e-03 -1.35885452e+01] [-1.60797224e-02 -1.39538263e-03 9.99869739e-01 -2.21403065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.88, Y:-13.59, Z:-2.21 [[ 9.76569694e-01 2.14554266e-01 1.66763258e-02 2.19882850e+02] [-2.14548103e-01 9.76710993e-01 -2.17881716e-03 -1.35900471e+01] [-1.67554253e-02 -1.45010727e-03 9.99858566e-01 -2.21477559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.91, Y:-13.59, Z:-2.22 [[ 9.76705533e-01 2.13908623e-01 1.70118284e-02 2.19909708e+02] [-2.13902133e-01 9.76852570e-01 -2.22148171e-03 -1.35915936e+01] [-1.70932424e-02 -1.46913290e-03 9.99852821e-01 -2.21527662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.855898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:219.94, Y:-13.59, Z:-2.22 [[ 9.76824951e-01 2.13284624e-01 1.79633841e-02 2.19938108e+02] [-2.13277311e-01 9.76988891e-01 -2.34419376e-03 -1.35929542e+01] [-1.80500072e-02 -1.54131530e-03 9.99835897e-01 -2.21630283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.97, Y:-13.59, Z:-2.22 [[ 9.77068226e-01 2.12022900e-01 1.95952043e-02 2.19965988e+02] [-2.12013975e-01 9.77263293e-01 -2.55569329e-03 -1.35923649e+01] [-1.96915393e-02 -1.65737043e-03 9.99804729e-01 -2.21595195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.99, Y:-13.59, Z:-2.22 [[ 9.77184598e-01 2.11489117e-01 1.95605320e-02 2.19993529e+02] [-2.11480144e-01 9.77378968e-01 -2.54982343e-03 -1.35936668e+01] [-1.96573125e-02 -1.64501594e-03 9.99805423e-01 -2.21594994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.02, Y:-13.59, Z:-2.22 [[ 9.77300121e-01 2.10967122e-01 1.94254229e-02 2.20020717e+02] [-2.10958200e-01 9.77491807e-01 -2.53066111e-03 -1.35942040e+01] [-1.95220781e-02 -1.62473684e-03 9.99808106e-01 -2.21684240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.05, Y:-13.59, Z:-2.22 [[ 9.77389024e-01 2.10583649e-01 1.91108207e-02 2.20048768e+02] [-2.10574970e-01 9.77574545e-01 -2.48817686e-03 -1.35947912e+01] [-1.92062212e-02 -1.59234372e-03 9.99814276e-01 -2.21751750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.08, Y:-13.60, Z:-2.22 [[ 9.77381424e-01 2.10614706e-01 1.91571756e-02 2.20075810e+02] [-2.10639310e-01 9.77563565e-01 -7.47216221e-04 -1.35961602e+01] [-1.88847316e-02 -3.30493899e-03 9.99816205e-01 -2.21796813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.11, Y:-13.59, Z:-2.22 [[ 9.77480579e-01 2.10317466e-01 1.72707992e-02 2.20105170e+02] [-2.10280331e-01 9.77633114e-01 -3.95926729e-03 -1.35933377e+01] [-1.77172083e-02 2.38397508e-04 9.99843010e-01 -2.21844510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:-13.59, Z:-2.22 [[ 9.77678689e-01 2.09369689e-01 1.75702569e-02 2.20132387e+02] [-2.09362252e-01 9.77835487e-01 -2.28224861e-03 -1.35948171e+01] [-1.76586544e-02 -1.44724272e-03 9.99843026e-01 -2.21971226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:-13.60, Z:-2.22 [[ 9.77965423e-01 2.08038056e-01 1.74297987e-02 2.20158983e+02] [-2.08030553e-01 9.78119711e-01 -2.26258382e-03 -1.35958664e+01] [-1.75191332e-02 -1.41320191e-03 9.99845529e-01 -2.21988683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:-13.60, Z:-2.22 [[ 9.78350772e-01 2.06237737e-01 1.71977797e-02 2.20186934e+02] [-2.06230174e-01 9.78500964e-01 -2.23138683e-03 -1.35969370e+01] [-1.72882402e-02 -1.36362208e-03 9.99849617e-01 -2.22045868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.22, Y:-13.60, Z:-2.22 [[ 9.78827900e-01 2.03962576e-01 1.71816803e-02 2.20215621e+02] [-2.03954735e-01 9.78977789e-01 -2.22602619e-03 -1.35960427e+01] [-1.72745094e-02 -1.32538852e-03 9.99849906e-01 -2.22124006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.24, Y:-13.60, Z:-2.22 [[ 9.78924606e-01 2.03503971e-01 1.71099419e-02 2.20243191e+02] [-2.03496185e-01 9.79073237e-01 -2.21327011e-03 -1.35971014e+01] [-1.72022955e-02 -1.31518334e-03 9.99851165e-01 -2.22155120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.215898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:220.27, Y:-13.60, Z:-2.22 [[ 9.78952852e-01 2.03338805e-01 1.74540395e-02 2.20269847e+02] [-2.03330720e-01 9.79107518e-01 -2.25529916e-03 -1.35976329e+01] [-1.75479711e-02 -1.34111088e-03 9.99845123e-01 -2.22296961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.30, Y:-13.60, Z:-2.22 [[ 9.78998800e-01 2.03169237e-01 1.68407433e-02 2.20297949e+02] [-2.03161702e-01 9.79142784e-01 -2.17506741e-03 -1.35987808e+01] [-1.69313991e-02 -1.29200569e-03 9.99855819e-01 -2.22310780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.33, Y:-13.60, Z:-2.22 [[ 9.79006941e-01 2.03215953e-01 1.57697906e-02 2.20325181e+02] [-2.03209403e-01 9.79133190e-01 -2.03355154e-03 -1.35997223e+01] [-1.58539754e-02 -1.21370865e-03 9.99873581e-01 -2.22344525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.35, Y:-13.60, Z:-2.22 [[ 9.79024304e-01 2.03218248e-01 1.46204000e-02 2.20353019e+02] [-2.03212626e-01 9.79132819e-01 -1.88481035e-03 -1.36007170e+01] [-1.46983413e-02 -1.12577474e-03 9.99891340e-01 -2.22435084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.38, Y:-13.60, Z:-2.23 [[ 9.79198812e-01 2.02471112e-01 1.32338685e-02 2.20380413e+02] [-2.02466471e-01 9.79287714e-01 -1.70351430e-03 -1.35995364e+01] [-1.33046773e-02 -1.01133547e-03 9.99910977e-01 -2.22516862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:-13.60, Z:-2.23 [[ 9.79305376e-01 2.01899448e-01 1.40568044e-02 2.20408010e+02] [-2.01894177e-01 9.79405673e-01 -1.80781509e-03 -1.36009698e+01] [-1.41323108e-02 -1.06758391e-03 9.99899564e-01 -2.22520137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.43, Y:-13.60, Z:-2.22 [[ 9.79388771e-01 2.01382244e-01 1.55829230e-02 2.20434557e+02] [-2.01375760e-01 9.79512022e-01 -2.00029191e-03 -1.36028504e+01] [-1.56664837e-02 -1.17895954e-03 9.99876578e-01 -2.22480990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.46, Y:-13.60, Z:-2.22 [[ 9.79645462e-01 1.99861380e-01 1.87135468e-02 2.20462136e+02] [-1.99851787e-01 9.79823199e-01 -2.40042232e-03 -1.36047008e+01] [-1.88157190e-02 -1.38837296e-03 9.99822005e-01 -2.22455929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.49, Y:-13.61, Z:-2.22 [[ 9.79800456e-01 1.99068614e-01 1.90460648e-02 2.20489490e+02] [-1.99058599e-01 9.79984553e-01 -2.43938991e-03 -1.36078228e+01] [-1.91504552e-02 -1.40116763e-03 9.99815631e-01 -2.22497362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.52, Y:-13.61, Z:-2.23 [[ 9.80015935e-01 1.97988758e-01 1.92150675e-02 2.20517081e+02] [-1.97978430e-01 9.80203297e-01 -2.45728870e-03 -1.36110922e+01] [-1.93211880e-02 -1.39598680e-03 9.99812354e-01 -2.22618688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.54, Y:-13.61, Z:-2.23 [[ 9.80195733e-01 1.97065826e-01 1.95290802e-02 2.20544276e+02] [-1.97055053e-01 9.80389254e-01 -2.49347734e-03 -1.36149602e+01] [-1.96374796e-02 -1.40420810e-03 9.99806180e-01 -2.22687801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.57, Y:-13.62, Z:-2.23 [[ 9.80416102e-01 1.95921256e-01 1.99782163e-02 2.20571930e+02] [-1.95909782e-01 9.80618611e-01 -2.54905751e-03 -1.36183738e+01] [-2.00904252e-02 -1.41479096e-03 9.99797166e-01 -2.22801043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.60, Y:-13.62, Z:-2.23 [[ 9.80565104e-01 1.95194897e-01 1.97744590e-02 2.20598350e+02] [-1.95183583e-01 9.80763489e-01 -2.51929645e-03 -1.36219700e+01] [-1.98858212e-02 -1.38931557e-03 9.99801292e-01 -2.22838925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.63, Y:-13.63, Z:-2.23 [[ 9.80600612e-01 1.95125560e-01 1.86669936e-02 2.20626200e+02] [-1.95115507e-01 9.80777393e-01 -2.37597979e-03 -1.36253663e+01] [-1.87717797e-02 -1.31233269e-03 9.99822933e-01 -2.22891978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.65, Y:-13.63, Z:-2.23 [[ 9.80533726e-01 1.95461129e-01 1.86697389e-02 2.20653254e+02] [-1.95451204e-01 9.80710558e-01 -2.37261804e-03 -1.36284506e+01] [-1.87733647e-02 -1.32259094e-03 9.99822890e-01 -2.22979403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.665898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:220.68, Y:-13.63, Z:-2.23 [[ 9.80462890e-01 1.95800950e-01 1.88283918e-02 2.20681429e+02] [-1.95790946e-01 9.80642742e-01 -2.39130733e-03 -1.36316207e+01] [-1.89321460e-02 -1.34184054e-03 9.99819870e-01 -2.23100634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.71, Y:-13.64, Z:-2.23 [[ 9.80426064e-01 1.95966566e-01 1.90220409e-02 2.20708156e+02] [-1.95956458e-01 9.80609631e-01 -2.41212745e-03 -1.36351711e+01] [-1.91258928e-02 -1.36257912e-03 9.99816155e-01 -2.23059417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.74, Y:-13.64, Z:-2.23 [[ 9.80894711e-01 1.93637121e-01 1.87144892e-02 2.20736322e+02] [-1.93626941e-01 9.81072364e-01 -2.37173306e-03 -1.36392271e+01] [-1.88195237e-02 -1.29720887e-03 9.99822056e-01 -2.23157227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.76, Y:-13.64, Z:-2.23 [[ 9.81425861e-01 1.90947750e-01 1.84996395e-02 2.20763311e+02] [-1.90937394e-01 9.81599425e-01 -2.34089769e-03 -1.36431847e+01] [-1.86062247e-02 -1.23485543e-03 9.99826127e-01 -2.23246198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.79, Y:-13.65, Z:-2.23 [[ 9.82161378e-01 1.87161589e-01 1.81539649e-02 2.20790287e+02] [-1.87151015e-01 9.82328474e-01 -2.29482296e-03 -1.36479717e+01] [-1.82626594e-02 -1.14364647e-03 9.99832570e-01 -2.23307138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.82, Y:-13.65, Z:-2.23 [[ 9.82915934e-01 1.83206943e-01 1.76488987e-02 2.20817597e+02] [-1.83196355e-01 9.83073817e-01 -2.22862398e-03 -1.36536221e+01] [-1.77584696e-02 -1.04266389e-03 9.99841762e-01 -2.23336159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.84, Y:-13.66, Z:-2.23 [[ 9.84280043e-01 1.75678190e-01 1.81650889e-02 2.20843802e+02] [-1.75665718e-01 9.84447205e-01 -2.29247116e-03 -1.36623455e+01] [-1.82853082e-02 -9.34549771e-04 9.99832373e-01 -2.23295121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.87, Y:-13.67, Z:-2.23 [[ 9.84837750e-01 1.72500789e-01 1.83870475e-02 2.20870834e+02] [-1.72487487e-01 9.85008979e-01 -2.31890088e-03 -1.36686065e+01] [-1.85114192e-02 -8.87794495e-04 9.99828255e-01 -2.23305831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.90, Y:-13.68, Z:-2.23 [[ 9.85312769e-01 1.69826393e-01 1.78253402e-02 2.20898159e+02] [-1.69813476e-01 9.85473660e-01 -2.24686032e-03 -1.36751537e+01] [-1.79479795e-02 -8.13122815e-04 9.99838591e-01 -2.23335674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.93, Y:-13.68, Z:-2.23 [[ 9.85322563e-01 1.69769543e-01 1.78254985e-02 2.20926438e+02] [-1.69756639e-01 9.85483455e-01 -2.24560396e-03 -1.36785866e+01] [-1.79479690e-02 -8.13352464e-04 9.99838591e-01 -2.23392841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.95, Y:-13.69, Z:-2.24 [[ 9.85631159e-01 1.68078777e-01 1.67553892e-02 2.20953428e+02] [-1.68067147e-01 9.85773292e-01 -2.10992469e-03 -1.36859008e+01] [-1.68716488e-02 -7.36422948e-04 9.99857392e-01 -2.23542577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.98, Y:-13.69, Z:-2.24 [[ 9.85812715e-01 1.67099626e-01 1.58431684e-02 2.20980325e+02] [-1.67089118e-01 9.85939780e-01 -1.99399573e-03 -1.36933408e+01] [-1.59536059e-02 -6.81514689e-04 9.99872501e-01 -2.23623404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.01, Y:-13.70, Z:-2.24 [[ 9.85943478e-01 1.66376062e-01 1.53122169e-02 2.21006824e+02] [-1.66366172e-01 9.86062161e-01 -1.92633784e-03 -1.37010190e+01] [-1.54192942e-02 -6.48174684e-04 9.99880906e-01 -2.23679840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.03, Y:-13.71, Z:-2.24 [[ 9.86105143e-01 1.65464056e-01 1.47747305e-02 2.21033780e+02] [-1.65454776e-01 9.86215630e-01 -1.85672644e-03 -1.37126054e+01] [-1.48782917e-02 -6.13622241e-04 9.99889124e-01 -2.23711174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.06, Y:-13.72, Z:-2.24 [[ 9.86117269e-01 1.65412135e-01 1.45449799e-02 2.21060977e+02] [-1.65403150e-01 9.86224346e-01 -1.82685246e-03 -1.37205388e+01] [-1.46467969e-02 -6.04294749e-04 9.99892547e-01 -2.23783911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.09, Y:-13.73, Z:-2.24 [[ 9.86044666e-01 1.65857474e-01 1.43949769e-02 2.21086934e+02] [-1.65848735e-01 9.86149548e-01 -1.80701713e-03 -1.37287410e+01] [-1.44953073e-02 -6.05589111e-04 9.99894754e-01 -2.23860001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.11, Y:-13.74, Z:-2.24 [[ 9.85860777e-01 1.66913077e-01 1.47835780e-02 2.21114517e+02] [-1.66903999e-01 9.85971407e-01 -1.85439936e-03 -1.37373932e+01] [-1.48857087e-02 -6.39258695e-04 9.99888997e-01 -2.23919535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.14, Y:-13.75, Z:-2.24 [[ 9.85574805e-01 1.68519679e-01 1.56019501e-02 2.21141398e+02] [-1.68509789e-01 9.85698040e-01 -1.95585362e-03 -1.37460240e+01] [-1.57084114e-02 -7.01441260e-04 9.99876369e-01 -2.23969219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.17, Y:-13.76, Z:-2.24 [[ 9.84869903e-01 1.72442038e-01 1.71760941e-02 2.21166710e+02] [-1.72430669e-01 9.85019306e-01 -2.15184507e-03 -1.37594932e+01] [-1.72898529e-02 -8.42397961e-04 9.99850164e-01 -2.23966255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.19, Y:-13.77, Z:-2.24 [[ 9.84487473e-01 1.74611552e-01 1.71820229e-02 2.21194898e+02] [-1.74600531e-01 9.84637003e-01 -2.15106726e-03 -1.37679223e+01] [-1.72936567e-02 -8.82291543e-04 9.99850064e-01 -2.24024000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.22, Y:-13.78, Z:-2.24 [[ 9.84041473e-01 1.77125983e-01 1.69930865e-02 2.21221658e+02] [-1.77115591e-01 9.84187759e-01 -2.12662165e-03 -1.37761589e+01] [-1.71010676e-02 -9.17056646e-04 9.99853345e-01 -2.24092717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:-13.78, Z:-2.24 [[ 9.83524546e-01 1.80025992e-01 1.64350283e-02 2.21248398e+02] [-1.80016690e-01 9.83661408e-01 -2.05582778e-03 -1.37843595e+01] [-1.65366055e-02 -9.36622310e-04 9.99862822e-01 -2.24133810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.27, Y:-13.80, Z:-2.24 [[ 9.82272517e-01 1.86801268e-01 1.56840183e-02 2.21274777e+02] [-1.86793671e-01 9.82397210e-01 -1.96096284e-03 -1.37965127e+01] [-1.57742462e-02 -1.00347545e-03 9.99875075e-01 -2.24257586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.30, Y:-13.80, Z:-2.24 [[ 9.81596108e-01 1.90325337e-01 1.56635760e-02 2.21303355e+02] [-1.90318224e-01 9.81720501e-01 -1.95725064e-03 -1.38039180e+01] [-1.57497681e-02 -1.05983434e-03 9.99875403e-01 -2.24298522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.33, Y:-13.81, Z:-2.24 [[ 9.80927932e-01 1.93716177e-01 1.59510031e-02 2.21330093e+02] [-1.93709258e-01 9.81056957e-01 -1.99242475e-03 -1.38108036e+01] [-1.60348075e-02 -1.13543188e-03 9.99870790e-01 -2.24372848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.36, Y:-13.82, Z:-2.24 [[ 9.80374905e-01 1.96430205e-01 1.67397500e-02 2.21358587e+02] [-1.96422997e-01 9.80517026e-01 -2.08983981e-03 -1.38174337e+01] [-1.68241175e-02 -1.23924536e-03 9.99857697e-01 -2.24450010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.39, Y:-13.82, Z:-2.24 [[ 9.79865460e-01 1.98922768e-01 1.71293069e-02 2.21385605e+02] [-1.98915613e-01 9.80014290e-01 -2.13767908e-03 -1.38239925e+01] [-1.72121986e-02 -1.31264869e-03 9.99850997e-01 -2.24439416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.41, Y:-13.83, Z:-2.25 [[ 9.79435977e-01 2.00968593e-01 1.77986334e-02 2.21412418e+02] [-2.00961222e-01 9.79596681e-01 -2.22013178e-03 -1.38303955e+01] [-1.78816590e-02 -1.40235818e-03 9.99839127e-01 -2.24500335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.44, Y:-13.84, Z:-2.24 [[ 9.78885950e-01 2.03522459e-01 1.89975370e-02 2.21440414e+02] [-2.03514564e-01 9.79069054e-01 -2.36840183e-03 -1.38401823e+01] [-1.90819236e-02 -1.54788020e-03 9.99816725e-01 -2.24496984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.47, Y:-13.85, Z:-2.25 [[ 9.78846593e-01 2.03665157e-01 1.94897936e-02 2.21468193e+02] [-2.03656894e-01 9.79039310e-01 -2.42882466e-03 -1.38461650e+01] [-1.95759411e-02 -1.59178410e-03 9.99807106e-01 -2.24562950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.50, Y:-13.85, Z:-2.25 [[ 9.78883572e-01 2.03496706e-01 1.93918110e-02 2.21496891e+02] [-2.03488516e-01 9.79074353e-01 -2.41547340e-03 -1.38520454e+01] [-1.94775657e-02 -1.58154361e-03 9.99809043e-01 -2.24650010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.595898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:221.52, Y:-13.86, Z:-2.25 [[ 9.78893810e-01 2.03493518e-01 1.89023244e-02 2.21524028e+02] [-2.03485751e-01 9.79075079e-01 -2.35364185e-03 -1.38573697e+01] [-1.89857456e-02 -1.54238825e-03 9.99818565e-01 -2.24735177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.55, Y:-13.86, Z:-2.25 [[ 9.78425708e-01 2.05819418e-01 1.79304458e-02 2.21551851e+02] [-2.05812838e-01 9.78588829e-01 -2.23151124e-03 -1.38645858e+01] [-1.80058223e-02 -1.50694796e-03 9.99836746e-01 -2.24725362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.58, Y:-13.87, Z:-2.25 [[ 9.78432700e-01 2.05786170e-01 1.79305498e-02 2.21580962e+02] [-2.05779599e-01 9.78595821e-01 -2.23067513e-03 -1.38681279e+01] [-1.80058032e-02 -1.50717587e-03 9.99836746e-01 -2.24784202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.61, Y:-13.87, Z:-2.25 [[ 9.77578733e-01 2.09845113e-01 1.74599263e-02 2.21609026e+02] [-2.09839534e-01 9.77733427e-01 -2.17159791e-03 -1.38707780e+01] [-1.75268528e-02 -1.54087487e-03 9.99845206e-01 -2.24659696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.64, Y:-13.87, Z:-2.25 [[ 9.77118323e-01 2.11974212e-01 1.75133138e-02 2.21636460e+02] [-2.11968955e-01 9.77273975e-01 -2.17724170e-03 -1.38729617e+01] [-1.75768248e-02 -1.58485606e-03 9.99844260e-01 -2.24685165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.66, Y:-13.88, Z:-2.25 [[ 9.76723995e-01 2.13799427e-01 1.73217616e-02 2.21663931e+02] [-2.13794586e-01 9.76876268e-01 -2.15240061e-03 -1.38755826e+01] [-1.73813999e-02 -1.60099755e-03 9.99847650e-01 -2.24748556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.69, Y:-13.88, Z:-2.25 [[ 9.76480503e-01 2.14955556e-01 1.67312872e-02 2.21692165e+02] [-2.14951228e-01 9.76622574e-01 -2.07787558e-03 -1.38784252e+01] [-1.67868037e-02 -1.56740574e-03 9.99857863e-01 -2.24831635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.805898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:221.72, Y:-13.88, Z:-2.25 [[ 9.76462674e-01 2.15067322e-01 1.63307382e-02 2.21719657e+02] [-2.15063226e-01 9.76598023e-01 -2.02742838e-03 -1.38807310e+01] [-1.63846002e-02 -1.53243308e-03 9.99864589e-01 -2.24976555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.75, Y:-13.88, Z:-2.25 [[ 9.76849592e-01 2.13320671e-01 1.60986407e-02 2.21748613e+02] [-2.13316470e-01 9.76981112e-01 -1.99764678e-03 -1.38828341e+01] [-1.61542073e-02 -1.48270477e-03 9.99868413e-01 -2.25032130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.865898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:221.78, Y:-13.88, Z:-2.25 [[ 9.77344912e-01 2.11000384e-01 1.66060591e-02 2.21776738e+02] [-2.10995595e-01 9.77484842e-01 -2.05981736e-03 -1.38848884e+01] [-1.66667933e-02 -1.49065332e-03 9.99859988e-01 -2.25226499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.81, Y:-13.89, Z:-2.25 [[ 9.77856172e-01 2.08596577e-01 1.68753024e-02 2.21805640e+02] [-2.08591295e-01 9.78000662e-01 -2.09213738e-03 -1.38894412e+01] [-1.69404696e-02 -1.47423173e-03 9.99855413e-01 -2.25242100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:-13.90, Z:-2.25 [[ 9.79140404e-01 2.02373467e-01 1.81397306e-02 2.21834341e+02] [-2.02366319e-01 9.79307316e-01 -2.24799350e-03 -1.38959143e+01] [-1.82193051e-02 -1.46976924e-03 9.99832934e-01 -2.25308372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.86, Y:-13.90, Z:-2.25 [[ 9.79679282e-01 1.99734111e-01 1.82972713e-02 2.21861995e+02] [-1.99726396e-01 9.79849085e-01 -2.26665511e-03 -1.39012123e+01] [-1.83812929e-02 -1.43385301e-03 9.99830022e-01 -2.25377626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.89, Y:-13.91, Z:-2.25 [[ 9.80185209e-01 1.97278132e-01 1.78408275e-02 2.21891634e+02] [-1.97270412e-01 9.80346625e-01 -2.20900447e-03 -1.39065659e+01] [-1.79259833e-02 -1.35423390e-03 9.99838400e-01 -2.25436166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.92, Y:-13.91, Z:-2.26 [[ 9.80480184e-01 1.95840033e-01 1.74725491e-02 2.21920298e+02] [-1.95832408e-01 9.80634993e-01 -2.16302681e-03 -1.39117240e+01] [-1.75578003e-02 -1.30088645e-03 9.99845004e-01 -2.25515849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.95, Y:-13.92, Z:-2.26 [[ 9.80530954e-01 1.95606744e-01 1.72351240e-02 2.21947694e+02] [-1.95599299e-01 9.80681582e-01 -2.13309064e-03 -1.39160283e+01] [-1.73194156e-02 -1.27961677e-03 9.99849189e-01 -2.25580546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.98, Y:-13.92, Z:-2.26 [[ 9.80313168e-01 1.96719461e-01 1.69572129e-02 2.21975891e+02] [-1.96712436e-01 9.80458983e-01 -2.09768984e-03 -1.39200396e+01] [-1.70385081e-02 -1.27930169e-03 9.99854016e-01 -2.25651451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.00, Y:-13.92, Z:-2.26 [[ 9.79403878e-01 2.01279375e-01 1.59579467e-02 2.22003554e+02] [-2.01273766e-01 9.79533040e-01 -1.97342368e-03 -1.39230444e+01] [-1.60285455e-02 -1.27913721e-03 9.99870716e-01 -2.25728556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:-13.93, Z:-2.26 [[ 9.78944005e-01 2.03517937e-01 1.57823767e-02 2.22031176e+02] [-2.03512754e-01 9.79070352e-01 -1.95079354e-03 -1.39259528e+01] [-1.58490786e-02 -1.30219730e-03 9.99873548e-01 -2.25848740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.06, Y:-13.93, Z:-2.26 [[ 9.78593108e-01 2.05205073e-01 1.56973668e-02 2.22059385e+02] [-2.05200175e-01 9.78718104e-01 -1.93935166e-03 -1.39297862e+01] [-1.57612619e-02 -1.32326626e-03 9.99874908e-01 -2.25898783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:-13.93, Z:-2.26 [[ 9.78538022e-01 2.05441164e-01 1.60395570e-02 2.22087355e+02] [-2.05436094e-01 9.78668528e-01 -1.98090746e-03 -1.39339585e+01] [-1.61043696e-02 -1.35671068e-03 9.99869396e-01 -2.25980316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.12, Y:-13.94, Z:-2.26 [[ 9.78734022e-01 2.04497939e-01 1.61340248e-02 2.22115280e+02] [-2.04492697e-01 9.78866064e-01 -1.99163267e-03 -1.39387389e+01] [-1.62003341e-02 -1.35001158e-03 9.99867855e-01 -2.26020871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.14, Y:-13.94, Z:-2.26 [[ 9.79230873e-01 2.02111210e-01 1.60610368e-02 2.22143381e+02] [-2.02105711e-01 9.79361708e-01 -1.98167156e-03 -1.39438032e+01] [-1.61300825e-02 -1.30551330e-03 9.99869049e-01 -2.26010706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:-13.95, Z:-2.26 [[ 9.80841067e-01 1.94048079e-01 1.72088423e-02 2.22171193e+02] [-1.94040546e-01 9.80991214e-01 -2.12241220e-03 -1.39506927e+01] [-1.72935731e-02 -1.25746410e-03 9.99849664e-01 -2.25901008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.20, Y:-13.96, Z:-2.26 [[ 9.81718267e-01 1.89462906e-01 1.82496803e-02 2.22199486e+02] [-1.89453658e-01 9.81887085e-01 -2.25013554e-03 -1.39564259e+01] [-1.83454427e-02 -1.24846953e-03 9.99830929e-01 -2.25898328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.23, Y:-13.96, Z:-2.26 [[ 9.82591202e-01 1.84737939e-01 1.96576614e-02 2.22228819e+02] [-1.84726285e-01 9.82787022e-01 -2.42278652e-03 -1.39631006e+01] [-1.97668751e-02 -1.25067804e-03 9.99803834e-01 -2.25932688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.26, Y:-13.97, Z:-2.26 [[ 9.83400875e-01 1.80322246e-01 2.01644993e-02 2.22258224e+02] [-1.80309067e-01 9.83606866e-01 -2.48480170e-03 -1.39703768e+01] [-2.02820050e-02 -1.19228589e-03 9.99793588e-01 -2.25886240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.405898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:222.29, Y:-13.98, Z:-2.26 [[ 9.84135305e-01 1.76295077e-01 1.99435981e-02 2.22289156e+02] [-1.76281357e-01 9.84336753e-01 -2.45779978e-03 -1.39775565e+01] [-2.00645146e-02 -1.09687699e-03 9.99798086e-01 -2.25905263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.32, Y:-13.99, Z:-2.26 [[ 9.85190593e-01 1.70573009e-01 1.74454649e-02 2.22320726e+02] [-1.70561617e-01 9.85344667e-01 -2.14984163e-03 -1.39876452e+01] [-1.75565007e-02 -8.57522939e-04 9.99845505e-01 -2.25951196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.35, Y:-13.99, Z:-2.26 [[ 9.85572914e-01 1.68408667e-01 1.68686688e-02 2.22353500e+02] [-1.68397645e-01 9.85716947e-01 -2.08191291e-03 -1.39944497e+01] [-1.69783449e-02 -7.88767118e-04 9.99855546e-01 -2.26020712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.495898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:222.39, Y:-14.00, Z:-2.26 [[ 9.85920313e-01 1.66318827e-01 1.72969629e-02 2.22385456e+02] [-1.66306856e-01 9.86071730e-01 -2.13829892e-03 -1.40007687e+01] [-1.74116855e-02 -7.68411180e-04 9.99848110e-01 -2.26118443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:-14.01, Z:-2.26 [[ 9.86212950e-01 1.64465826e-01 1.83032471e-02 2.22417404e+02] [-1.64452037e-01 9.86382477e-01 -2.26624247e-03 -1.40074043e+01] [-1.84267217e-02 -7.75008604e-04 9.99829913e-01 -2.26172603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.45, Y:-14.01, Z:-2.26 [[ 9.86495526e-01 1.62669966e-01 1.91065044e-02 2.22448974e+02] [-1.62654531e-01 9.86680236e-01 -2.36955698e-03 -1.40130556e+01] [-1.92374660e-02 -7.70202141e-04 9.99814646e-01 -2.26247431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.585898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:222.48, Y:-14.02, Z:-2.26 [[ 9.87004938e-01 1.59465145e-01 1.98020076e-02 2.22481613e+02] [-1.59447847e-01 9.87203290e-01 -2.45951516e-03 -1.40197308e+01] [-1.99408139e-02 -7.29833865e-04 9.99800896e-01 -2.26371583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.51, Y:-14.03, Z:-2.26 [[ 9.87215692e-01 1.58159578e-01 1.97667745e-02 2.22513386e+02] [-1.58142004e-01 9.87413318e-01 -2.45893782e-03 -1.40252158e+01] [-1.99068810e-02 -6.98455340e-04 9.99801594e-01 -2.26436855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.55, Y:-14.03, Z:-2.27 [[ 9.87399757e-01 1.56988627e-01 1.99070551e-02 2.22546245e+02] [-1.56970518e-01 9.87600178e-01 -2.47878375e-03 -1.40302907e+01] [-2.00493521e-02 -6.77270276e-04 9.99798762e-01 -2.26564185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.58, Y:-14.04, Z:-2.27 [[ 9.87602615e-01 1.55715713e-01 1.98416645e-02 2.22577399e+02] [-1.55697390e-01 9.87801701e-01 -2.47443293e-03 -1.40352112e+01] [-1.99849380e-02 -6.45538938e-04 9.99800073e-01 -2.26663204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:-14.04, Z:-2.27 [[ 9.87796312e-01 1.54481636e-01 1.98461352e-02 2.22609906e+02] [-1.54462985e-01 9.87995467e-01 -2.47853624e-03 -1.40401459e+01] [-1.99907800e-02 -6.17204331e-04 9.99799974e-01 -2.26815797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.735898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:222.64, Y:-14.04, Z:-2.27 [[ 9.88013426e-01 1.53117354e-01 1.96098696e-02 2.22642671e+02] [-1.53098803e-01 9.88207843e-01 -2.45270331e-03 -1.40448789e+01] [-1.97541783e-02 -5.78943755e-04 9.99804700e-01 -2.26874560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.67, Y:-14.05, Z:-2.27 [[ 9.88449119e-01 1.50478980e-01 1.80115666e-02 2.22674832e+02] [-1.50462837e-01 9.88613092e-01 -2.25588178e-03 -1.40517274e+01] [-1.81459334e-02 -4.80247052e-04 9.99835234e-01 -2.26864954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.71, Y:-14.06, Z:-2.27 [[ 9.88604351e-01 1.49633963e-01 1.64655609e-02 2.22706049e+02] [-1.49620308e-01 9.88741371e-01 -2.06507047e-03 -1.40575893e+01] [-1.65891859e-02 -4.22044633e-04 9.99862301e-01 -2.26915965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.74, Y:-14.06, Z:-2.27 [[ 9.88724093e-01 1.48989385e-01 1.50609104e-02 2.22738385e+02] [-1.48977852e-01 9.88838725e-01 -1.89114166e-03 -1.40636554e+01] [-1.51745715e-02 -3.73924756e-04 9.99884790e-01 -2.26997951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.77, Y:-14.07, Z:-2.27 [[ 9.88711516e-01 1.49072866e-01 1.50604790e-02 2.22771599e+02] [-1.49061290e-01 9.88826144e-01 -1.89457045e-03 -1.40679681e+01] [-1.51746244e-02 -3.71750799e-04 9.99884790e-01 -2.27065191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:-14.07, Z:-2.27 [[ 9.88827466e-01 1.48430567e-01 1.37334946e-02 2.22803175e+02] [-1.48420874e-01 9.88922777e-01 -1.72806994e-03 -1.40738458e+01] [-1.38378640e-02 -3.29574249e-04 9.99904198e-01 -2.27105736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.84, Y:-14.08, Z:-2.27 [[ 9.88898956e-01 1.48008677e-01 1.31257958e-02 2.22836038e+02] [-1.47999757e-01 9.88986015e-01 -1.65378141e-03 -1.40799947e+01] [-1.32260024e-02 -3.07191866e-04 9.99912485e-01 -2.27138931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.87, Y:-14.09, Z:-2.27 [[ 9.88882289e-01 1.48092161e-01 1.34361182e-02 2.22867126e+02] [-1.48082785e-01 9.88973515e-01 -1.69560898e-03 -1.40860387e+01] [-1.35390714e-02 -3.12900103e-04 9.99908294e-01 -2.27129879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.90, Y:-14.09, Z:-2.27 [[ 9.88695634e-01 1.49182904e-01 1.50135091e-02 2.22899811e+02] [-1.49171276e-01 9.88809552e-01 -1.89771157e-03 -1.40942613e+01] [-1.51286073e-02 -3.63325165e-04 9.99885490e-01 -2.27019443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.93, Y:-14.10, Z:-2.27 [[ 9.88436985e-01 1.50807914e-01 1.57892161e-02 2.22932056e+02] [-1.50795210e-01 9.88563002e-01 -1.99892417e-03 -1.41003410e+01] [-1.59100885e-02 -4.05127584e-04 9.99873344e-01 -2.26993663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.96, Y:-14.11, Z:-2.27 [[ 9.88082145e-01 1.53054757e-01 1.63681287e-02 2.22963997e+02] [-1.53041358e-01 9.88217605e-01 -2.07552778e-03 -1.41065835e+01] [-1.64929423e-02 -4.54208690e-04 9.99863879e-01 -2.27012615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.00, Y:-14.11, Z:-2.27 [[ 9.87673235e-01 1.55681697e-01 1.62723612e-02 2.22996901e+02] [-1.55668763e-01 9.87807151e-01 -2.06622123e-03 -1.41123032e+01] [-1.63956276e-02 -4.92346938e-04 9.99865461e-01 -2.27048212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.03, Y:-14.12, Z:-2.27 [[ 9.87201815e-01 1.58700635e-01 1.57061730e-02 2.23028754e+02] [-1.58688922e-01 9.87326611e-01 -1.99724339e-03 -1.41178421e+01] [-1.58240864e-02 -5.20713357e-04 9.99874656e-01 -2.27105327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.125898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:223.06, Y:-14.12, Z:-2.27 [[ 9.86386729e-01 1.63702325e-01 1.55810390e-02 2.23060803e+02] [-1.63691378e-01 9.86509603e-01 -1.98400879e-03 -1.41243995e+01] [-1.56956314e-02 -5.93481789e-04 9.99876640e-01 -2.27327291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.09, Y:-14.13, Z:-2.27 [[ 9.86099472e-01 1.65433653e-01 1.54770405e-02 2.23092658e+02] [-1.65423017e-01 9.86220731e-01 -1.97373758e-03 -1.41306575e+01] [-1.55903008e-02 -6.13957144e-04 9.99878275e-01 -2.27293507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.12, Y:-14.14, Z:-2.27 [[ 9.85984545e-01 1.66031285e-01 1.63734640e-02 2.23124834e+02] [-1.66019414e-01 9.86120267e-01 -2.09109729e-03 -1.41368494e+01] [-1.64933922e-02 -6.56523280e-04 9.99863759e-01 -2.27362080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:-14.14, Z:-2.27 [[ 9.85973282e-01 1.66004274e-01 1.72993703e-02 2.23157355e+02] [-1.65990958e-01 9.86124792e-01 -2.21281891e-03 -1.41439456e+01] [-1.74266754e-02 -6.89758744e-04 9.99847906e-01 -2.27452223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:-14.15, Z:-2.28 [[ 9.86349179e-01 1.63650662e-01 1.82690400e-02 2.23188527e+02] [-1.63635339e-01 9.86518118e-01 -2.34060487e-03 -1.41541490e+01] [-1.84057805e-02 -6.80806869e-04 9.99830367e-01 -2.27505480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.22, Y:-14.16, Z:-2.28 [[ 9.86594520e-01 1.62130296e-01 1.85747169e-02 2.23219719e+02] [-1.62114124e-01 9.86769138e-01 -2.38317964e-03 -1.41615397e+01] [-1.87153430e-02 -6.59991975e-04 9.99824635e-01 -2.27639013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.25, Y:-14.17, Z:-2.28 [[ 9.86845447e-01 1.60654146e-01 1.80640086e-02 2.23252374e+02] [-1.60638548e-01 9.87010573e-01 -2.32069613e-03 -1.41693096e+01] [-1.82021969e-02 -6.11607692e-04 9.99834139e-01 -2.27714895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.28, Y:-14.18, Z:-2.28 [[ 9.86982376e-01 1.59778089e-01 1.83508225e-02 2.23283968e+02] [-1.59761773e-01 9.87152775e-01 -2.36118021e-03 -1.41775866e+01] [-1.84923302e-02 -6.01316687e-04 9.99828821e-01 -2.27798051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:-14.19, Z:-2.28 [[ 9.87016796e-01 1.59470642e-01 1.91561900e-02 2.23315021e+02] [-1.59452734e-01 9.87202478e-01 -2.46847282e-03 -1.41860380e+01] [-1.93046871e-02 -6.18082725e-04 9.99813456e-01 -2.27798653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:-14.19, Z:-2.28 [[ 9.86921880e-01 1.60008271e-01 1.95590508e-02 2.23347347e+02] [-1.59989661e-01 9.87115467e-01 -2.52272139e-03 -1.41944416e+01] [-1.97106979e-02 -6.39516974e-04 9.99805521e-01 -2.27826710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:-14.20, Z:-2.28 [[ 9.86539320e-01 1.62578006e-01 1.75659438e-02 2.23378962e+02] [-1.62563356e-01 9.86695500e-01 -2.26825104e-03 -1.42044742e+01] [-1.77010055e-02 -6.17859953e-04 9.99843134e-01 -2.27873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.41, Y:-14.21, Z:-2.28 [[ 9.86208863e-01 1.64783253e-01 1.54452991e-02 2.23410678e+02] [-1.64772157e-01 9.86329635e-01 -1.99700361e-03 -1.42110582e+01] [-1.55632290e-02 -5.75492604e-04 9.99878720e-01 -2.27979593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.44, Y:-14.22, Z:-2.28 [[ 9.85872431e-01 1.66936254e-01 1.37053232e-02 2.23443040e+02] [-1.66927689e-01 9.85967544e-01 -1.77466148e-03 -1.42174816e+01] [-1.38092592e-02 -5.38208097e-04 9.99904503e-01 -2.28084957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:-14.22, Z:-2.28 [[ 9.85525983e-01 1.69037879e-01 1.28348170e-02 2.23474508e+02] [-1.69030541e-01 9.85609412e-01 -1.66224979e-03 -1.42238084e+01] [-1.29310996e-02 -5.31285700e-04 9.99916249e-01 -2.28182794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.51, Y:-14.23, Z:-2.28 [[ 9.85258389e-01 1.70603282e-01 1.26659563e-02 2.23506998e+02] [-1.70596236e-01 9.85339650e-01 -1.64267436e-03 -1.42303720e+01] [-1.27605146e-02 -5.42305779e-04 9.99918434e-01 -2.28183231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.575898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:223.54, Y:-14.24, Z:-2.28 [[ 9.85108978e-01 1.71440232e-01 1.29826512e-02 2.23539523e+02] [-1.71432868e-01 9.85194361e-01 -1.68626957e-03 -1.42364668e+01] [-1.30795292e-02 -5.64493845e-04 9.99914300e-01 -2.28189611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.57, Y:-14.24, Z:-2.28 [[ 9.84961927e-01 1.72372171e-01 1.17403819e-02 2.23572048e+02] [-1.72366193e-01 9.85031758e-01 -1.52678280e-03 -1.42442634e+01] [-1.18278239e-02 -5.19822019e-04 9.99929914e-01 -2.28162534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.60, Y:-14.25, Z:-2.28 [[ 9.84872431e-01 1.72958212e-01 1.05712312e-02 2.23604306e+02] [-1.72953382e-01 9.84929050e-01 -1.37637253e-03 -1.42504923e+01] [-1.06499676e-02 -4.72778827e-04 9.99943176e-01 -2.28231747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.665898227 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:223.64, Y:-14.26, Z:-2.28 [[ 9.84817014e-01 1.73395054e-01 8.34286080e-03 2.23637115e+02] [-1.73392054e-01 9.84852280e-01 -1.08703563e-03 -1.42575060e+01] [-8.40497208e-03 -3.76054592e-04 9.99964607e-01 -2.28288176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.67, Y:-14.26, Z:-2.28 [[ 9.84812660e-01 1.73375400e-01 9.21930785e-03 2.23669011e+02] [-1.73371709e-01 9.84855726e-01 -1.20415353e-03 -1.42626454e+01] [-9.28845872e-03 -4.12501514e-04 9.99956776e-01 -2.28399168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.70, Y:-14.27, Z:-2.28 [[ 9.84844208e-01 1.73135906e-01 1.02880269e-02 2.23701195e+02] [-1.73131288e-01 9.84897837e-01 -1.34455198e-03 -1.42680557e+01] [-1.03654457e-02 -4.57005126e-04 9.99946173e-01 -2.28384358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.73, Y:-14.27, Z:-2.28 [[ 9.84981715e-01 1.72253752e-01 1.18180146e-02 2.23732569e+02] [-1.72247561e-01 9.85052477e-01 -1.54740882e-03 -1.42736003e+01] [-1.19079115e-02 -5.11454796e-04 9.99928968e-01 -2.28409825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:-14.28, Z:-2.28 [[ 9.85229510e-01 1.70772762e-01 1.26284024e-02 2.23765358e+02] [-1.70765540e-01 9.85310300e-01 -1.65590494e-03 -1.42801356e+01] [-1.27256784e-02 -5.25049546e-04 9.99918887e-01 -2.28401896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:-14.29, Z:-2.28 [[ 9.85533367e-01 1.68988040e-01 1.29238070e-02 2.23796945e+02] [-1.68980290e-01 9.85617969e-01 -1.69726094e-03 -1.42874587e+01] [-1.30247532e-02 -5.11161372e-04 9.99915044e-01 -2.28435372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.83, Y:-14.30, Z:-2.29 [[ 9.86253217e-01 1.64752357e-01 1.26985008e-02 2.23827864e+02] [-1.64744495e-01 9.86334863e-01 -1.66986091e-03 -1.42970245e+01] [-1.28000876e-02 -4.45102415e-04 9.99917976e-01 -2.28623711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:-14.30, Z:-2.29 [[ 9.86517405e-01 1.63134452e-01 1.30598302e-02 2.23859951e+02] [-1.63125960e-01 9.86603752e-01 -1.72007321e-03 -1.43041970e+01] [-1.31654807e-02 -4.33515178e-04 9.99913237e-01 -2.28676703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.89, Y:-14.31, Z:-2.29 [[ 9.86659868e-01 1.62168231e-01 1.42748221e-02 2.23892561e+02] [-1.62157959e-01 9.86763019e-01 -1.88184790e-03 -1.43115651e+01] [-1.43910425e-02 -4.58032202e-04 9.99896339e-01 -2.28716517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.93, Y:-14.32, Z:-2.29 [[ 9.86581655e-01 1.62535682e-01 1.54528225e-02 2.23925222e+02] [-1.62523639e-01 9.86702541e-01 -2.04032617e-03 -1.43195021e+01] [-1.55789650e-02 -4.98500576e-04 9.99878516e-01 -2.28735356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.965898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.96, Y:-14.33, Z:-2.29 [[ 9.86402633e-01 1.63544627e-01 1.62172767e-02 2.23956447e+02] [-1.63531447e-01 9.86535791e-01 -2.14449101e-03 -1.43264680e+01] [-1.63496439e-02 -5.36703136e-04 9.99866192e-01 -2.28734500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.995898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:223.99, Y:-14.33, Z:-2.29 [[ 9.86045636e-01 1.65687210e-01 1.61787392e-02 2.23988658e+02] [-1.65674337e-01 9.86178192e-01 -2.14212740e-03 -1.43324625e+01] [-1.63100429e-02 -5.68166510e-04 9.99866821e-01 -2.28765952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:-14.34, Z:-2.29 [[ 9.84968578e-01 1.72111589e-01 1.46458836e-02 2.24019568e+02] [-1.72101708e-01 9.85077272e-01 -1.94185555e-03 -1.43397389e+01] [-1.47615429e-02 -6.07914883e-04 9.99890858e-01 -2.28788156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.055898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:224.05, Y:-14.35, Z:-2.29 [[ 9.84307752e-01 1.75880298e-01 1.42958014e-02 2.24052051e+02] [-1.75871263e-01 9.84411348e-01 -1.89663137e-03 -1.43453293e+01] [-1.44065292e-02 -6.47351690e-04 9.99896011e-01 -2.28904660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:-14.35, Z:-2.29 [[ 9.83686488e-01 1.79320268e-01 1.43225506e-02 2.24084210e+02] [-1.79311525e-01 9.83790504e-01 -1.90278826e-03 -1.43509906e+01] [-1.44315978e-02 -6.96451289e-04 9.99895617e-01 -2.28947266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.12, Y:-14.36, Z:-2.29 [[ 9.83172129e-01 1.82077009e-01 1.48501636e-02 2.24116996e+02] [-1.82067882e-01 9.83283979e-01 -1.97567669e-03 -1.43563698e+01] [-1.49616533e-02 -7.61307580e-04 9.99887778e-01 -2.29023674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.15, Y:-14.36, Z:-2.29 [[ 9.82849380e-01 1.83727226e-01 1.58557093e-02 2.24148732e+02] [-1.83716985e-01 9.82976910e-01 -2.11256070e-03 -1.43614366e+01] [-1.59739311e-02 -8.36634150e-04 9.99872059e-01 -2.29071901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:-14.37, Z:-2.29 [[ 9.82686351e-01 1.84535865e-01 1.65544827e-02 2.24180854e+02] [-1.84524769e-01 9.82825382e-01 -2.20851662e-03 -1.43670651e+01] [-1.66777163e-02 -8.84432961e-04 9.99860526e-01 -2.29097458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:-14.38, Z:-2.29 [[ 9.82880447e-01 1.83642454e-01 1.48820764e-02 2.24211648e+02] [-1.83633345e-01 9.82992799e-01 -1.98799983e-03 -1.43752178e+01] [-1.49940551e-02 -7.78879310e-04 9.99887279e-01 -2.29267968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.235898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:224.24, Y:-14.38, Z:-2.29 [[ 9.83116822e-01 1.82483249e-01 1.34602739e-02 2.24244262e+02] [-1.82475677e-01 9.83208722e-01 -1.79892323e-03 -1.43821114e+01] [-1.35625321e-02 -6.87620908e-04 9.99907788e-01 -2.29464572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.28, Y:-14.39, Z:-2.30 [[ 9.83267538e-01 1.81781351e-01 1.18527934e-02 2.24276868e+02] [-1.81775409e-01 9.83338795e-01 -1.58574493e-03 -1.43902899e+01] [-1.19435705e-02 -5.95334852e-04 9.99928496e-01 -2.29583407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.295898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:224.31, Y:-14.40, Z:-2.30 [[ 9.83371902e-01 1.81271196e-01 1.09752846e-02 2.24308168e+02] [-1.81266050e-01 9.83432996e-01 -1.47009900e-03 -1.43972347e+01] [-1.10599436e-02 -5.43792445e-04 9.99938689e-01 -2.29774116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.34, Y:-14.41, Z:-2.30 [[ 9.82902971e-01 1.83789897e-01 1.10916129e-02 2.24338998e+02] [-1.83784781e-01 9.82965382e-01 -1.48753113e-03 -1.44093064e+01] [-1.11760647e-02 -5.76370866e-04 9.99937380e-01 -2.29737283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:-14.42, Z:-2.30 [[ 9.82399284e-01 1.86402956e-01 1.20658550e-02 2.24371040e+02] [-1.86397072e-01 9.82473158e-01 -1.62034920e-03 -1.44172756e+01] [-1.21564165e-02 -6.57210144e-04 9.99925892e-01 -2.29683537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.385898227 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:224.40, Y:-14.42, Z:-2.30 [[ 9.81801424e-01 1.89459378e-01 1.30807884e-02 2.24403797e+02] [-1.89452701e-01 9.81888273e-01 -1.75900677e-03 -1.44237687e+01] [-1.31771330e-02 -7.51195345e-04 9.99912896e-01 -2.29710821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.415898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.44, Y:-14.43, Z:-2.30 [[ 9.80997104e-01 1.93567925e-01 1.32718067e-02 2.24435003e+02] [-1.93561390e-01 9.81086537e-01 -1.78742278e-03 -1.44297112e+01] [-1.33667785e-02 -8.15452779e-04 9.99910328e-01 -2.29728761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.47, Y:-14.43, Z:-2.30 [[ 9.80205157e-01 1.97565894e-01 1.28673026e-02 2.24466371e+02] [-1.97560058e-01 9.80289249e-01 -1.73570915e-03 -1.44342127e+01] [-1.29565953e-02 -8.40713984e-04 9.99915706e-01 -2.29833615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.50, Y:-14.44, Z:-2.30 [[ 9.79405861e-01 2.01523790e-01 1.23418857e-02 2.24499153e+02] [-2.01518726e-01 9.79483246e-01 -1.66545651e-03 -1.44381748e+01] [-1.24242994e-02 -8.55963220e-04 9.99922449e-01 -2.29939862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.53, Y:-14.44, Z:-2.30 [[ 9.78083614e-01 2.07909658e-01 1.12257611e-02 2.24531496e+02] [-2.07905865e-01 9.78147663e-01 -1.51667671e-03 -1.44411583e+01] [-1.12957837e-02 -8.50464938e-04 9.99935839e-01 -2.30030057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.56, Y:-14.44, Z:-2.30 [[ 9.77590652e-01 2.10227128e-01 1.10032835e-02 2.24564077e+02] [-2.10223612e-01 9.77652197e-01 -1.48822231e-03 -1.44446969e+01] [-1.10702490e-02 -8.58277786e-04 9.99938355e-01 -2.30034661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.60, Y:-14.45, Z:-2.30 [[ 9.77326481e-01 2.11452250e-01 1.09952509e-02 2.24595898e+02] [-2.11448791e-01 9.77387943e-01 -1.48936874e-03 -1.44478831e+01] [-1.10615560e-02 -8.69332994e-04 9.99938441e-01 -2.30044580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.63, Y:-14.45, Z:-2.30 [[ 9.77241699e-01 2.11810266e-01 1.16220860e-02 2.24628955e+02] [-2.11806400e-01 9.77310372e-01 -1.57669675e-03 -1.44507197e+01] [-1.16923458e-02 -9.20818387e-04 9.99931218e-01 -2.30081512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.66, Y:-14.45, Z:-2.30 [[ 9.77284975e-01 2.11517543e-01 1.32063223e-02 2.24661829e+02] [-2.11512489e-01 9.77373648e-01 -1.79422376e-03 -1.44531288e+01] [-1.32870212e-02 -1.03983419e-03 9.99911183e-01 -2.30166090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.655898227 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:224.69, Y:-14.45, Z:-2.30 [[ 9.77805864e-01 2.08968171e-01 1.50995061e-02 2.24694718e+02] [-2.08961219e-01 9.77921770e-01 -2.05425377e-03 -1.44529008e+01] [-1.51954094e-02 -1.14654983e-03 9.99883886e-01 -2.30291045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.73, Y:-14.46, Z:-2.30 [[ 9.78032236e-01 2.07917567e-01 1.49409155e-02 2.24727981e+02] [-2.07910598e-01 9.78145715e-01 -2.03540519e-03 -1.44562538e+01] [-1.50375890e-02 -1.11568279e-03 9.99886307e-01 -2.30347998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.76, Y:-14.46, Z:-2.30 [[ 9.78224555e-01 2.07050353e-01 1.43830444e-02 2.24760173e+02] [-2.07043763e-01 9.78329715e-01 -1.96201228e-03 -1.44586924e+01] [-1.44775950e-02 -1.05863104e-03 9.99894634e-01 -2.30438556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.79, Y:-14.46, Z:-2.31 [[ 9.78208021e-01 2.07128481e-01 1.43826425e-02 2.24793332e+02] [-2.07121856e-01 9.78313179e-01 -1.96495322e-03 -1.44633488e+01] [-1.44777265e-02 -1.05682662e-03 9.99894634e-01 -2.30505814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.83, Y:-14.47, Z:-2.31 [[ 9.78357200e-01 2.06473199e-01 1.36384183e-02 2.24826476e+02] [-2.06467174e-01 9.78451753e-01 -1.86362743e-03 -1.44657020e+01] [-1.37293234e-02 -9.92592368e-04 9.99905256e-01 -2.30621957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.86, Y:-14.47, Z:-2.31 [[ 9.78449959e-01 2.06062077e-01 1.31946502e-02 2.24858127e+02] [-2.06056368e-01 9.78538458e-01 -1.80545515e-03 -1.44679972e+01] [-1.32835085e-02 -9.52294181e-04 9.99911317e-01 -2.30757771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.89, Y:-14.47, Z:-2.31 [[ 9.78882264e-01 2.03988156e-01 1.33546329e-02 2.24890103e+02] [-2.03982078e-01 9.78972912e-01 -1.83016846e-03 -1.44697619e+01] [-1.34471565e-02 -9.32586318e-04 9.99909148e-01 -2.30936625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:-14.47, Z:-2.31 [[ 9.79117944e-01 2.02878488e-01 1.29757448e-02 2.24922752e+02] [-2.02872642e-01 9.79203516e-01 -1.77910530e-03 -1.44739917e+01] [-1.30668372e-02 -8.90469704e-04 9.99914229e-01 -2.31044143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.95, Y:-14.48, Z:-2.31 [[ 9.79365674e-01 2.01692083e-01 1.27742116e-02 2.24954487e+02] [-2.01686284e-01 9.79448603e-01 -1.75390940e-03 -1.44785714e+01] [-1.28654334e-02 -8.58664616e-04 9.99916868e-01 -2.31143387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.99, Y:-14.48, Z:-2.31 [[ 9.79645825e-01 2.00360846e-01 1.22306397e-02 2.24987257e+02] [-2.00355404e-01 9.79721841e-01 -1.68117326e-03 -1.44832737e+01] [-1.23194661e-02 -8.03520399e-04 9.99923790e-01 -2.31224082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.02, Y:-14.49, Z:-2.31 [[ 9.79842860e-01 1.99430108e-01 1.16448263e-02 2.25019116e+02] [-1.99425084e-01 9.79911765e-01 -1.60274849e-03 -1.44885813e+01] [-1.17305386e-02 -7.51828803e-04 9.99930912e-01 -2.31295637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.05, Y:-14.50, Z:-2.31 [[ 9.80118636e-01 1.98058633e-01 1.18422055e-02 2.25051611e+02] [-1.98053314e-01 9.80189891e-01 -1.63195687e-03 -1.44959363e+01] [-1.19308333e-02 -7.45876699e-04 9.99928547e-01 -2.31301978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.08, Y:-14.50, Z:-2.31 [[ 9.80172410e-01 1.97754453e-01 1.24588358e-02 2.25083884e+02] [-1.97748509e-01 9.80251279e-01 -1.71944912e-03 -1.45027914e+01] [-1.25528184e-02 -7.78359609e-04 9.99920907e-01 -2.31348830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.045898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:225.11, Y:-14.51, Z:-2.31 [[ 9.80164074e-01 1.97767752e-01 1.28959184e-02 2.25114949e+02] [-1.97761351e-01 9.80248576e-01 -1.78240215e-03 -1.45087654e+01] [-1.29937073e-02 -8.03267696e-04 9.99915256e-01 -2.31453611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:-14.52, Z:-2.31 [[ 9.79995155e-01 1.98601495e-01 1.29205863e-02 2.25146835e+02] [-1.98595114e-01 9.80079989e-01 -1.78797948e-03 -1.45158549e+01] [-1.30183035e-02 -8.13754076e-04 9.99914927e-01 -2.31487686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:-14.52, Z:-2.32 [[ 9.79814629e-01 1.99506814e-01 1.26619251e-02 2.25177781e+02] [-1.99500730e-01 9.79896107e-01 -1.75456331e-03 -1.45225384e+01] [-1.27574185e-02 -8.06916513e-04 9.99918295e-01 -2.31518624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.21, Y:-14.53, Z:-2.32 [[ 9.79578116e-01 2.00685072e-01 1.23376014e-02 2.25209729e+02] [-2.00679365e-01 9.79655482e-01 -1.71160385e-03 -1.45293223e+01] [-1.24300922e-02 -7.99252337e-04 9.99922424e-01 -2.31577185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.165898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.24, Y:-14.54, Z:-2.32 [[ 9.79084079e-01 2.03094463e-01 1.21246002e-02 2.25241242e+02] [-2.03089107e-01 9.79158811e-01 -1.68431920e-03 -1.45368802e+01] [-1.22139850e-02 -8.13284121e-04 9.99925076e-01 -2.31597084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.195898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:225.27, Y:-14.54, Z:-2.31 [[ 9.78877096e-01 2.04087845e-01 1.21566020e-02 2.25273078e+02] [-2.04160319e-01 9.78924492e-01 5.04008861e-03 -1.45449384e+01] [-1.08717746e-02 -7.41552305e-03 9.99913404e-01 -2.31101066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:-14.54, Z:-2.32 [[ 9.78404781e-01 2.06320885e-01 1.24810580e-02 2.25304272e+02] [-2.06225607e-01 9.78467501e-01 -8.50579404e-03 -1.45447090e+01] [-1.39672326e-02 5.74819580e-03 9.99885931e-01 -2.31831983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.34, Y:-14.55, Z:-2.32 [[ 9.77657540e-01 2.09687181e-01 1.47316212e-02 2.25336589e+02] [-2.09679920e-01 9.77767925e-01 -2.05305008e-03 -1.45523071e+01] [-1.48346049e-02 -1.08174526e-03 9.99889376e-01 -2.31704270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:-14.56, Z:-2.32 [[ 9.77186799e-01 2.11838585e-01 1.51780622e-02 2.25368494e+02] [-2.11831090e-01 9.77303997e-01 -2.11821127e-03 -1.45566948e+01] [-1.52822997e-02 -1.14529736e-03 9.99882563e-01 -2.31761134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:-14.56, Z:-2.32 [[ 9.76651409e-01 2.14253361e-01 1.57328857e-02 2.25399808e+02] [-2.14245575e-01 9.76777355e-01 -2.19846129e-03 -1.45603921e+01] [-1.58385542e-02 -1.22357084e-03 9.99873814e-01 -2.31833974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:-14.56, Z:-2.32 [[ 9.76111189e-01 2.16645769e-01 1.64789951e-02 2.25432691e+02] [-2.16637519e-01 9.76249389e-01 -2.30557307e-03 -1.45636223e+01] [-1.65871016e-02 -1.31947295e-03 9.99861554e-01 -2.31942593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.46, Y:-14.57, Z:-2.32 [[ 9.75674006e-01 2.18592977e-01 1.66536655e-02 2.25464661e+02] [-2.18584776e-01 9.75815172e-01 -2.33342142e-03 -1.45662183e+01] [-1.67609690e-02 -1.36357912e-03 9.99858595e-01 -2.32038296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:-14.57, Z:-2.32 [[ 9.75233387e-01 2.20587077e-01 1.61611256e-02 2.25497663e+02] [-2.20579600e-01 9.75366344e-01 -2.26598827e-03 -1.45674849e+01] [-1.62628658e-02 -1.35494721e-03 9.99866833e-01 -2.32041831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.53, Y:-14.57, Z:-2.32 [[ 9.75269385e-01 2.20380555e-01 1.67939771e-02 2.25529500e+02] [-2.20372394e-01 9.75412963e-01 -2.35798977e-03 -1.45705848e+01] [-1.69007181e-02 -1.40125372e-03 9.99856191e-01 -2.32134452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.56, Y:-14.57, Z:-2.32 [[ 9.75528716e-01 2.19165196e-01 1.76165001e-02 2.25562407e+02] [-2.19155964e-01 9.75686697e-01 -2.47662199e-03 -1.45739787e+01] [-1.77309742e-02 -1.44474520e-03 9.99841750e-01 -2.32201393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:-14.58, Z:-2.32 [[ 9.76003419e-01 2.16995656e-01 1.81717403e-02 2.25593925e+02] [-2.16985394e-01 9.76171498e-01 -2.55824398e-03 -1.45774759e+01] [-1.82938628e-02 -1.44614735e-03 9.99831607e-01 -2.32287125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.63, Y:-14.59, Z:-2.32 [[ 9.76578846e-01 2.14135426e-01 2.09708756e-02 2.25625597e+02] [-2.14299104e-01 9.76750448e-01 5.86995598e-03 -1.45852022e+01] [-1.92263466e-02 -1.02265147e-02 9.99762855e-01 -2.32191581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.66, Y:-14.58, Z:-2.33 [[ 9.77136401e-01 2.12007232e-01 1.60432878e-02 2.25657230e+02] [-2.11847154e-01 9.77239617e-01 -1.11136728e-02 -1.45835832e+01] [-1.80343155e-02 7.46084933e-03 9.99809531e-01 -2.32602327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.69, Y:-14.59, Z:-2.32 [[ 9.77845596e-01 2.08695436e-01 1.62543936e-02 2.25689036e+02] [-2.08685982e-01 9.77980008e-01 -2.29449554e-03 -1.45939336e+01] [-1.63753227e-02 -1.14840172e-03 9.99865256e-01 -2.32456425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:-14.60, Z:-2.33 [[ 9.77879467e-01 2.08590153e-01 1.55529913e-02 2.25721754e+02] [-2.08581442e-01 9.78002531e-01 -2.19819681e-03 -1.45992848e+01] [-1.56693871e-02 -1.09449382e-03 9.99876629e-01 -2.32508190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.75, Y:-14.60, Z:-2.33 [[ 9.77781278e-01 2.09133578e-01 1.43846619e-02 2.25753555e+02] [-2.09126148e-01 9.77886553e-01 -2.03559613e-03 -1.46036743e+01] [-1.44922789e-02 -1.01784115e-03 9.99894463e-01 -2.32549321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.79, Y:-14.61, Z:-2.33 [[ 9.77528630e-01 2.10395182e-01 1.31013629e-02 2.25786217e+02] [-2.10389105e-01 9.77615967e-01 -1.85595055e-03 -1.46080220e+01] [-1.31985846e-02 -9.42139226e-04 9.99912451e-01 -2.32648062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.82, Y:-14.61, Z:-2.33 [[ 9.77043982e-01 2.12765657e-01 1.07625505e-02 2.25819042e+02] [-2.12761685e-01 9.77102931e-01 -1.52595724e-03 -1.46141847e+01] [-1.08407909e-02 -7.98931034e-04 9.99940918e-01 -2.32782422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.85, Y:-14.62, Z:-2.33 [[ 9.76928805e-01 2.13277855e-01 1.10754490e-02 2.25851444e+02] [-2.13273657e-01 9.76991236e-01 -1.57252148e-03 -1.46212811e+01] [-1.11560007e-02 -8.25859987e-04 9.99937429e-01 -2.32831471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.88, Y:-14.63, Z:-2.33 [[ 9.76944072e-01 2.13142436e-01 1.22711727e-02 2.25883479e+02] [-2.13137238e-01 9.77020713e-01 -1.74495963e-03 -1.46287829e+01] [-1.23611149e-02 -9.10715897e-04 9.99923184e-01 -2.32820815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.92, Y:-14.64, Z:-2.33 [[ 9.77106769e-01 2.12317374e-01 1.35534059e-02 2.25915774e+02] [-2.12310915e-01 9.77200261e-01 -1.93022375e-03 -1.46364168e+01] [-1.36542118e-02 -9.91501313e-04 9.99906285e-01 -2.32857097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.95, Y:-14.64, Z:-2.33 [[ 9.77469956e-01 2.10583100e-01 1.43959694e-02 2.25947299e+02] [-2.10575583e-01 9.77575423e-01 -2.05320294e-03 -1.46442433e+01] [-1.45055157e-02 -1.02449547e-03 9.99894265e-01 -2.32967729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.98, Y:-14.65, Z:-2.33 [[ 9.77879047e-01 2.08648109e-01 1.47829599e-02 2.25978356e+02] [-2.08639918e-01 9.77990249e-01 -2.11136153e-03 -1.46532116e+01] [-1.48981222e-02 -1.01965935e-03 9.99888497e-01 -2.33108904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.01, Y:-14.67, Z:-2.33 [[ 9.78605033e-01 2.05133971e-01 1.58821885e-02 2.26009230e+02] [-2.05124028e-01 9.78733355e-01 -2.27008185e-03 -1.46686682e+01] [-1.60100986e-02 -1.03630496e-03 9.99871293e-01 -2.33185401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.915898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:-14.68, Z:-2.33 [[ 9.78722707e-01 2.04466912e-01 1.71797831e-02 2.26041191e+02] [-2.04455115e-01 9.78872851e-01 -2.45902977e-03 -1.46785264e+01] [-1.73196135e-02 -1.10578625e-03 9.99849393e-01 -2.33178702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:-14.69, Z:-2.33 [[ 9.78612135e-01 2.04688349e-01 2.05175380e-02 2.26071181e+02] [-2.04791197e-01 9.78801021e-01 3.02112620e-03 -1.46895484e+01] [-1.94641978e-02 -7.15832194e-03 9.99784929e-01 -2.33026169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.10, Y:-14.69, Z:-2.33 [[ 9.78269725e-01 2.06616796e-01 1.72581830e-02 2.26103602e+02] [-2.06500735e-01 9.78411448e-01 -8.27553637e-03 -1.46940298e+01] [-1.85954686e-02 4.53187921e-03 9.99816819e-01 -2.33288467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.13, Y:-14.71, Z:-2.33 [[ 9.76892686e-01 2.13197639e-01 1.50813407e-02 2.26133936e+02] [-2.13189483e-01 9.77008473e-01 -2.16509965e-03 -1.47081036e+01] [-1.51961918e-02 -1.10011322e-03 9.99883926e-01 -2.33186476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.17, Y:-14.72, Z:-2.33 [[ 9.75969080e-01 2.17420488e-01 1.45837784e-02 2.26166194e+02] [-2.17413294e-01 9.76077387e-01 -2.09613282e-03 -1.47159145e+01] [-1.46906386e-02 -1.12494648e-03 9.99891454e-01 -2.33280720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:-14.72, Z:-2.33 [[ 9.75074010e-01 2.21336706e-01 1.55157027e-02 2.26198352e+02] [-2.21329007e-01 9.75196638e-01 -2.23319176e-03 -1.47235039e+01] [-1.56251484e-02 -1.25654782e-03 9.99877130e-01 -2.33369134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:-14.73, Z:-2.33 [[ 9.74404270e-01 2.24150452e-01 1.71141509e-02 2.26229284e+02] [-2.24141454e-01 9.74553499e-01 -2.46688084e-03 -1.47310491e+01] [-1.72316081e-02 -1.43225144e-03 9.99850499e-01 -2.33417706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.26, Y:-14.74, Z:-2.33 [[ 9.74075615e-01 2.25499007e-01 1.80801991e-02 2.26260605e+02] [-2.25489134e-01 9.74242188e-01 -2.60947667e-03 -1.47388544e+01] [-1.82029272e-02 -1.53506085e-03 9.99833135e-01 -2.33445235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:-14.75, Z:-2.33 [[ 9.74519015e-01 2.23502535e-01 1.89553580e-02 2.26290798e+02] [-2.23560812e-01 9.74689484e-01 9.86108818e-04 -1.47518843e+01] [-1.82551903e-02 -5.19865704e-03 9.99819845e-01 -2.33464825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:-14.76, Z:-2.34 [[ 9.75140498e-01 2.20838044e-01 1.82089981e-02 2.26321437e+02] [-2.20853902e-01 9.75306212e-01 -1.16053492e-03 -1.47584103e+01] [-1.80156392e-02 -2.88984366e-03 9.99833529e-01 -2.33682588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:-14.76, Z:-2.34 [[ 9.75881847e-01 2.17737925e-01 1.56466505e-02 2.26354371e+02] [-2.17643202e-01 9.75999261e-01 -7.54179151e-03 -1.47632658e+01] [-1.69132533e-02 3.95451032e-03 9.99849140e-01 -2.33962115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.39, Y:-14.77, Z:-2.34 [[ 9.76579126e-01 2.14490343e-01 1.69441054e-02 2.26386754e+02] [-2.14479867e-01 9.76725326e-01 -2.45447930e-03 -1.47730046e+01] [-1.70761990e-02 -1.23717621e-03 9.99853426e-01 -2.33934458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.42, Y:-14.79, Z:-2.33 [[ 9.77967910e-01 2.07058791e-01 2.65598155e-02 2.26416564e+02] [-2.07618930e-01 9.77997097e-01 2.03975147e-02 -1.47924535e+01] [-2.17519377e-02 -2.54624352e-02 9.99439101e-01 -2.33440348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.45, Y:-14.78, Z:-2.35 [[ 9.78701012e-01 2.04863817e-01 1.32342861e-02 2.26449608e+02] [-2.04472265e-01 9.78522048e-01 -2.61857559e-02 -1.47807017e+01] [-1.83145547e-02 2.29219813e-02 9.99569487e-01 -2.34650030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.48, Y:-14.80, Z:-2.34 [[ 9.79418122e-01 2.01201561e-01 1.60646689e-02 2.26480554e+02] [-2.01190277e-01 9.79549403e-01 -2.33218294e-03 -1.47966470e+01] [-1.62053757e-02 -9.47872961e-04 9.99868235e-01 -2.33984990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:-14.80, Z:-2.34 [[ 9.80098771e-01 1.97864049e-01 1.60067799e-02 2.26511541e+02] [-1.97852351e-01 9.80229071e-01 -2.32694582e-03 -1.48022699e+01] [-1.61507299e-02 -8.86342295e-04 9.99869176e-01 -2.34070298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.54, Y:-14.81, Z:-2.34 [[ 9.80715726e-01 1.94757231e-01 1.63182451e-02 2.26542793e+02] [-1.94744593e-01 9.80851111e-01 -2.37530487e-03 -1.48076225e+01] [-1.64683766e-02 -8.48391173e-04 9.99864027e-01 -2.34060178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:-14.81, Z:-2.34 [[ 9.81217757e-01 1.92128157e-01 1.72767043e-02 2.26575383e+02] [-1.92113526e-01 9.81369478e-01 -2.51819809e-03 -1.48128055e+01] [-1.74386470e-02 -8.48187897e-04 9.99847575e-01 -2.34141929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:-14.82, Z:-2.34 [[ 9.82021293e-01 1.87774691e-01 1.93609333e-02 2.26608443e+02] [-1.87755421e-01 9.82211751e-01 -2.82458643e-03 -1.48166501e+01] [-1.95469221e-02 -8.61316183e-04 9.99808570e-01 -2.34184705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:-14.82, Z:-2.34 [[ 9.82263988e-01 1.86480150e-01 1.95604407e-02 2.26639775e+02] [-1.86460150e-01 9.82458369e-01 -2.85747743e-03 -1.48201386e+01] [-1.97501815e-02 -8.40445525e-04 9.99804593e-01 -2.34200180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:-14.82, Z:-2.34 [[ 9.82404995e-01 1.85748078e-01 1.94442106e-02 2.26672597e+02] [-1.85728104e-01 9.82597061e-01 -2.84395612e-03 -1.48228148e+01] [-1.96340836e-02 -8.17419674e-04 9.99806899e-01 -2.34215169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:-14.82, Z:-2.34 [[ 9.82437205e-01 1.85543079e-01 1.97712729e-02 2.26705660e+02] [-1.85522316e-01 9.82635786e-01 -2.89527564e-03 -1.48246630e+01] [-1.99651586e-02 -8.23585839e-04 9.99800337e-01 -2.34247113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.74, Y:-14.83, Z:-2.34 [[ 9.82374339e-01 1.85873887e-01 1.97877588e-02 2.26737865e+02] [-1.85853082e-01 9.82573261e-01 -2.90142815e-03 -1.48258002e+01] [-1.99822224e-02 -8.27327389e-04 9.99799993e-01 -2.34287698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:-14.83, Z:-2.34 [[ 9.82233344e-01 1.86593431e-01 2.00137094e-02 2.26770586e+02] [-1.86572225e-01 9.82436854e-01 -2.93812325e-03 -1.48264714e+01] [-2.02104402e-02 -8.48079668e-04 9.99795389e-01 -2.34310426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:-14.82, Z:-2.34 [[ 9.82023853e-01 1.87685498e-01 2.00824663e-02 2.26804997e+02] [-1.87664327e-01 9.82228789e-01 -2.95052033e-03 -1.48214717e+01] [-2.02793465e-02 -8.71281188e-04 9.99793973e-01 -2.34394569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.665898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:-14.83, Z:-2.34 [[ 9.82008794e-01 1.87764334e-01 2.00819271e-02 2.26838101e+02] [-1.87743105e-01 9.82213724e-01 -2.95418629e-03 -1.48264699e+01] [-2.02794352e-02 -8.69206429e-04 9.99793973e-01 -2.34462591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:-14.83, Z:-2.35 [[ 9.82034904e-01 1.87679701e-01 1.95902289e-02 2.26869970e+02] [-1.87659452e-01 9.82229920e-01 -2.88337539e-03 -1.48260698e+01] [-1.97832600e-02 -8.44716334e-04 9.99803935e-01 -2.34568190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.90, Y:-14.83, Z:-2.35 [[ 9.82218575e-01 1.86727957e-01 1.94766928e-02 2.26902819e+02] [-1.86707689e-01 9.82411320e-01 -2.87003332e-03 -1.48259743e+01] [-1.96700390e-02 -8.17448263e-04 9.99806192e-01 -2.34746357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.93, Y:-14.83, Z:-2.35 [[ 9.82632068e-01 1.84573913e-01 1.91491496e-02 2.26934590e+02] [-1.84553843e-01 9.82818344e-01 -2.82532083e-03 -1.48265812e+01] [-1.93416160e-02 -7.57798307e-04 9.99812646e-01 -2.34875108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:-14.83, Z:-2.35 [[ 9.83223598e-01 1.81498896e-01 1.81523546e-02 2.26967525e+02] [-1.81480283e-01 9.83390928e-01 -2.68124824e-03 -1.48278966e+01] [-1.83375045e-02 -6.58027914e-04 9.99831637e-01 -2.34948774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.00, Y:-14.83, Z:-2.35 [[ 9.84685442e-01 1.73587296e-01 1.61873972e-02 2.27000590e+02] [-1.73571377e-01 9.84818382e-01 -2.39398504e-03 -1.48266148e+01] [-1.63572118e-02 -4.52346611e-04 9.99866110e-01 -2.35038958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.03, Y:-14.83, Z:-2.35 [[ 9.85299178e-01 1.70085402e-01 1.60152088e-02 2.27033035e+02] [-1.70069341e-01 9.85429249e-01 -2.36946051e-03 -1.48286192e+01] [-1.61848658e-02 -3.89068509e-04 9.99868941e-01 -2.35106044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.07, Y:-14.83, Z:-2.35 [[ 9.85765657e-01 1.67286822e-01 1.67686663e-02 2.27066067e+02] [-1.67268757e-01 9.85908207e-01 -2.48408782e-03 -1.48311648e+01] [-1.69479208e-02 -3.56145499e-04 9.99856310e-01 -2.35124654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.10, Y:-14.83, Z:-2.35 [[ 9.86081459e-01 1.65358565e-01 1.73176703e-02 2.27098354e+02] [-1.65338939e-01 9.86233459e-01 -2.56886955e-03 -1.48335249e+01] [-1.75040504e-02 -3.30170599e-04 9.99846738e-01 -2.35103963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.935898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:227.13, Y:-14.83, Z:-2.35 [[ 9.86375129e-01 1.63548274e-01 1.77782831e-02 2.27132058e+02] [-1.63527235e-01 9.86535286e-01 -2.64066142e-03 -1.48321799e+01] [-1.79707792e-02 -3.02550722e-04 9.99838467e-01 -2.35103207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.17, Y:-14.83, Z:-2.35 [[ 9.86391366e-01 1.63487460e-01 1.74333897e-02 2.27165304e+02] [-1.63467199e-01 9.86545368e-01 -2.59058367e-03 -1.48343024e+01] [-1.76223578e-02 -2.94458012e-04 9.99844671e-01 -2.35060044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.20, Y:-14.84, Z:-2.35 [[ 9.86439328e-01 1.63186261e-01 1.75412963e-02 2.27197133e+02] [-1.63165639e-01 9.86595237e-01 -2.61009046e-03 -1.48363959e+01] [-1.77320903e-02 -2.87440942e-04 9.99842733e-01 -2.35154935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.23, Y:-14.84, Z:-2.35 [[ 9.86656645e-01 1.61896432e-01 1.72687683e-02 2.27229446e+02] [-1.61876195e-01 9.86807721e-01 -2.57261443e-03 -1.48394758e+01] [-1.74574510e-02 -2.57115387e-04 9.99847574e-01 -2.35254196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.055898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:227.26, Y:-14.84, Z:-2.35 [[ 9.87019592e-01 1.59666004e-01 1.72942833e-02 2.27262352e+02] [-1.59645311e-01 9.87171070e-01 -2.57947936e-03 -1.48424817e+01] [-1.74842713e-02 -2.14954579e-04 9.99847115e-01 -2.35379238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.29, Y:-14.85, Z:-2.35 [[ 9.87513539e-01 1.56563961e-01 1.74567028e-02 2.27294700e+02] [-1.56542333e-01 9.87667809e-01 -2.60706168e-03 -1.48467943e+01] [-1.76495953e-02 -1.58204286e-04 9.99844221e-01 -2.35363617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.33, Y:-14.85, Z:-2.35 [[ 9.88544006e-01 1.49596014e-01 2.00444918e-02 2.27326145e+02] [-1.49565975e-01 9.88747203e-01 -2.99792157e-03 -1.48502148e+01] [-2.02674123e-02 -3.43965691e-05 9.99794594e-01 -2.35369128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.36, Y:-14.85, Z:-2.35 [[ 9.88947186e-01 1.46731910e-01 2.12887061e-02 2.27357875e+02] [-1.46697277e-01 9.89176297e-01 -3.18801938e-03 -1.48545541e+01] [-2.15260676e-02 2.97875893e-05 9.99768287e-01 -2.35438985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.175898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:227.39, Y:-14.86, Z:-2.36 [[ 9.89256704e-01 1.44575257e-01 2.16602938e-02 2.27391060e+02] [-1.44538802e-01 9.89493804e-01 -3.24752536e-03 -1.48585910e+01] [-2.19022383e-02 8.18833253e-05 9.99760114e-01 -2.35558946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.205898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:227.42, Y:-14.86, Z:-2.36 [[ 9.89387304e-01 1.43776091e-01 2.10047313e-02 2.27424191e+02] [-1.43741549e-01 9.89610239e-01 -3.15303556e-03 -1.48630113e+01] [-2.12398283e-02 1.00320738e-04 9.99774404e-01 -2.35560008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:-14.87, Z:-2.36 [[ 9.89435158e-01 1.43671005e-01 1.94090326e-02 2.27455565e+02] [-1.43641427e-01 9.89625501e-01 -2.91683446e-03 -1.48664828e+01] [-1.96267382e-02 9.80774360e-05 9.99807372e-01 -2.35671341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:-14.87, Z:-2.36 [[ 9.89356022e-01 1.44234780e-01 1.92610999e-02 2.27488699e+02] [-1.44205693e-01 9.89543491e-01 -2.89790122e-03 -1.48708390e+01] [-1.94776742e-02 8.94957687e-05 9.99810288e-01 -2.35716100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:-14.87, Z:-2.36 [[ 9.89191405e-01 1.45298309e-01 1.97171188e-02 2.27519963e+02] [-1.45267958e-01 9.89387890e-01 -2.97060858e-03 -1.48748869e+01] [-1.99395029e-02 7.42349006e-05 9.99801186e-01 -2.35765179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.55, Y:-14.88, Z:-2.36 [[ 9.89041215e-01 1.46257178e-01 2.01572192e-02 2.27552702e+02] [-1.46225576e-01 9.89246599e-01 -3.04080948e-03 -1.48790446e+01] [-2.03852008e-02 5.99848990e-05 9.99792198e-01 -2.35817130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.59, Y:-14.88, Z:-2.36 [[ 9.88939984e-01 1.46959593e-01 2.00146648e-02 2.27585257e+02] [-1.46928506e-01 9.89142495e-01 -3.02301968e-03 -1.48831030e+01] [-2.02416173e-02 4.88602424e-05 9.99795116e-01 -2.35867743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:-14.89, Z:-2.36 [[ 9.88913838e-01 1.47201042e-01 1.95262348e-02 2.27616578e+02] [-1.47171423e-01 9.89106592e-01 -2.95315001e-03 -1.48871481e+01] [-1.97482344e-02 4.67071312e-05 9.99804984e-01 -2.35988493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41589822699999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:227.65, Y:-14.89, Z:-2.36 [[ 9.89182523e-01 1.45550373e-01 1.82489763e-02 2.27649102e+02] [-1.45524184e-01 9.89350839e-01 -2.76200344e-03 -1.48905840e+01] [-1.84566506e-02 7.64581488e-05 9.99829659e-01 -2.36202573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.445898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:227.68, Y:-14.90, Z:-2.36 [[ 9.89291222e-01 1.44685152e-01 1.92115715e-02 2.27681248e+02] [-1.44655887e-01 9.89477739e-01 -2.91164832e-03 -1.48950260e+01] [-1.94306946e-02 1.01401202e-04 9.99811201e-01 -2.36214532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.71, Y:-14.90, Z:-2.36 [[ 9.89263777e-01 1.44735737e-01 2.02174857e-02 2.27713710e+02] [-1.44703286e-01 9.89470340e-01 -3.06665448e-03 -1.48992925e+01] [-2.04484569e-02 1.08193581e-04 9.99790903e-01 -2.36226771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.75, Y:-14.90, Z:-2.36 [[ 9.89102694e-01 1.45870473e-01 1.99415747e-02 2.27747449e+02] [-1.45839058e-01 9.89303693e-01 -3.02850701e-03 -1.48998884e+01] [-2.01700433e-02 8.72439734e-05 9.99796560e-01 -2.36269902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:-14.90, Z:-2.36 [[ 9.88963758e-01 1.46953480e-01 1.88509982e-02 2.27780285e+02] [-1.46925540e-01 9.89143402e-01 -2.86623719e-03 -1.49018688e+01] [-1.90675440e-02 6.49116277e-05 9.99818196e-01 -2.36360937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.81, Y:-14.90, Z:-2.37 [[ 9.88850290e-01 1.47864709e-01 1.76389449e-02 2.27813664e+02] [-1.47840335e-01 9.89007596e-01 -2.68510313e-03 -1.49039899e+01] [-1.78420825e-02 4.74174888e-05 9.99840816e-01 -2.36504766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:-14.91, Z:-2.37 [[ 9.88834406e-01 1.48012949e-01 1.72825134e-02 2.27846350e+02] [-1.47989516e-01 9.88985422e-01 -2.63409631e-03 -1.49063026e+01] [-1.74820341e-02 4.70542766e-05 9.99847176e-01 -2.36614597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:-14.91, Z:-2.37 [[ 9.88949714e-01 1.47147408e-01 1.80583404e-02 2.27879576e+02] [-1.47121613e-01 9.89114572e-01 -2.75597646e-03 -1.49085299e+01] [-1.82673024e-02 6.87499731e-05 9.99833137e-01 -2.36742524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.91, Y:-14.91, Z:-2.37 [[ 9.89162918e-01 1.45562226e-01 1.91927302e-02 2.27911780e+02] [-1.45532713e-01 9.89349092e-01 -2.93307677e-03 -1.49110981e+01] [-1.94152554e-02 1.08120686e-04 9.99811500e-01 -2.36761594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:-14.91, Z:-2.37 [[ 9.89905862e-01 1.40297699e-01 2.00733518e-02 2.27945476e+02] [-1.40264254e-01 9.90109340e-01 -3.07144679e-03 -1.49115551e+01] [-2.03057300e-02 2.24869470e-04 9.99793792e-01 -2.36819892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:-14.91, Z:-2.37 [[ 9.90369836e-01 1.37138242e-01 1.89918688e-02 2.27977911e+02] [-1.37107697e-01 9.90551880e-01 -2.90737642e-03 -1.49141905e+01] [-1.92111438e-02 2.75446521e-04 9.99815411e-01 -2.36934388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:-14.92, Z:-2.37 [[ 9.90873949e-01 1.33625487e-01 1.76931056e-02 2.28009915e+02] [-1.33598364e-01 9.91031849e-01 -2.71150765e-03 -1.49173735e+01] [-1.78967577e-02 3.22992333e-04 9.99839788e-01 -2.37080102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:-14.92, Z:-2.37 [[ 9.91394380e-01 1.29786606e-01 1.71061685e-02 2.28042641e+02] [-1.29760632e-01 9.91541876e-01 -2.62440813e-03 -1.49212165e+01] [-1.73020955e-02 3.82116234e-04 9.99850235e-01 -2.37202217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:-14.93, Z:-2.37 [[ 9.91796846e-01 1.26649329e-01 1.72905821e-02 2.28075141e+02] [-1.26622256e-01 9.91947453e-01 -2.65610681e-03 -1.49258082e+01] [-1.74877430e-02 4.44945851e-04 9.99846979e-01 -2.37252237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.835898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:228.11, Y:-14.93, Z:-2.37 [[ 9.92111044e-01 1.24088213e-01 1.78267302e-02 2.28107621e+02] [-1.24058955e-01 9.92271060e-01 -2.74211589e-03 -1.49296227e+01] [-1.80292128e-02 5.08917933e-04 9.99837331e-01 -2.37316486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:-14.93, Z:-2.37 [[ 9.92438447e-01 1.21306761e-01 1.87243003e-02 2.28138910e+02] [-1.21273913e-01 9.92614890e-01 -2.88412991e-03 -1.49338473e+01] [-1.89358837e-02 5.91552251e-04 9.99820525e-01 -2.37348113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.17, Y:-14.94, Z:-2.37 [[ 9.92526909e-01 1.20566535e-01 1.88160805e-02 2.28172001e+02] [-1.20533165e-01 9.92705060e-01 -2.90175664e-03 -1.49386868e+01] [-1.90286731e-02 6.12109801e-04 9.99818751e-01 -2.37385451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:-14.94, Z:-2.37 [[ 9.92640402e-01 1.19613572e-01 1.89109817e-02 2.28203326e+02] [-1.19579617e-01 9.92820320e-01 -2.92026986e-03 -1.49432921e+01] [-1.91245108e-02 6.37409892e-04 9.99816907e-01 -2.37441656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.955898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:228.24, Y:-14.95, Z:-2.38 [[ 9.92796685e-01 1.18341441e-01 1.87095202e-02 2.28235492e+02] [-1.18307938e-01 9.92972745e-01 -2.89137869e-03 -1.49475308e+01] [-1.89202135e-02 6.57066414e-04 9.99820781e-01 -2.37523167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:-14.95, Z:-2.37 [[ 9.92780531e-01 1.18478762e-01 1.86976131e-02 2.28268172e+02] [-1.18445265e-01 9.92956369e-01 -2.89282140e-03 -1.49526495e+01] [-1.89086519e-02 6.57293026e-04 9.99820999e-01 -2.37464947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.30, Y:-14.96, Z:-2.37 [[ 9.92741465e-01 1.18709424e-01 1.92991159e-02 2.28299618e+02] [-1.18673704e-01 9.92928806e-01 -2.98977053e-03 -1.49562898e+01] [-1.95175620e-02 6.77771618e-04 9.99809285e-01 -2.37478643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:-14.96, Z:-2.38 [[ 9.92731051e-01 1.18669035e-01 2.00678970e-02 2.28332495e+02] [-1.18630327e-01 9.92933612e-01 -3.11265917e-03 -1.49591758e+01] [-2.02954657e-02 7.09372226e-04 9.99793774e-01 -2.37512753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.36, Y:-14.96, Z:-2.38 [[ 9.92696430e-01 1.18873854e-01 2.05622040e-02 2.28364635e+02] [-1.18833174e-01 9.92909099e-01 -3.19339213e-03 -1.49617575e+01] [-2.07960103e-02 7.26596991e-04 9.99783476e-01 -2.37652987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:-14.96, Z:-2.38 [[ 9.92841207e-01 1.17667706e-01 2.05097345e-02 2.28397754e+02] [-1.17626900e-01 9.93052739e-01 -3.18894487e-03 -1.49625615e+01] [-2.07424839e-02 7.53619376e-04 9.99784568e-01 -2.37790209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:-14.97, Z:-2.38 [[ 9.92911532e-01 1.17172770e-01 1.99306585e-02 2.28430124e+02] [-1.17134062e-01 9.93111265e-01 -3.10259269e-03 -1.49655907e+01] [-2.01569009e-02 7.46041068e-04 9.99796551e-01 -2.37939920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.46, Y:-14.97, Z:-2.38 [[ 9.92984934e-01 1.16590126e-01 1.96891911e-02 2.28463122e+02] [-1.16552167e-01 9.93179831e-01 -3.06846030e-03 -1.49684225e+01] [-1.99126597e-02 7.52116950e-04 9.99801440e-01 -2.38074158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:-14.97, Z:-2.38 [[ 9.93041332e-01 1.16119873e-01 1.96236632e-02 2.28496466e+02] [-1.16082003e-01 9.93234913e-01 -3.06191285e-03 -1.49713014e+01] [-1.98464564e-02 7.62651884e-04 9.99802749e-01 -2.38176624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:-14.97, Z:-2.38 [[ 9.93043698e-01 1.16044936e-01 1.99445853e-02 2.28529072e+02] [-1.16005724e-01 9.93243658e-01 -3.11579336e-03 -1.49739375e+01] [-2.01714049e-02 7.80432910e-04 9.99796232e-01 -2.38201531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:-14.97, Z:-2.38 [[ 9.93043570e-01 1.15829920e-01 2.11635824e-02 2.28562494e+02] [-1.15785632e-01 9.93268710e-01 -3.31029634e-03 -1.49739758e+01] [-2.14045556e-02 8.36829727e-04 9.99770546e-01 -2.38305720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.285898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:228.59, Y:-14.98, Z:-2.38 [[ 9.93080886e-01 1.15540331e-01 2.09949026e-02 2.28594102e+02] [-1.15496642e-01 9.93302436e-01 -3.28578557e-03 -1.49757634e+01] [-2.12339286e-02 8.38210107e-04 9.99774183e-01 -2.38425324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:-14.98, Z:-2.39 [[ 9.93112047e-01 1.15333974e-01 2.06527634e-02 2.28626003e+02] [-1.15291575e-01 9.93326422e-01 -3.23595298e-03 -1.49791728e+01] [-2.08881509e-02 8.32574273e-04 9.99781472e-01 -2.38515684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.66, Y:-14.98, Z:-2.39 [[ 9.93248700e-01 1.14291894e-01 1.98590851e-02 2.28659292e+02] [-1.14252415e-01 9.93446869e-01 -3.11505336e-03 -1.49819428e+01] [-2.00849713e-02 8.25074272e-04 9.99797936e-01 -2.38671567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:-14.99, Z:-2.39 [[ 9.93429611e-01 1.12875810e-01 1.88854473e-02 2.28692550e+02] [-1.12839786e-01 9.93608769e-01 -2.96580425e-03 -1.49850137e+01] [-1.90995136e-02 8.15287945e-04 9.99817255e-01 -2.38806794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:-14.99, Z:-2.39 [[ 9.93660293e-01 1.10929296e-01 1.82733000e-02 2.28724365e+02] [-1.10895176e-01 9.93827955e-01 -2.87316526e-03 -1.49886561e+01] [-1.84792346e-02 8.28529412e-04 9.99828901e-01 -2.38916266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.76, Y:-14.99, Z:-2.39 [[ 9.94132022e-01 1.06679840e-01 1.79146419e-02 2.28757341e+02] [-1.06646301e-01 9.94293022e-01 -2.81995225e-03 -1.49928350e+01] [-1.81132355e-02 8.92874556e-04 9.99835543e-01 -2.38992269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.79, Y:-15.00, Z:-2.39 [[ 9.94293092e-01 1.05246329e-01 1.74486851e-02 2.28788700e+02] [-1.05214234e-01 9.94445777e-01 -2.74988037e-03 -1.49977908e+01] [-1.76411860e-02 8.98337019e-04 9.99843979e-01 -2.39082055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.82, Y:-15.00, Z:-2.39 [[ 9.94373987e-01 1.04540562e-01 1.70776104e-02 2.28820629e+02] [-1.04509662e-01 9.94520221e-01 -2.69437746e-03 -1.50027877e+01] [-1.72657007e-02 8.94443570e-04 9.99850537e-01 -2.39131216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.85, Y:-15.01, Z:-2.39 [[ 9.94428117e-01 1.04051790e-01 1.69099213e-02 2.28853735e+02] [-1.04021374e-01 9.94571476e-01 -2.67082506e-03 -1.50077974e+01] [-1.70960295e-02 8.96950282e-04 9.99853450e-01 -2.39198304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:-15.01, Z:-2.39 [[ 9.94419729e-01 1.04132012e-01 1.69093763e-02 2.28886791e+02] [-1.04101549e-01 9.94563078e-01 -2.67427055e-03 -1.50131651e+01] [-1.70959185e-02 8.99055134e-04 9.99853450e-01 -2.39266298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:-15.02, Z:-2.39 [[ 9.94446501e-01 1.03852822e-01 1.70513244e-02 2.28917927e+02] [-1.03821784e-01 9.94592257e-01 -2.69786511e-03 -1.50182199e+01] [-1.72392961e-02 9.12583591e-04 9.99850976e-01 -2.39286697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.95, Y:-15.02, Z:-2.39 [[ 9.94576860e-01 1.02545538e-01 1.73574563e-02 2.28950219e+02] [-1.02513123e-01 9.94727852e-01 -2.74938973e-03 -1.50237457e+01] [-1.75478829e-02 9.55112345e-04 9.99845568e-01 -2.39318051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:-15.03, Z:-2.39 [[ 9.94591608e-01 1.02379035e-01 1.74947378e-02 2.28982105e+02] [-1.02346022e-01 9.94744990e-01 -2.77444667e-03 -1.50293280e+01] [-1.76868480e-02 9.68924565e-04 9.99843106e-01 -2.39422859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.01, Y:-15.04, Z:-2.39 [[ 9.94544512e-01 1.02853958e-01 1.73860903e-02 2.29014388e+02] [-1.02821373e-01 9.94696007e-01 -2.76017108e-03 -1.50358267e+01] [-1.75777691e-02 9.57451328e-04 9.99845041e-01 -2.39478160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.705898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:229.05, Y:-15.04, Z:-2.39 [[ 9.94326639e-01 1.04724022e-01 1.86390605e-02 2.29046233e+02] [-1.04686829e-01 9.94500824e-01 -2.96278608e-03 -1.50424865e+01] [-1.88468359e-02 9.94712978e-04 9.99821888e-01 -2.39495951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.08, Y:-15.05, Z:-2.39 [[ 9.94130344e-01 1.06509741e-01 1.89877514e-02 2.29078084e+02] [-1.06471397e-01 9.94311173e-01 -3.02192758e-03 -1.50489499e+01] [-1.92015981e-02 9.82537496e-04 9.99815150e-01 -2.39437442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.765898227 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:229.11, Y:-15.05, Z:-2.40 [[ 9.94030362e-01 1.07485478e-01 1.87219558e-02 2.29110627e+02] [-1.07448310e-01 9.94206197e-01 -2.98289132e-03 -1.50529797e+01] [-1.89341020e-02 9.53442029e-04 9.99820279e-01 -2.39539542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:-15.06, Z:-2.40 [[ 9.93872279e-01 1.09106401e-01 1.77111969e-02 2.29143477e+02] [-1.09073337e-01 9.94029691e-01 -2.82509998e-03 -1.50579266e+01] [-1.79136920e-02 8.75969209e-04 9.99839153e-01 -2.39575189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.17, Y:-15.06, Z:-2.40 [[ 9.93753637e-01 1.10348205e-01 1.66427707e-02 2.29174984e+02] [-1.10319133e-01 9.93892663e-01 -2.65772030e-03 -1.50619247e+01] [-1.68344024e-02 8.05103184e-04 9.99857967e-01 -2.39692775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.21, Y:-15.07, Z:-2.40 [[ 9.93672660e-01 1.11120904e-01 1.63336856e-02 2.29207779e+02] [-1.11092959e-01 9.93806589e-01 -2.61122759e-03 -1.50664614e+01] [-1.65226863e-02 7.80148008e-04 9.99863187e-01 -2.39772144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.24, Y:-15.07, Z:-2.40 [[ 9.93596438e-01 1.11642197e-01 1.73821173e-02 2.29240996e+02] [-1.11610567e-01 9.93748127e-01 -2.78232998e-03 -1.50704261e+01] [-1.75840720e-02 8.24485200e-04 9.99845048e-01 -2.39710622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.27, Y:-15.07, Z:-2.40 [[ 9.93549529e-01 1.11925412e-01 1.82218609e-02 2.29273532e+02] [-1.11890630e-01 9.93716236e-01 -2.92042268e-03 -1.50741288e+01] [-1.84342285e-02 8.62729077e-04 9.99829703e-01 -2.39715578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.31, Y:-15.08, Z:-2.40 [[ 9.93510481e-01 1.12221711e-01 1.85259624e-02 2.29305282e+02] [-1.12185743e-01 9.93682807e-01 -2.97280313e-03 -1.50770054e+01] [-1.87425433e-02 8.75162219e-04 9.99823960e-01 -2.39735719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:-15.08, Z:-2.40 [[ 9.93472405e-01 1.12576313e-01 1.84161545e-02 2.29337895e+02] [-1.12540770e-01 9.93642704e-01 -2.95843609e-03 -1.50794299e+01] [-1.86321274e-02 8.66556412e-04 9.99826031e-01 -2.39753254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:-15.08, Z:-2.40 [[ 9.93390884e-01 1.13369546e-01 1.79415181e-02 2.29370508e+02] [-1.13335878e-01 9.93552541e-01 -2.88563188e-03 -1.50782860e+01] [-1.81529837e-02 8.33142687e-04 9.99834874e-01 -2.39820702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:-15.08, Z:-2.40 [[ 9.93378152e-01 1.13440241e-01 1.81977659e-02 2.29403274e+02] [-1.13405578e-01 9.93544461e-01 -2.92889586e-03 -1.50804647e+01] [-1.84125441e-02 8.45772997e-04 9.99830117e-01 -2.39925142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:-15.08, Z:-2.40 [[ 9.93429436e-01 1.12923349e-01 1.86083939e-02 2.29436754e+02] [-1.12886947e-01 9.93603314e-01 -2.99854472e-03 -1.50830756e+01] [-1.88279676e-02 8.78197813e-04 9.99822352e-01 -2.39955496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.47, Y:-15.09, Z:-2.40 [[ 9.93563459e-01 1.11689711e-01 1.88960823e-02 2.29468368e+02] [-1.11651883e-01 9.93742705e-01 -3.04849903e-03 -1.50858802e+01] [-1.91183300e-02 9.19094065e-04 9.99816806e-01 -2.39972248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.50, Y:-15.09, Z:-2.40 [[ 9.93800258e-01 1.09518403e-01 1.91511516e-02 2.29501698e+02] [-1.09479079e-01 9.93984288e-01 -3.09303431e-03 -1.50892798e+01] [-1.93746879e-02 9.77207865e-04 9.99811816e-01 -2.40022156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.53, Y:-15.09, Z:-2.40 [[ 9.94072357e-01 1.07013960e-01 1.91875069e-02 2.29533915e+02] [-1.06973952e-01 9.94256983e-01 -3.10247779e-03 -1.50931402e+01] [-1.94093211e-02 1.03152397e-03 9.99811089e-01 -2.40084954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.57, Y:-15.10, Z:-2.40 [[ 9.94677713e-01 1.01375574e-01 1.84184865e-02 2.29565401e+02] [-1.01337688e-01 9.94847619e-01 -2.98117205e-03 -1.50962677e+01] [-1.86258054e-02 1.09881857e-03 9.99825921e-01 -2.40089289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.215898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:229.60, Y:-15.10, Z:-2.40 [[ 9.94923930e-01 9.89416012e-02 1.83557496e-02 2.29598067e+02] [-9.89035028e-02 9.95092585e-01 -2.97411002e-03 -1.51003867e+01] [-1.85599335e-02 1.14356530e-03 9.99827096e-01 -2.40208237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:-15.11, Z:-2.40 [[ 9.95077678e-01 9.74118395e-02 1.82029485e-02 2.29630477e+02] [-9.73740580e-02 9.95243475e-01 -2.95260408e-03 -1.51059684e+01] [-1.84039843e-02 1.16557545e-03 9.99829953e-01 -2.40203381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:-15.11, Z:-2.40 [[ 9.95217111e-01 9.59461451e-02 1.83640863e-02 2.29662967e+02] [-9.59073816e-02 9.95385795e-01 -2.98205755e-03 -1.51109521e+01] [-1.85654676e-02 1.20654327e-03 9.99826919e-01 -2.40313723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:-15.12, Z:-2.40 [[ 9.95333089e-01 9.47703606e-02 1.81830054e-02 2.29694632e+02] [-9.47321030e-02 9.95498414e-01 -2.95589411e-03 -1.51159659e+01] [-1.83812841e-02 1.21958488e-03 9.99830306e-01 -2.40375497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:-15.12, Z:-2.40 [[ 9.95479582e-01 9.31735664e-02 1.84143480e-02 2.29726552e+02] [-9.31339989e-02 9.95649074e-01 -2.99661877e-03 -1.51218290e+01] [-1.86134342e-02 1.26807093e-03 9.99825951e-01 -2.40493334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:-15.13, Z:-2.41 [[ 9.95517344e-01 9.27427793e-02 1.85471124e-02 2.29759096e+02] [-9.27025055e-02 9.95689267e-01 -3.02137879e-03 -1.51278647e+01] [-1.87473718e-02 1.28847120e-03 9.99823422e-01 -2.40557013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.395898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:229.79, Y:-15.13, Z:-2.41 [[ 9.95578321e-01 9.20528633e-02 1.87103456e-02 2.29791758e+02] [-9.20117140e-02 9.95753253e-01 -3.05020406e-03 -1.51325870e+01] [-1.89116675e-02 1.31514607e-03 9.99820293e-01 -2.40717020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.425898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:229.82, Y:-15.14, Z:-2.41 [[ 9.95564600e-01 9.23222992e-02 1.81030198e-02 2.29822952e+02] [-9.22837658e-02 9.95728366e-01 -2.95429692e-03 -1.51386949e+01] [-1.82984378e-02 1.27057859e-03 9.99831762e-01 -2.40780501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:-15.14, Z:-2.41 [[ 9.95530667e-01 9.29139449e-02 1.69023364e-02 2.29854232e+02] [-9.28803957e-02 9.95673445e-01 -2.76087823e-03 -1.51447311e+01] [-1.70857316e-02 1.17864325e-03 9.99853334e-01 -2.40826660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:-15.15, Z:-2.41 [[ 9.95521048e-01 9.32505992e-02 1.55617577e-02 2.29886967e+02] [-9.32221659e-02 9.95642082e-01 -2.54421352e-03 -1.51505175e+01] [-1.57311903e-02 1.08211736e-03 9.99875672e-01 -2.40889636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:-15.16, Z:-2.41 [[ 9.95487045e-01 9.38489426e-02 1.40683925e-02 2.29919251e+02] [-9.38257301e-02 9.95585974e-01 -2.30247178e-03 -1.51565963e+01] [-1.42223788e-02 9.72103634e-04 9.99898384e-01 -2.40999370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.95, Y:-15.16, Z:-2.41 [[ 9.95424600e-01 9.45970879e-02 1.34631599e-02 2.29950716e+02] [-9.45758628e-02 9.95515213e-01 -2.20599797e-03 -1.51624336e+01] [-1.36114615e-02 9.22614679e-04 9.99906934e-01 -2.41047155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.98, Y:-15.17, Z:-2.41 [[ 9.95314842e-01 9.57499503e-02 1.34280288e-02 2.29983366e+02] [-9.57289056e-02 9.95405005e-01 -2.20279642e-03 -1.51685277e+01] [-1.35772447e-02 9.07025476e-04 9.99907414e-01 -2.41159555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:-15.17, Z:-2.41 [[ 9.95240092e-01 9.65284632e-02 1.33946230e-02 2.30015277e+02] [-9.65075611e-02 9.95329821e-01 -2.19969108e-03 -1.51739932e+01] [-1.35444005e-02 8.96538354e-04 9.99907868e-01 -2.41233991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.635898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:230.05, Y:-15.18, Z:-2.41 [[ 9.95198356e-01 9.69186369e-02 1.36751418e-02 2.30048014e+02] [-9.68968563e-02 9.95291890e-01 -2.24795932e-03 -1.51790811e+01] [-1.38286268e-02 9.12087177e-04 9.99903964e-01 -2.41327250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:-15.19, Z:-2.41 [[ 9.95156798e-01 9.73056413e-02 1.39484961e-02 2.30080025e+02] [-9.72829866e-02 9.95254115e-01 -2.29518744e-03 -1.51854444e+01] [-1.41056328e-02 9.27120016e-04 9.99900081e-01 -2.41280621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:-15.19, Z:-2.41 [[ 9.95203028e-01 9.68061367e-02 1.41246157e-02 2.30111038e+02] [-9.67828151e-02 9.95302804e-01 -2.32704858e-03 -1.51920314e+01] [-1.42835422e-02 9.48865728e-04 9.99897535e-01 -2.41325191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:-15.20, Z:-2.41 [[ 9.95242347e-01 9.63382558e-02 1.45468597e-02 2.30143242e+02] [-9.63134275e-02 9.95348163e-01 -2.39944155e-03 -1.51980232e+01] [-1.47103481e-02 9.86967924e-04 9.99891310e-01 -2.41335665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.18, Y:-15.20, Z:-2.41 [[ 9.95274279e-01 9.57934409e-02 1.58973505e-02 2.30175402e+02] [-9.57636721e-02 9.95400637e-01 -2.62511533e-03 -1.52039726e+01] [-1.60757016e-02 1.09032111e-03 9.99870183e-01 -2.41400271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:-15.21, Z:-2.41 [[ 9.95307263e-01 9.51940590e-02 1.73649831e-02 2.30207841e+02] [-9.51583853e-02 9.95458004e-01 -2.87106431e-03 -1.52098604e+01] [-1.75594197e-02 1.20516741e-03 9.99845095e-01 -2.41388270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.815898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:230.24, Y:-15.22, Z:-2.42 [[ 9.95420936e-01 9.35199739e-02 1.97781254e-02 2.30240682e+02] [-9.34732817e-02 9.95616404e-01 -3.27425348e-03 -1.52157442e+01] [-1.99976342e-02 1.41053418e-03 9.99799032e-01 -2.41596905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.27, Y:-15.22, Z:-2.42 [[ 9.95448299e-01 9.33576525e-02 1.91581054e-02 2.30273007e+02] [-9.33137442e-02 9.95631691e-01 -3.17513277e-03 -1.52226713e+01] [-1.93708398e-02 1.37296597e-03 9.99811425e-01 -2.41628087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.31, Y:-15.23, Z:-2.42 [[ 9.95491924e-01 9.31028992e-02 1.81018991e-02 2.30305660e+02] [-9.30635976e-02 9.95655637e-01 -3.00336345e-03 -1.52288036e+01] [-1.83028797e-02 1.30519621e-03 9.99831636e-01 -2.41722121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.34, Y:-15.24, Z:-2.42 [[ 9.95458108e-01 9.36434851e-02 1.71479767e-02 2.30338478e+02] [-9.36082426e-02 9.95605034e-01 -2.84821694e-03 -1.52351044e+01] [-1.73393289e-02 1.23008868e-03 9.99848906e-01 -2.41813596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.37, Y:-15.24, Z:-2.42 [[ 9.95393089e-01 9.44288720e-02 1.66067953e-02 2.30371238e+02] [-9.43958765e-02 9.95530910e-01 -2.76138825e-03 -1.52408270e+01] [-1.67933328e-02 1.18105379e-03 9.99858285e-01 -2.41840794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:-15.25, Z:-2.42 [[ 9.95229536e-01 9.60707133e-02 1.69879080e-02 2.30402974e+02] [-9.60363639e-02 9.95373808e-01 -2.82823868e-03 -1.52458450e+01] [-1.71810296e-02 1.18328975e-03 9.99851695e-01 -2.41883103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.44, Y:-15.25, Z:-2.42 [[ 9.94788217e-01 1.00434908e-01 1.75850276e-02 2.30436040e+02] [-1.00398715e-01 9.94942966e-01 -2.93125952e-03 -1.52486290e+01] [-1.77905003e-02 1.15046825e-03 9.99841075e-01 -2.41853315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.47, Y:-15.25, Z:-2.42 [[ 9.94607692e-01 1.02173913e-01 1.77772592e-02 2.30468569e+02] [-1.02137179e-01 9.94765906e-01 -2.96453933e-03 -1.52528144e+01] [-1.79871100e-02 1.13283451e-03 9.99837577e-01 -2.41907785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.50, Y:-15.26, Z:-2.42 [[ 9.94495729e-01 1.03242572e-01 1.78666357e-02 2.30501159e+02] [-1.03205579e-01 9.94655574e-01 -2.98279941e-03 -1.52571642e+01] [-1.80791007e-02 1.12244479e-03 9.99835930e-01 -2.41988372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:-15.26, Z:-2.42 [[ 9.94458737e-01 1.03586577e-01 1.79343570e-02 2.30533543e+02] [-1.03549298e-01 9.94619806e-01 -2.99744783e-03 -1.52615812e+01] [-1.81483620e-02 1.12374811e-03 9.99834673e-01 -2.42135009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:-15.27, Z:-2.42 [[ 9.94644938e-01 1.01839587e-01 1.76109820e-02 2.30566010e+02] [-1.01803310e-01 9.94800183e-01 -2.94658983e-03 -1.52666903e+01] [-1.78194876e-02 1.13795439e-03 9.99840573e-01 -2.42312827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:-15.27, Z:-2.42 [[ 9.94800750e-01 1.00390118e-01 1.71257590e-02 2.30598693e+02] [-1.00355540e-01 9.94947504e-01 -2.86880356e-03 -1.52731606e+01] [-1.73272307e-02 1.13522314e-03 9.99849228e-01 -2.42414468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:-15.28, Z:-2.42 [[ 9.94966652e-01 9.88400557e-02 1.64925592e-02 2.30629890e+02] [-9.88077589e-02 9.95102702e-01 -2.76376228e-03 -1.52793976e+01] [-1.66849606e-02 1.12025850e-03 9.99860169e-01 -2.42452270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:-15.29, Z:-2.43 [[ 9.95087252e-01 9.77395015e-02 1.57591290e-02 2.30662514e+02] [-9.77098320e-02 9.95211435e-01 -2.64363022e-03 -1.52861108e+01] [-1.59420525e-02 1.09082089e-03 9.99872322e-01 -2.42532122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:-15.29, Z:-2.42 [[ 9.95116390e-01 9.75938030e-02 1.47925689e-02 2.30694835e+02] [-9.75676076e-02 9.95225799e-01 -2.48402118e-03 -1.52921875e+01] [-1.49643713e-02 1.02861463e-03 9.99887498e-01 -2.42476759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.73, Y:-15.30, Z:-2.42 [[ 9.94823145e-01 1.00678396e-01 1.38119872e-02 2.30725977e+02] [-1.00655819e-01 9.94918597e-01 -2.32188754e-03 -1.52970636e+01] [-1.39755668e-02 9.19610585e-04 9.99901914e-01 -2.42424241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.76, Y:-15.30, Z:-2.42 [[ 9.94522595e-01 1.03535492e-01 1.43251430e-02 2.30758861e+02] [-1.03511462e-01 9.94625339e-01 -2.41085098e-03 -1.53019951e+01] [-1.44977589e-02 9.14829279e-04 9.99894483e-01 -2.42462901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.79, Y:-15.31, Z:-2.43 [[ 9.94193705e-01 1.06481455e-01 1.55105432e-02 2.30791857e+02] [-1.06453590e-01 9.94314237e-01 -2.61358025e-03 -1.53069841e+01] [-1.57006517e-02 9.47252028e-04 9.99876288e-01 -2.42524020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.82, Y:-15.31, Z:-2.43 [[ 9.93915490e-01 1.08925183e-01 1.63493911e-02 2.30823132e+02] [-1.08894493e-01 9.94049486e-01 -2.75839978e-03 -1.53111400e+01] [-1.65525630e-02 9.61257613e-04 9.99862535e-01 -2.42608238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.85, Y:-15.32, Z:-2.43 [[ 9.93709802e-01 1.10760496e-01 1.65209753e-02 2.30854733e+02] [-1.10729360e-01 9.93846680e-01 -2.79040517e-03 -1.53154842e+01] [-1.67283831e-02 9.43495946e-04 9.99859626e-01 -2.42734963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.89, Y:-15.32, Z:-2.43 [[ 9.93607787e-01 1.11821724e-01 1.54747635e-02 2.30887670e+02] [-1.11794494e-01 9.93727903e-01 -2.61639265e-03 -1.53202786e+01] [-1.56702738e-02 8.69674759e-04 9.99876836e-01 -2.42823225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.92, Y:-15.33, Z:-2.43 [[ 9.93593467e-01 1.11948962e-01 1.54742327e-02 2.30920664e+02] [-1.11921698e-01 9.93713576e-01 -2.61952778e-03 -1.53260256e+01] [-1.56702085e-02 8.70843289e-04 9.99876836e-01 -2.42891211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.95, Y:-15.33, Z:-2.43 [[ 9.93503975e-01 1.12968114e-01 1.37133578e-02 2.30953191e+02] [-1.12946784e-01 9.93598324e-01 -2.32256035e-03 -1.53295744e+01] [-1.38879446e-02 7.58593284e-04 9.99903270e-01 -2.42952806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.99, Y:-15.33, Z:-2.43 [[ 9.93442922e-01 1.13455057e-01 1.41106445e-02 2.30985477e+02] [-1.13432481e-01 9.93542826e-01 -2.39268202e-03 -1.53341062e+01] [-1.42909915e-02 7.76387605e-04 9.99897577e-01 -2.43083725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:-15.34, Z:-2.43 [[ 9.93402497e-01 1.13741073e-01 1.46440477e-02 2.31016789e+02] [-1.13716739e-01 9.93510101e-01 -2.48651079e-03 -1.53383373e+01] [-1.48318278e-02 8.04832677e-04 9.99889678e-01 -2.43097766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.05, Y:-15.34, Z:-2.43 [[ 9.93371917e-01 1.13892738e-01 1.55137944e-02 2.31048429e+02] [-1.13865418e-01 9.93492687e-01 -2.63594901e-03 -1.53425862e+01] [-1.57130567e-02 8.51993035e-04 9.99876179e-01 -2.43128460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.08, Y:-15.35, Z:-2.43 [[ 9.93434277e-01 1.13167815e-01 1.67744924e-02 2.31081519e+02] [-1.13135716e-01 9.93575447e-01 -2.85337199e-03 -1.53450903e+01] [-1.69896336e-02 9.36843337e-04 9.99855227e-01 -2.43085497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.11, Y:-15.35, Z:-2.43 [[ 9.93510815e-01 1.12432634e-01 1.71803345e-02 2.31113557e+02] [-1.12398794e-01 9.93658870e-01 -2.92582123e-03 -1.53489644e+01] [-1.74003496e-02 9.75786144e-04 9.99848126e-01 -2.43206782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.15, Y:-15.35, Z:-2.43 [[ 9.93607783e-01 1.11589174e-01 1.70713456e-02 2.31146652e+02] [-1.11555586e-01 9.93753934e-01 -2.91025156e-03 -1.53534721e+01] [-1.72894694e-02 9.87244642e-04 9.99850039e-01 -2.43273431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:-15.36, Z:-2.43 [[ 9.93734410e-01 1.10424599e-01 1.72722425e-02 2.31177895e+02] [-1.10389983e-01 9.93883978e-01 -2.94784163e-03 -1.53576840e+01] [-1.74921193e-02 1.02268911e-03 9.99846478e-01 -2.43397570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.21, Y:-15.36, Z:-2.43 [[ 9.93865735e-01 1.09195936e-01 1.75256657e-02 2.31210662e+02] [-1.09160050e-01 9.94019677e-01 -2.99418674e-03 -1.53626643e+01] [-1.77478095e-02 1.06271706e-03 9.99841930e-01 -2.43461375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.24, Y:-15.37, Z:-2.43 [[ 9.94067578e-01 1.07203339e-01 1.83601518e-02 2.31242555e+02] [-1.07163546e-01 9.94236446e-01 -3.14053614e-03 -1.53670685e+01] [-1.85910081e-02 1.15436619e-03 9.99826506e-01 -2.43475811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.28, Y:-15.37, Z:-2.43 [[ 9.94146008e-01 1.06609762e-01 1.75520128e-02 2.31275831e+02] [-1.06573271e-01 9.94300313e-01 -3.00408491e-03 -1.53713290e+01] [-1.77722366e-02 1.11592360e-03 9.99841439e-01 -2.43371277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.31, Y:-15.37, Z:-2.43 [[ 9.94212649e-01 1.06170874e-01 1.63998205e-02 2.31308225e+02] [-1.06138904e-01 9.94347342e-01 -2.81011305e-03 -1.53744419e+01] [-1.66054701e-02 1.05319097e-03 9.99861565e-01 -2.43398298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.34, Y:-15.38, Z:-2.43 [[ 9.94229472e-01 1.06179470e-01 1.52865167e-02 2.31340291e+02] [-1.06151672e-01 9.94346496e-01 -2.62081367e-03 -1.53768830e+01] [-1.54783709e-02 9.83000894e-04 9.99879720e-01 -2.43449798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.37, Y:-15.38, Z:-2.44 [[ 9.94234398e-01 1.06199662e-01 1.48186820e-02 2.31373541e+02] [-1.06173506e-01 9.94344367e-01 -2.54300401e-03 -1.53796526e+01] [-1.50049392e-02 9.54990639e-04 9.99886964e-01 -2.43521076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.41, Y:-15.38, Z:-2.44 [[ 9.94080222e-01 1.07236327e-01 1.74608591e-02 2.31405853e+02] [-1.07200100e-01 9.94232939e-01 -3.00036820e-03 -1.53797723e+01] [-1.76819097e-02 1.11080085e-03 9.99843046e-01 -2.43511504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.44, Y:-15.38, Z:-2.44 [[ 9.93959841e-01 1.08033900e-01 1.93005393e-02 2.31438841e+02] [-1.07989714e-01 9.94146467e-01 -3.32019087e-03 -1.53817929e+01] [-1.95462561e-02 1.21587668e-03 9.99808214e-01 -2.43526961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.955898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:231.47, Y:-15.38, Z:-2.44 [[ 9.93823843e-01 1.09036247e-01 2.06219698e-02 2.31472492e+02] [-1.08985932e-01 9.94036947e-01 -3.55160934e-03 -1.53825797e+01] [-2.08862541e-02 1.28216946e-03 9.99781036e-01 -2.43617514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:-15.39, Z:-2.44 [[ 9.93602086e-01 1.10995811e-01 2.08524394e-02 2.31505645e+02] [-1.10944709e-01 9.93820077e-01 -3.59529734e-03 -1.53853198e+01] [-2.11226359e-02 1.25882711e-03 9.99776100e-01 -2.43592656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.015898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.54, Y:-15.39, Z:-2.44 [[ 9.93504256e-01 1.11999106e-01 2.01368861e-02 2.31538032e+02] [-1.11951578e-01 9.93707584e-01 -3.47576466e-03 -1.53868713e+01] [-2.03994589e-02 1.19883080e-03 9.99791191e-01 -2.43788814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.57, Y:-15.39, Z:-2.44 [[ 9.93701123e-01 1.10749191e-01 1.71083376e-02 2.31571213e+02] [-1.10714658e-01 9.93847840e-01 -2.95557979e-03 -1.53868823e+01] [-1.73304124e-02 1.04281921e-03 9.99849273e-01 -2.43949572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:-15.39, Z:-2.44 [[ 9.93955266e-01 1.08514423e-01 1.66598105e-02 2.31603586e+02] [-1.08481310e-01 9.94094313e-01 -2.88129867e-03 -1.53897177e+01] [-1.68740853e-02 1.05660393e-03 9.99857064e-01 -2.44083916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.64, Y:-15.39, Z:-2.44 [[ 9.94290150e-01 1.05383263e-01 1.67769066e-02 2.31635310e+02] [-1.05349183e-01 9.94431049e-01 -2.90485345e-03 -1.53926934e+01] [-1.69895998e-02 1.12083378e-03 9.99855038e-01 -2.44165234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:-15.40, Z:-2.44 [[ 9.94975816e-01 9.85890776e-02 1.74160407e-02 2.31668061e+02] [-9.85512802e-02 9.95127399e-01 -3.01744316e-03 -1.53953647e+01] [-1.76286662e-02 1.28590987e-03 9.99843776e-01 -2.44204985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:231.70, Y:-15.40, Z:-2.44 [[ 9.95253323e-01 9.57294405e-02 1.75127780e-02 2.31699734e+02] [-9.56907214e-02 9.95406479e-01 -3.03759999e-03 -1.53993591e+01] [-1.77231205e-02 1.34737112e-03 9.99842025e-01 -2.44325884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:-15.40, Z:-2.44 [[ 9.95425744e-01 9.38573124e-02 1.78435730e-02 2.31731082e+02] [-9.38167591e-02 9.95584661e-01 -3.09821705e-03 -1.54046528e+01] [-1.80555779e-02 1.41001882e-03 9.99835991e-01 -2.44349712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:-15.41, Z:-2.44 [[ 9.95564757e-01 9.23059976e-02 1.81773833e-02 2.31762563e+02] [-9.22635961e-02 9.95729605e-01 -3.15941581e-03 -1.54093418e+01] [-1.83913917e-02 1.46829229e-03 9.99829786e-01 -2.44434653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:-15.41, Z:-2.45 [[ 9.95649567e-01 9.14191301e-02 1.80133881e-02 2.31794904e+02] [-9.13772876e-02 9.95811412e-01 -3.13412461e-03 -1.54146001e+01] [-1.82244564e-02 1.47447527e-03 9.99832834e-01 -2.44500874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:-15.42, Z:-2.45 [[ 9.95686058e-01 9.10909066e-02 1.76556033e-02 2.31827306e+02] [-9.10506387e-02 9.95841522e-01 -3.07299083e-03 -1.54205646e+01] [-1.78621044e-02 1.45218017e-03 9.99839405e-01 -2.44621404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:-15.43, Z:-2.45 [[ 9.95709293e-01 9.11584013e-02 1.59106566e-02 2.31858473e+02] [-9.11256663e-02 9.95835543e-01 -2.77193219e-03 -1.54273776e+01] [-1.60970823e-02 1.31016946e-03 9.99869575e-01 -2.44805065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.89, Y:-15.43, Z:-2.45 [[ 9.95697862e-01 9.12668400e-02 1.60041010e-02 2.31889607e+02] [-9.12336880e-02 9.95825599e-01 -2.79100612e-03 -1.54336559e+01] [-1.61920198e-02 1.31888567e-03 9.99868031e-01 -2.44929880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.92, Y:-15.44, Z:-2.45 [[ 9.95706974e-01 9.11404974e-02 1.61564834e-02 2.31920905e+02] [-9.11066486e-02 9.95837147e-01 -2.82038633e-03 -1.54402269e+01] [-1.63462778e-02 1.33631528e-03 9.99865498e-01 -2.45024032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:-15.45, Z:-2.45 [[ 9.95718662e-01 9.08834056e-02 1.68686830e-02 2.31951739e+02] [-9.08464181e-02 9.95860552e-01 -2.94774709e-03 -1.54487944e+01] [-1.70667573e-02 1.40266736e-03 9.99853368e-01 -2.45093413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.98, Y:-15.46, Z:-2.45 [[ 9.95678557e-01 9.13066646e-02 1.69500340e-02 2.31983819e+02] [-9.12693313e-02 9.95821831e-01 -2.96481989e-03 -1.54569098e+01] [-1.71499217e-02 1.40498933e-03 9.99851942e-01 -2.45225394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:-15.47, Z:-2.45 [[ 9.95620465e-01 9.20323919e-02 1.64294931e-02 2.32015357e+02] [-9.19973664e-02 9.95755095e-01 -2.87667774e-03 -1.54650363e+01] [-1.66244990e-02 1.35260913e-03 9.99860889e-01 -2.45289731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.05, Y:-15.47, Z:-2.45 [[ 9.95534226e-01 9.29638371e-02 1.64112878e-02 2.32046152e+02] [-9.29289689e-02 9.95668586e-01 -2.87626464e-03 -1.54734375e+01] [-1.66075923e-02 1.33833584e-03 9.99861189e-01 -2.45383735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:-15.48, Z:-2.45 [[ 9.95391328e-01 9.44813173e-02 1.64129478e-02 2.32078480e+02] [-9.44466017e-02 9.95525765e-01 -2.87927707e-03 -1.54817865e+01] [-1.66115504e-02 1.31586027e-03 9.99861153e-01 -2.45400489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.555898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:232.11, Y:-15.49, Z:-2.45 [[ 9.95195537e-01 9.63836152e-02 1.72058679e-02 2.32111011e+02] [-9.63456898e-02 9.95343347e-01 -3.02162453e-03 -1.54891731e+01] [-1.74169812e-02 1.34939604e-03 9.99847402e-01 -2.45466387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:-15.50, Z:-2.45 [[ 9.94510052e-01 1.02982911e-01 1.85547105e-02 2.32142511e+02] [-1.02939877e-01 9.94682231e-01 -3.26219752e-03 -1.54974524e+01] [-1.87919914e-02 1.33426860e-03 9.99822525e-01 -2.45347676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:-15.50, Z:-2.45 [[ 9.94122184e-01 1.06675518e-01 1.84774476e-02 2.32174580e+02] [-1.06633440e-01 9.94293087e-01 -3.25056603e-03 -1.55032693e+01] [-1.87187542e-02 1.26114600e-03 9.99823993e-01 -2.45426367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:-15.51, Z:-2.45 [[ 9.93781180e-01 1.09816453e-01 1.84204496e-02 2.32206705e+02] [-1.09775109e-01 9.93951157e-01 -3.24381002e-03 -1.55088677e+01] [-1.86652509e-02 1.20153048e-03 9.99825067e-01 -2.45485142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.24, Y:-15.51, Z:-2.46 [[ 9.93490002e-01 1.12433103e-01 1.83416008e-02 2.32239685e+02] [-1.12392497e-01 9.93658630e-01 -3.23315295e-03 -1.55141994e+01] [-1.85888033e-02 1.15064682e-03 9.99826551e-01 -2.45572376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.27, Y:-15.52, Z:-2.46 [[ 9.93302307e-01 1.14099296e-01 1.82174929e-02 2.32272423e+02] [-1.14059454e-01 9.93468725e-01 -3.21469796e-03 -1.55188433e+01] [-1.84653042e-02 1.11528960e-03 9.99828880e-01 -2.45626292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.735898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.31, Y:-15.52, Z:-2.46 [[ 9.93160593e-01 1.15212790e-01 1.89222143e-02 2.32305780e+02] [-1.15169935e-01 9.93340179e-01 -3.34277823e-03 -1.55208009e+01] [-1.91813265e-02 1.14064542e-03 9.99815371e-01 -2.45666506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.765898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:232.34, Y:-15.52, Z:-2.46 [[ 9.93276796e-01 1.14210623e-01 1.88981670e-02 2.32338985e+02] [-1.14167628e-01 9.93455879e-01 -3.34207871e-03 -1.55233594e+01] [-1.91561960e-02 1.16205033e-03 9.99815828e-01 -2.45818937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:-15.53, Z:-2.46 [[ 9.93395699e-01 1.13302955e-01 1.80949062e-02 2.32370646e+02] [-1.13263328e-01 9.93559841e-01 -3.20328509e-03 -1.55277911e+01] [-1.83413138e-02 1.13264032e-03 9.99831142e-01 -2.45765625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.825898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:232.40, Y:-15.53, Z:-2.46 [[ 9.93631246e-01 1.11349485e-01 1.72695912e-02 2.32403722e+02] [-1.11313047e-01 9.93780681e-01 -3.06000662e-03 -1.55308387e+01] [-1.75029163e-02 1.11818737e-03 9.99846187e-01 -2.45919757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.855898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:232.44, Y:-15.53, Z:-2.46 [[ 9.94055472e-01 1.07650676e-01 1.62803554e-02 2.32435747e+02] [-1.07617753e-01 9.94188152e-01 -2.88757645e-03 -1.55335569e+01] [-1.64965860e-02 1.11835591e-03 9.99863297e-01 -2.45989278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:-15.54, Z:-2.46 [[ 9.94180865e-01 1.06450550e-01 1.65132684e-02 2.32467146e+02] [-1.06416464e-01 9.94317324e-01 -2.93179108e-03 -1.55378563e+01] [-1.67315197e-02 1.15744695e-03 9.99859348e-01 -2.45930338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:-15.54, Z:-2.46 [[ 9.94242929e-01 1.05757066e-01 1.72174781e-02 2.32500086e+02] [-1.05719854e-01 9.94391246e-01 -3.05988155e-03 -1.55412127e+01] [-1.74445136e-02 1.22203632e-03 9.99847086e-01 -2.46001649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:-15.54, Z:-2.46 [[ 9.94262341e-01 1.05487369e-01 1.77429332e-02 2.32532617e+02] [-1.05447748e-01 9.94419835e-01 -3.15658321e-03 -1.55446038e+01] [-1.79769044e-02 1.26751945e-03 9.99837599e-01 -2.46041109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.57, Y:-15.55, Z:-2.46 [[ 9.94191875e-01 1.06017830e-01 1.85131007e-02 2.32565845e+02] [-1.05974720e-01 9.94363358e-01 -3.29710119e-03 -1.55488416e+01] [-1.87583005e-02 1.31603055e-03 9.99823181e-01 -2.46109057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.60, Y:-15.55, Z:-2.46 [[ 9.94077737e-01 1.06979256e-01 1.91021451e-02 2.32597868e+02] [-1.06933467e-01 9.94260346e-01 -3.40556499e-03 -1.55532015e+01] [-1.93568302e-02 1.34273774e-03 9.99811737e-01 -2.46178904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.63, Y:-15.56, Z:-2.46 [[ 9.93782054e-01 1.09615134e-01 1.95384621e-02 2.32629684e+02] [-1.09567669e-01 9.93973223e-01 -3.48670238e-03 -1.55562520e+01] [-1.98029035e-02 1.32423850e-03 9.99803026e-01 -2.46310346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.66, Y:-15.56, Z:-2.46 [[ 9.93566438e-01 1.11681584e-01 1.87871374e-02 2.32662822e+02] [-1.11638011e-01 9.93743274e-01 -3.35562103e-03 -1.55610673e+01] [-1.90443525e-02 1.23667379e-03 9.99817875e-01 -2.46400199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.095898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.69, Y:-15.57, Z:-2.46 [[ 9.93276164e-01 1.14380235e-01 1.78780241e-02 2.32693427e+02] [-1.14341156e-01 9.93436401e-01 -3.19630655e-03 -1.55657534e+01] [-1.81262743e-02 1.13062116e-03 9.99835066e-01 -2.46469149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.125898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.73, Y:-15.57, Z:-2.47 [[ 9.92948167e-01 1.17243004e-01 1.75503902e-02 2.32725401e+02] [-1.17205748e-01 9.93102690e-01 -3.14015575e-03 -1.55695941e+01] [-1.77975010e-02 1.06100530e-03 9.99841049e-01 -2.46626585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.76, Y:-15.57, Z:-2.46 [[ 9.91848200e-01 1.26004475e-01 1.89742195e-02 2.32756266e+02] [-1.25962457e-01 9.92029188e-01 -3.39831736e-03 -1.55716816e+01] [-1.92511827e-02 9.80575650e-04 9.99814198e-01 -2.46479508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.185898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.79, Y:-15.57, Z:-2.47 [[ 9.91204991e-01 1.30729790e-01 2.05520866e-02 2.32785583e+02] [-1.30681500e-01 9.91417568e-01 -3.68115436e-03 -1.55735821e+01] [-2.08569362e-02 9.63001069e-04 9.99782007e-01 -2.46520029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.215898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:232.82, Y:-15.57, Z:-2.47 [[ 9.90615348e-01 1.34912117e-01 2.19078337e-02 2.32815770e+02] [-1.34858271e-01 9.90857130e-01 -3.92371347e-03 -1.55748000e+01] [-2.22368897e-02 9.32438214e-04 9.99752295e-01 -2.46695708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:-15.58, Z:-2.47 [[ 9.90061159e-01 1.38806790e-01 2.26180723e-02 2.32844855e+02] [-1.38750422e-01 9.90319097e-01 -4.05038273e-03 -1.55775883e+01] [-2.29613296e-02 8.71859539e-04 9.99735974e-01 -2.46640947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.87, Y:-15.58, Z:-2.47 [[ 9.89429758e-01 1.43241480e-01 2.25971761e-02 2.32873699e+02] [-1.43186387e-01 9.89687470e-01 -4.04590728e-03 -1.55778839e+01] [-2.29436838e-02 7.67533066e-04 9.99736464e-01 -2.46800235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.90, Y:-15.58, Z:-2.47 [[ 9.89304987e-01 1.44253493e-01 2.16003012e-02 2.32903641e+02] [-1.44203409e-01 9.89540512e-01 -3.86676615e-03 -1.55810253e+01] [-2.19321676e-02 7.10573969e-04 9.99759209e-01 -2.46869558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.93, Y:-15.58, Z:-2.47 [[ 9.89183410e-01 1.45178309e-01 2.09628169e-02 2.32932915e+02] [-1.45131356e-01 9.89405281e-01 -3.75216100e-03 -1.55839574e+01] [-2.12854542e-02 6.69213376e-04 9.99773215e-01 -2.46967697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:-15.59, Z:-2.47 [[ 9.89189122e-01 1.45139374e-01 2.09629069e-02 2.32962610e+02] [-1.45092424e-01 9.89410993e-01 -3.75165807e-03 -1.55892200e+01] [-2.12854439e-02 6.69540381e-04 9.99773215e-01 -2.47028879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.99, Y:-15.59, Z:-2.47 [[ 9.89010393e-01 1.46443697e-01 2.03146959e-02 2.32991147e+02] [-1.46399897e-01 9.89218812e-01 -3.63485524e-03 -1.55917330e+01] [-2.06279810e-02 6.20840219e-04 9.99787028e-01 -2.47061490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:-15.59, Z:-2.47 [[ 9.88783265e-01 1.47953979e-01 2.04273076e-02 2.33020433e+02] [-1.47910024e-01 9.88994070e-01 -3.65447032e-03 -1.55942955e+01] [-2.07431795e-02 5.92075533e-04 9.99784662e-01 -2.47138477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.05, Y:-15.60, Z:-2.47 [[ 9.88534491e-01 1.49537564e-01 2.09303096e-02 2.33048283e+02] [-1.49491795e-01 9.88755880e-01 -3.74337584e-03 -1.55964378e+01] [-2.12547420e-02 5.71546573e-04 9.99773929e-01 -2.47193275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.485898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.08, Y:-15.60, Z:-2.47 [[ 9.88038265e-01 1.52728338e-01 2.13176217e-02 2.33076786e+02] [-1.52681630e-01 9.88268078e-01 -3.81130703e-03 -1.55950151e+01] [-2.16496196e-02 5.10907964e-04 9.99765489e-01 -2.47220670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.11, Y:-15.60, Z:-2.47 [[ 9.87844757e-01 1.54159948e-01 1.99360658e-02 2.33105129e+02] [-1.54119412e-01 9.88045804e-01 -3.56323276e-03 -1.55969208e+01] [-2.02470539e-02 4.47386066e-04 9.99794907e-01 -2.47355700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.13, Y:-15.60, Z:-2.48 [[ 9.87674669e-01 1.55639828e-01 1.65829070e-02 2.33133788e+02] [-1.55612004e-01 9.87813811e-01 -2.96312655e-03 -1.55976782e+01] [-1.68420051e-02 3.46105642e-04 9.99858103e-01 -2.47535705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:-15.60, Z:-2.48 [[ 9.87661882e-01 1.55815385e-01 1.56707437e-02 2.33162823e+02] [-1.55790572e-01 9.87786141e-01 -2.79943826e-03 -1.56010725e+01] [-1.59155390e-02 3.23544349e-04 9.99873287e-01 -2.47568494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.605898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:233.19, Y:-15.60, Z:-2.48 [[ 9.87782916e-01 1.55037854e-01 1.57535492e-02 2.33190501e+02] [-1.55012689e-01 9.87908473e-01 -2.81353300e-03 -1.56037347e+01] [-1.59992688e-02 3.37159806e-04 9.99871947e-01 -2.47631015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:-15.61, Z:-2.48 [[ 9.87941978e-01 1.53937159e-01 1.65529160e-02 2.33218097e+02] [-1.53909240e-01 9.88080570e-01 -2.95515025e-03 -1.56076457e+01] [-1.68105222e-02 3.71870254e-04 9.99858624e-01 -2.47616795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.25, Y:-15.61, Z:-2.48 [[ 9.88246145e-01 1.51885700e-01 1.73289245e-02 2.33246002e+02] [-1.51854807e-01 9.88397973e-01 -3.09249336e-03 -1.56114811e+01] [-1.75975794e-02 4.24664138e-04 9.99845060e-01 -2.47671842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.27, Y:-15.62, Z:-2.48 [[ 9.88597933e-01 1.49500343e-01 1.79937389e-02 2.33274723e+02] [-1.49466661e-01 9.88761555e-01 -3.20999866e-03 -1.56164866e+01] [-1.82714132e-02 4.83933970e-04 9.99832947e-01 -2.47694769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.30, Y:-15.62, Z:-2.48 [[ 9.89281310e-01 1.44776055e-01 1.90363620e-02 2.33303442e+02] [-1.44737500e-01 9.89464264e-01 -3.39503160e-03 -1.56224429e+01] [-1.93273192e-02 6.03365867e-04 9.99813028e-01 -2.47754913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.755898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.33, Y:-15.63, Z:-2.48 [[ 9.89623095e-01 1.42399279e-01 1.91982971e-02 2.33332174e+02] [-1.42359636e-01 9.89809081e-01 -3.42298144e-03 -1.56275073e+01] [-1.94900789e-02 6.54398898e-04 9.99809836e-01 -2.47851005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.785898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:233.36, Y:-15.63, Z:-2.48 [[ 9.89952618e-01 1.40064581e-01 1.93837128e-02 2.33359584e+02] [-1.40023740e-01 9.90142118e-01 -3.45510064e-03 -1.56328220e+01] [-1.96765677e-02 7.06205967e-04 9.99806148e-01 -2.47895396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.815898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:233.39, Y:-15.64, Z:-2.48 [[ 9.90301830e-01 1.37589460e-01 1.92724348e-02 2.33386948e+02] [-1.37548644e-01 9.90489060e-01 -3.43401362e-03 -1.56384036e+01] [-1.95616200e-02 7.49812702e-04 9.99808372e-01 -2.47916087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.42, Y:-15.64, Z:-2.48 [[ 9.90833921e-01 1.33787367e-01 1.86837081e-02 2.33415361e+02] [-1.33748351e-01 9.91009739e-01 -3.32806162e-03 -1.56447809e+01] [-1.89609893e-02 7.98641204e-04 9.99819905e-01 -2.47875712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.44, Y:-15.65, Z:-2.48 [[ 9.91010667e-01 1.32470008e-01 1.86963981e-02 2.33443850e+02] [-1.32430719e-01 9.91186672e-01 -3.32954118e-03 -1.56501641e+01] [-1.89726850e-02 8.23633372e-04 9.99819663e-01 -2.47936749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.905898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.47, Y:-15.65, Z:-2.48 [[ 9.91144029e-01 1.31480791e-01 1.86095708e-02 2.33471087e+02] [-1.31441709e-01 9.91318364e-01 -3.31322258e-03 -1.56547768e+01] [-1.88836344e-02 8.37806987e-04 9.99821337e-01 -2.47980761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.935898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.50, Y:-15.66, Z:-2.48 [[ 9.91244714e-01 1.30735948e-01 1.84940392e-02 2.33499446e+02] [-1.30697241e-01 9.91416863e-01 -3.29156050e-03 -1.56593974e+01] [-1.87656276e-02 8.45622035e-04 9.99823553e-01 -2.48007978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.965898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.53, Y:-15.66, Z:-2.48 [[ 9.91330275e-01 1.30106547e-01 1.83459001e-02 2.33526909e+02] [-1.30068366e-01 9.91499654e-01 -3.26435838e-03 -1.56640099e+01] [-1.86146680e-02 8.49836041e-04 9.99826371e-01 -2.48060310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.995898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:233.55, Y:-15.67, Z:-2.48 [[ 9.91422029e-01 1.29374030e-01 1.85666770e-02 2.33553365e+02] [-1.29508894e-01 9.91558563e-01 6.25008160e-03 -1.56720243e+01] [-1.76013493e-02 -8.60101837e-03 9.99808089e-01 -2.47515624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.025898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:233.58, Y:-15.67, Z:-2.48 [[ 9.91571827e-01 1.28181809e-01 1.88344526e-02 2.33584570e+02] [-1.27976069e-01 9.91707585e-01 -1.17554927e-02 -1.56716566e+01] [-2.01851098e-02 9.24605618e-03 9.99753506e-01 -2.48357842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.61, Y:-15.68, Z:-2.48 [[ 9.91926650e-01 1.25042923e-01 2.11137163e-02 2.33613499e+02] [-1.24991056e-01 9.92150729e-01 -3.76381494e-03 -1.56838007e+01] [-2.14186275e-02 1.09440265e-03 9.99769996e-01 -2.48400185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.64, Y:-15.69, Z:-2.49 [[ 9.92198098e-01 1.22972946e-01 2.05082445e-02 2.33642515e+02] [-1.22923571e-01 9.92409407e-01 -3.65588780e-03 -1.56911693e+01] [-2.08021500e-02 1.10641829e-03 9.99783000e-01 -2.48528801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:-15.70, Z:-2.49 [[ 9.92707231e-01 1.19162427e-01 1.82392072e-02 2.33671111e+02] [-1.19122736e-01 9.92874213e-01 -3.25117704e-03 -1.57025709e+01] [-1.84966566e-02 1.05476269e-03 9.99828366e-01 -2.48767334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.145898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.70, Y:-15.71, Z:-2.49 [[ 9.92861327e-01 1.18047642e-01 1.70628072e-02 2.33699818e+02] [-1.18012742e-01 9.93007423e-01 -3.04152872e-03 -1.57108255e+01] [-1.73025395e-02 1.00618758e-03 9.99849794e-01 -2.48854805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.73, Y:-15.72, Z:-2.49 [[ 9.92903252e-01 1.17794416e-01 1.63587497e-02 2.33729739e+02] [-1.17762307e-01 9.93037531e-01 -2.91578787e-03 -1.57193101e+01] [-1.65883159e-02 9.68651155e-04 9.99861935e-01 -2.48892927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.76, Y:-15.74, Z:-2.49 [[ 9.92621641e-01 1.18098014e-01 2.74797447e-02 2.33755118e+02] [-1.18740340e-01 9.92657842e-01 2.30464852e-02 -1.57380348e+01] [-2.45562400e-02 -2.61393942e-02 9.99356655e-01 -2.49223932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.235898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.79, Y:-15.73, Z:-2.49 [[ 9.92646971e-01 1.20378866e-01 1.26853803e-02 2.33790460e+02] [-1.19974195e-01 9.92356107e-01 -2.89058558e-02 -1.57263689e+01] [-1.60680687e-02 2.71713919e-02 9.99501642e-01 -2.49055764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.82, Y:-15.75, Z:-2.49 [[ 9.92264089e-01 1.23033093e-01 1.65781480e-02 2.33817564e+02] [-1.23000779e-01 9.92402163e-01 -2.95877001e-03 -1.57484129e+01] [-1.68162166e-02 8.96756104e-04 9.99858195e-01 -2.49193839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.295898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.85, Y:-15.76, Z:-2.49 [[ 9.92137180e-01 1.24101767e-01 1.62039505e-02 2.33846424e+02] [-1.24071019e-01 9.92269123e-01 -2.89316311e-03 -1.57568594e+01] [-1.64377264e-02 8.59974048e-04 9.99864522e-01 -2.49290631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.325898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:233.88, Y:-15.77, Z:-2.49 [[ 9.92043401e-01 1.24792334e-01 1.66362089e-02 2.33875401e+02] [-1.24760015e-01 9.92182500e-01 -2.97061528e-03 -1.57656744e+01] [-1.68768654e-02 8.71445613e-04 9.99857196e-01 -2.49347471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.91, Y:-15.77, Z:-2.49 [[ 9.92006338e-01 1.25002894e-01 1.72540419e-02 2.33905241e+02] [-1.24968165e-01 9.92155969e-01 -3.08081351e-03 -1.57744972e+01] [-1.75038112e-02 8.99980588e-04 9.99846392e-01 -2.49389004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.93, Y:-15.78, Z:-2.49 [[ 9.91938961e-01 1.25492925e-01 1.75677049e-02 2.33934959e+02] [-1.25457001e-01 9.92094100e-01 -3.13661845e-03 -1.57832645e+01] [-1.78224398e-02 9.07342464e-04 9.99840756e-01 -2.49477105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41589822699999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.97, Y:-15.79, Z:-2.50 [[ 9.91947173e-01 1.25739067e-01 1.51819731e-02 2.33965634e+02] [-1.25712239e-01 9.92063040e-01 -2.71247645e-03 -1.57939190e+01] [-1.54025386e-02 7.82073517e-04 9.99881068e-01 -2.49530166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.00, Y:-15.80, Z:-2.50 [[ 9.91887384e-01 1.26303516e-01 1.43819345e-02 2.33995858e+02] [-1.26279466e-01 9.91991372e-01 -2.57190728e-03 -1.58015064e+01] [-1.45915958e-02 7.34899384e-04 9.99893267e-01 -2.49575532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.475898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:234.03, Y:-15.81, Z:-2.50 [[ 9.91838425e-01 1.26692090e-01 1.43406115e-02 2.34026306e+02] [-1.26668170e-01 9.91941823e-01 -2.56787996e-03 -1.58086352e+01] [-1.45503824e-02 7.30423006e-04 9.99893871e-01 -2.49596304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.505898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.06, Y:-15.82, Z:-2.50 [[ 9.91811475e-01 1.26803809e-01 1.51918322e-02 2.34057070e+02] [-1.26776979e-01 9.91927517e-01 -2.72019751e-03 -1.58155880e+01] [-1.54141278e-02 7.71948523e-04 9.99880897e-01 -2.49599261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:-15.82, Z:-2.50 [[ 9.91822792e-01 1.26401344e-01 1.76138892e-02 2.34087295e+02] [-1.26365176e-01 9.91978771e-01 -3.15591043e-03 -1.58234991e+01] [-1.78715155e-02 9.04321681e-04 9.99839883e-01 -2.49629580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.12, Y:-15.83, Z:-2.50 [[ 9.91754546e-01 1.26835070e-01 1.83244375e-02 2.34117207e+02] [-1.26795971e-01 9.91923380e-01 -3.28476157e-03 -1.58304384e+01] [-1.85930610e-02 9.34212382e-04 9.99826698e-01 -2.49737927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.15, Y:-15.84, Z:-2.50 [[ 9.91681782e-01 1.27348317e-01 1.86989163e-02 2.34148943e+02] [-1.27307641e-01 9.91857606e-01 -3.35465982e-03 -1.58379276e+01] [-1.89738726e-02 9.46240105e-04 9.99819532e-01 -2.49805785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.18, Y:-15.84, Z:-2.50 [[ 9.91642339e-01 1.27597633e-01 1.90870671e-02 2.34181021e+02] [-1.27555225e-01 9.91825546e-01 -3.42800087e-03 -1.58449265e+01] [-1.93684455e-02 9.64695669e-04 9.99811949e-01 -2.49889106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.21, Y:-15.85, Z:-2.50 [[ 9.91637623e-01 1.27622279e-01 1.91671317e-02 2.34213563e+02] [-1.27579447e-01 9.91822368e-01 -3.44606194e-03 -1.58518941e+01] [-1.94501842e-02 9.71912593e-04 9.99810355e-01 -2.49964993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.25, Y:-15.86, Z:-2.50 [[ 9.91713413e-01 1.27056207e-01 1.90059467e-02 2.34245469e+02] [-1.27013916e-01 9.91895036e-01 -3.42084430e-03 -1.58578866e+01] [-1.92865437e-02 9.78477462e-04 9.99813519e-01 -2.50057743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:-15.86, Z:-2.50 [[ 9.91782429e-01 1.26518776e-01 1.89897872e-02 2.34277084e+02] [-1.26476391e-01 9.91963717e-01 -3.42143919e-03 -1.58642421e+01] [-1.92700562e-02 9.91563505e-04 9.99813824e-01 -2.50137472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.31, Y:-15.87, Z:-2.50 [[ 9.91801547e-01 1.26345939e-01 1.91414352e-02 2.34308779e+02] [-1.26302774e-01 9.91985731e-01 -3.45231956e-03 -1.58705223e+01] [-1.94242172e-02 1.00639951e-03 9.99810826e-01 -2.50208441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.775898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.34, Y:-15.88, Z:-2.50 [[ 9.91758601e-01 1.26712127e-01 1.89450225e-02 2.34340544e+02] [-1.26669846e-01 9.91939037e-01 -3.42019137e-03 -1.58761247e+01] [-1.92256871e-02 9.92241123e-04 9.99814677e-01 -2.50311827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.805898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.37, Y:-15.88, Z:-2.50 [[ 9.91520746e-01 1.28666001e-01 1.82118231e-02 2.34372507e+02] [-1.28627201e-01 9.91687558e-01 -3.29090669e-03 -1.58808893e+01] [-1.84838662e-02 9.20466415e-04 9.99828735e-01 -2.50297340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:-15.89, Z:-2.50 [[ 9.91371248e-01 1.29805726e-01 1.82625744e-02 2.34405603e+02] [-1.29766852e-01 9.91539034e-01 -3.30286306e-03 -1.58855347e+01] [-1.85367859e-02 9.04486689e-04 9.99827770e-01 -2.50381333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.865898227 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:234.44, Y:-15.89, Z:-2.51 [[ 9.91261809e-01 1.30621983e-01 1.83826769e-02 2.34437445e+02] [-1.30582667e-01 9.91431838e-01 -3.32821534e-03 -1.58888545e+01] [-1.86599093e-02 8.98673776e-04 9.99825485e-01 -2.50501645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:-15.89, Z:-2.50 [[ 9.91020159e-01 1.32355594e-01 1.90010887e-02 2.34468172e+02] [-1.32313832e-01 9.91201891e-01 -3.44402636e-03 -1.58939151e+01] [-1.92897513e-02 8.98992688e-04 9.99813531e-01 -2.50474478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.925898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.50, Y:-15.90, Z:-2.51 [[ 9.90801668e-01 1.33952103e-01 1.92064869e-02 2.34500297e+02] [-1.33909702e-01 9.90987417e-01 -3.48284032e-03 -1.58979563e+01] [-1.94999206e-02 8.78869071e-04 9.99809472e-01 -2.50510043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.53, Y:-15.90, Z:-2.51 [[ 9.90483122e-01 1.36342012e-01 1.88159842e-02 2.34531949e+02] [-1.36301679e-01 9.90661489e-01 -3.41558649e-03 -1.59001559e+01] [-1.91059589e-02 8.18430521e-04 9.99817130e-01 -2.50604521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.56, Y:-15.90, Z:-2.51 [[ 9.90426687e-01 1.36840126e-01 1.81592357e-02 2.34563113e+02] [-1.36802637e-01 9.90592838e-01 -3.29678260e-03 -1.59036863e+01] [-1.84395410e-02 7.80990143e-04 9.99829672e-01 -2.50730501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.59, Y:-15.91, Z:-2.51 [[ 9.90419458e-01 1.36993990e-01 1.73765162e-02 2.34593964e+02] [-1.36959679e-01 9.90571599e-01 -3.15506736e-03 -1.59075636e+01] [-1.76449087e-02 7.44958013e-04 9.99844039e-01 -2.50802536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.63, Y:-15.91, Z:-2.51 [[ 9.90485010e-01 1.36613183e-01 1.66217527e-02 2.34625548e+02] [-1.36581728e-01 9.90624208e-01 -3.01841359e-03 -1.59113907e+01] [-1.68782656e-02 7.19465715e-04 9.99857293e-01 -2.50897314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.075898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.66, Y:-15.91, Z:-2.51 [[ 9.90737753e-01 1.34836576e-01 1.60562373e-02 2.34655701e+02] [-1.34806985e-01 9.90867586e-01 -2.91617547e-03 -1.59143001e+01] [-1.63028122e-02 7.24672186e-04 9.99866838e-01 -2.51055892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.68, Y:-15.92, Z:-2.51 [[ 9.90921957e-01 1.33451884e-01 1.62563951e-02 2.34684764e+02] [-1.33421359e-01 9.91055004e-01 -2.95287820e-03 -1.59189998e+01] [-1.65050488e-02 7.57121519e-04 9.99863496e-01 -2.51150697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.72, Y:-15.92, Z:-2.51 [[ 9.91152027e-01 1.31708616e-01 1.64468744e-02 2.34715105e+02] [-1.31677136e-01 9.91288156e-01 -2.98721120e-03 -1.59235395e+01] [-1.66970333e-02 7.95103111e-04 9.99860279e-01 -2.51216386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.75, Y:-15.93, Z:-2.51 [[ 9.91372014e-01 1.29984160e-01 1.69011172e-02 2.34745102e+02] [-1.29950667e-01 9.91515709e-01 -3.06971436e-03 -1.59283764e+01] [-1.71567374e-02 8.46917443e-04 9.99852454e-01 -2.51303884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.195898227 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:234.78, Y:-15.93, Z:-2.51 [[ 9.91726258e-01 1.27359440e-01 1.60811399e-02 2.34775965e+02] [-1.27328777e-01 9.91856266e-01 -2.92063461e-03 -1.59327280e+01] [-1.63221497e-02 8.48878161e-04 9.99866424e-01 -2.51441624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.81, Y:-15.94, Z:-2.51 [[ 9.91824470e-01 1.26674470e-01 1.54207122e-02 2.34807071e+02] [-1.26646186e-01 9.91943999e-01 -2.80103301e-03 -1.59389818e+01] [-1.56513023e-02 8.25158683e-04 9.99877170e-01 -2.51486418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.84, Y:-15.94, Z:-2.52 [[ 9.91823005e-01 1.26685952e-01 1.54206327e-02 2.34837563e+02] [-1.26657662e-01 9.91942533e-01 -2.80147088e-03 -1.59445262e+01] [-1.56512885e-02 8.25421978e-04 9.99877170e-01 -2.51556804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.87, Y:-15.95, Z:-2.52 [[ 9.91958926e-01 1.25705400e-01 1.46847367e-02 2.34867495e+02] [-1.25679637e-01 9.92067292e-01 -2.66794363e-03 -1.59497478e+01] [-1.49036219e-02 8.00918121e-04 9.99888614e-01 -2.51675171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.90, Y:-15.96, Z:-2.52 [[ 9.92089500e-01 1.24717384e-01 1.42827878e-02 2.34897130e+02] [-1.24692908e-01 9.92191990e-01 -2.59508019e-03 -1.59550096e+01] [-1.44949192e-02 7.93589470e-04 9.99894628e-01 -2.51736274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.345898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.93, Y:-15.96, Z:-2.52 [[ 9.92146630e-01 1.24207374e-01 1.47510316e-02 2.34926797e+02] [-1.24181206e-01 9.92255936e-01 -2.68042935e-03 -1.59601908e+01] [-1.49697277e-02 8.27578053e-04 9.99887605e-01 -2.51722696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.96, Y:-15.97, Z:-2.52 [[ 9.92100919e-01 1.24385477e-01 1.62486536e-02 2.34956328e+02] [-1.24353751e-01 9.92233555e-01 -2.95249285e-03 -1.59653104e+01] [-1.64897066e-02 9.08589847e-04 9.99863623e-01 -2.51689769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.99, Y:-15.97, Z:-2.51 [[ 9.91617923e-01 1.27802013e-01 1.89879006e-02 2.34986180e+02] [-1.27759303e-01 9.91799200e-01 -3.45057686e-03 -1.59686027e+01] [-1.92731753e-02 9.95772908e-04 9.99813759e-01 -2.51483991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.02, Y:-15.97, Z:-2.52 [[ 9.91237293e-01 1.30690973e-01 1.91963271e-02 2.35016718e+02] [-1.30647866e-01 9.91422699e-01 -3.48819781e-03 -1.59721373e+01] [-1.94875504e-02 9.49672575e-04 9.99809649e-01 -2.51510866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:-15.98, Z:-2.52 [[ 9.90793512e-01 1.34024590e-01 1.91213193e-02 2.35046946e+02] [-1.33982438e-01 9.90977615e-01 -3.47456800e-03 -1.59752190e+01] [-1.94144769e-02 8.80658452e-04 9.99811133e-01 -2.51564632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.495898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.08, Y:-15.98, Z:-2.52 [[ 9.90143836e-01 1.38902008e-01 1.79280654e-02 2.35076698e+02] [-1.38865749e-01 9.90305857e-01 -3.25784654e-03 -1.59761959e+01] [-1.82067896e-02 7.36142435e-04 9.99833972e-01 -2.51700341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.11, Y:-15.98, Z:-2.52 [[ 9.89967648e-01 1.40224724e-01 1.73517630e-02 2.35106363e+02] [-1.40190969e-01 9.90119464e-01 -3.15265896e-03 -1.59800638e+01] [-1.76223990e-02 6.88469900e-04 9.99844476e-01 -2.51754959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.13, Y:-15.98, Z:-2.52 [[ 9.89816300e-01 1.41256150e-01 1.76179589e-02 2.35134385e+02] [-1.41221517e-01 9.89972847e-01 -3.20092021e-03 -1.59837749e+01] [-1.78934506e-02 6.80288132e-04 9.99839668e-01 -2.51800426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.16, Y:-15.99, Z:-2.52 [[ 9.89619477e-01 1.42546044e-01 1.82733837e-02 2.35163338e+02] [-1.42509018e-01 9.89787938e-01 -3.31936383e-03 -1.59877762e+01] [-1.85599369e-02 6.80785138e-04 9.99827518e-01 -2.51812566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.19, Y:-15.99, Z:-2.52 [[ 9.89072144e-01 1.46235940e-01 1.87441414e-02 2.35192583e+02] [-1.46197659e-01 9.89249543e-01 -3.40396439e-03 -1.59903002e+01] [-1.90404152e-02 6.26416762e-04 9.99818519e-01 -2.51810267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.22, Y:-15.99, Z:-2.52 [[ 9.88759648e-01 1.48331737e-01 1.87631160e-02 2.35220977e+02] [-1.48293774e-01 9.88937487e-01 -3.40648431e-03 -1.59933787e+01] [-1.90608385e-02 5.85740949e-04 9.99818154e-01 -2.51912501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.25, Y:-16.00, Z:-2.52 [[ 9.88389958e-01 1.50809320e-01 1.84889357e-02 2.35248460e+02] [-1.50772906e-01 9.88562729e-01 -3.35585705e-03 -1.59962314e+01] [-1.87835673e-02 5.29264838e-04 9.99823433e-01 -2.51979417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:-16.00, Z:-2.52 [[ 9.87946753e-01 1.53656214e-01 1.87344994e-02 2.35277269e+02] [-1.53619361e-01 9.88124252e-01 -3.39921374e-03 -1.59990496e+01] [-1.90343235e-02 4.80260349e-04 9.99818716e-01 -2.51993098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.30, Y:-16.00, Z:-2.52 [[ 9.87487360e-01 1.56480069e-01 1.95627383e-02 2.35304719e+02] [-1.56440459e-01 9.87681017e-01 -3.54850966e-03 -1.60013671e+01] [-1.98770163e-02 4.43704697e-04 9.99802334e-01 -2.52005394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:-16.00, Z:-2.52 [[ 9.86700032e-01 1.61018087e-01 2.22760360e-02 2.35332504e+02] [-1.60967914e-01 9.86951375e-01 -4.03911871e-03 -1.60019388e+01] [-2.26357355e-02 3.99671510e-04 9.99743699e-01 -2.52049425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.795898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.36, Y:-16.00, Z:-2.52 [[ 9.86546403e-01 1.61937410e-01 2.24158288e-02 2.35361593e+02] [-1.61886876e-01 9.86800958e-01 -4.06302303e-03 -1.60046850e+01] [-2.27779168e-02 3.79532249e-04 9.99740478e-01 -2.52127277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.825898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.39, Y:-16.01, Z:-2.52 [[ 9.86448837e-01 1.62612320e-01 2.18157020e-02 2.35390490e+02] [-1.62564644e-01 9.86689976e-01 -3.95321939e-03 -1.60074987e+01] [-2.21681766e-02 3.53186860e-04 9.99754193e-01 -2.52171955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.42, Y:-16.01, Z:-2.52 [[ 9.86377634e-01 1.63131197e-01 2.11512483e-02 2.35419264e+02] [-1.63086522e-01 9.86604330e-01 -3.83182867e-03 -1.60109657e+01] [-2.14930040e-02 3.30146584e-04 9.99768944e-01 -2.52289249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.45, Y:-16.02, Z:-2.52 [[ 9.86396998e-01 1.63074420e-01 2.06808253e-02 2.35448226e+02] [-1.63031718e-01 9.86613718e-01 -3.74562626e-03 -1.60151580e+01] [-2.10148018e-02 3.23044007e-04 9.99779112e-01 -2.52378718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.48, Y:-16.02, Z:-2.52 [[ 9.86534463e-01 1.62252570e-01 2.05877704e-02 2.35475558e+02] [-1.62210093e-01 9.86749203e-01 -3.72779594e-03 -1.60181182e+01] [-2.09198105e-02 3.38055018e-04 9.99781100e-01 -2.52404161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:-16.02, Z:-2.53 [[ 9.86630363e-01 1.61682439e-01 2.04772170e-02 2.35503961e+02] [-1.61640320e-01 9.86842778e-01 -3.70652254e-03 -1.60222459e+01] [-2.08070734e-02 3.47023760e-04 9.99783449e-01 -2.52514771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.53, Y:-16.03, Z:-2.53 [[ 9.86910393e-01 1.60196385e-01 1.85740091e-02 2.35531705e+02] [-1.60161484e-01 9.87085103e-01 -3.36124205e-03 -1.60280197e+01] [-1.88725865e-02 3.42403844e-04 9.99821838e-01 -2.52607514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.56, Y:-16.03, Z:-2.53 [[ 9.87054334e-01 1.59459634e-01 1.72153306e-02 2.35559653e+02] [-1.59429554e-01 9.87204395e-01 -3.11462634e-03 -1.60345087e+01] [-1.74917072e-02 3.29672949e-04 9.99846954e-01 -2.52728103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.59, Y:-16.04, Z:-2.53 [[ 9.87206146e-01 1.58592843e-01 1.65025718e-02 2.35587636e+02] [-1.58565094e-01 9.87344014e-01 -2.98493399e-03 -1.60408672e+01] [-1.67671046e-02 3.30013351e-04 9.99859368e-01 -2.52794961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.62, Y:-16.05, Z:-2.53 [[ 9.87317122e-01 1.57880323e-01 1.66944483e-02 2.35616175e+02] [-1.57851837e-01 9.87458194e-01 -3.01884232e-03 -1.60468358e+01] [-1.69616856e-02 3.45305387e-04 9.99856081e-01 -2.52815675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.095898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:235.64, Y:-16.05, Z:-2.53 [[ 9.87361361e-01 1.57553408e-01 1.71600003e-02 2.35644457e+02] [-1.57523275e-01 9.87510402e-01 -3.10219634e-03 -1.60522873e+01] [-1.74344404e-02 3.59889351e-04 9.99847944e-01 -2.52903423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.67, Y:-16.06, Z:-2.53 [[ 9.87315735e-01 1.57778048e-01 1.77123629e-02 2.35671944e+02] [-1.57745995e-01 9.87474533e-01 -3.20118561e-03 -1.60589729e+01] [-1.79955841e-02 3.66526609e-04 9.99837999e-01 -2.52849047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.70, Y:-16.07, Z:-2.53 [[ 9.87088622e-01 1.59192563e-01 1.77138427e-02 2.35699271e+02] [-1.59160754e-01 9.87247493e-01 -3.20028107e-03 -1.60686973e+01] [-1.79974077e-02 3.39612484e-04 9.99837976e-01 -2.52949019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:-16.08, Z:-2.53 [[ 9.86990134e-01 1.59810591e-01 1.76366491e-02 2.35727205e+02] [-1.59779171e-01 9.87147643e-01 -3.18554201e-03 -1.60764093e+01] [-1.79190599e-02 3.26129358e-04 9.99839388e-01 -2.53046831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.75, Y:-16.08, Z:-2.53 [[ 9.86883942e-01 1.60422942e-01 1.80156808e-02 2.35753854e+02] [-1.60390275e-01 9.87048315e-01 -3.25316535e-03 -1.60835210e+01] [-1.83042297e-02 3.20956647e-04 9.99832412e-01 -2.53111303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.78, Y:-16.09, Z:-2.53 [[ 9.86816463e-01 1.60786254e-01 1.84675193e-02 2.35781903e+02] [-1.60752013e-01 9.86989198e-01 -3.33357344e-03 -1.60908985e+01] [-1.87632349e-02 3.20934239e-04 9.99823904e-01 -2.53150767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.81, Y:-16.10, Z:-2.53 [[ 9.86832048e-01 1.60643547e-01 1.88721872e-02 2.35807958e+02] [-1.60607780e-01 9.87012432e-01 -3.40575104e-03 -1.61008218e+01] [-1.91741954e-02 3.29884176e-04 9.99816104e-01 -2.53261106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.84, Y:-16.11, Z:-2.53 [[ 9.86932556e-01 1.60082995e-01 1.83729525e-02 2.35835891e+02] [-1.60049021e-01 9.87103503e-01 -3.31444924e-03 -1.61088360e+01] [-1.86665928e-02 3.30564802e-04 9.99825709e-01 -2.53344344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.335898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:235.86, Y:-16.12, Z:-2.54 [[ 9.87061716e-01 1.59366158e-01 1.76521219e-02 2.35863863e+02] [-1.59334696e-01 9.87219489e-01 -3.18363488e-03 -1.61162391e+01] [-1.79338824e-02 3.29848622e-04 9.99839121e-01 -2.53557423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.89, Y:-16.13, Z:-2.53 [[ 9.87080479e-01 1.59283779e-01 1.73437513e-02 2.35891479e+02] [-1.59253410e-01 9.87232785e-01 -3.12711325e-03 -1.61250677e+01] [-1.76204183e-02 3.24660909e-04 9.99844696e-01 -2.53495462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.92, Y:-16.13, Z:-2.54 [[ 9.87018999e-01 1.59676583e-01 1.72303569e-02 2.35918883e+02] [-1.59646681e-01 9.87169332e-01 -3.10609537e-03 -1.61329259e+01] [-1.75052506e-02 3.15005859e-04 9.99846722e-01 -2.53524757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.95, Y:-16.14, Z:-2.54 [[ 9.86877509e-01 1.60480295e-01 1.78565559e-02 2.35946096e+02] [-1.60448326e-01 9.87038995e-01 -3.21812623e-03 -1.61404202e+01] [-1.81415629e-02 3.10841898e-04 9.99835380e-01 -2.53552491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.97, Y:-16.15, Z:-2.54 [[ 9.86615500e-01 1.61877346e-01 1.96361725e-02 2.35972256e+02] [-1.61838990e-01 9.86810837e-01 -3.53751927e-03 -1.61496485e+01] [-1.99498320e-02 3.12273034e-04 9.99800934e-01 -2.53582556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.00, Y:-16.16, Z:-2.54 [[ 9.86555362e-01 1.62151658e-01 2.03803098e-02 2.36000666e+02] [-1.62110424e-01 9.86765798e-01 -3.67029319e-03 -1.61569438e+01] [-2.07057367e-02 3.17086774e-04 9.99785563e-01 -2.53603805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.03, Y:-16.16, Z:-2.54 [[ 9.86550975e-01 1.62116406e-01 2.08673284e-02 2.36029837e+02] [-1.62073181e-01 9.86771587e-01 -3.75748981e-03 -1.61643348e+01] [-2.12004375e-02 3.24920941e-04 9.99775193e-01 -2.53676522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:-16.17, Z:-2.54 [[ 9.86578870e-01 1.61880632e-01 2.13727569e-02 2.36059816e+02] [-1.61835244e-01 9.86810289e-01 -3.84794795e-03 -1.61718275e+01] [-2.17137647e-02 3.37438814e-04 9.99764171e-01 -2.53792865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:-16.18, Z:-2.54 [[ 9.86734280e-01 1.60839149e-01 2.20505961e-02 2.36088145e+02] [-1.60790575e-01 9.86980562e-01 -3.96998970e-03 -1.61815806e+01] [-2.24020395e-02 3.71796896e-04 9.99748974e-01 -2.53928728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:-16.19, Z:-2.54 [[ 9.86827218e-01 1.60146707e-01 2.29144813e-02 2.36117507e+02] [-1.60094072e-01 9.87093142e-01 -4.12526582e-03 -1.61886129e+01] [-2.32793751e-02 4.02451986e-04 9.99728918e-01 -2.53976313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:-16.19, Z:-2.54 [[ 9.86925787e-01 1.59377979e-01 2.40031494e-02 2.36147477e+02] [-1.59319962e-01 9.87217537e-01 -4.32263093e-03 -1.61948416e+01] [-2.43852622e-02 4.41935082e-04 9.99702538e-01 -2.54054627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.18, Y:-16.20, Z:-2.54 [[ 9.87023051e-01 1.58721677e-01 2.43500550e-02 2.36178765e+02] [-1.58661763e-01 9.87323257e-01 -4.38542747e-03 -1.62006413e+01] [-2.47374380e-02 4.65095332e-04 9.99693875e-01 -2.54118878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:-16.21, Z:-2.54 [[ 9.87121032e-01 1.58226048e-01 2.35920894e-02 2.36208404e+02] [-1.58169652e-01 9.87402807e-01 -4.24945468e-03 -1.62066659e+01] [-2.39672697e-02 4.63173515e-04 9.99712636e-01 -2.54251477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.24, Y:-16.21, Z:-2.54 [[ 9.87326134e-01 1.57246157e-01 2.14651115e-02 2.36239122e+02] [-1.57199237e-01 9.87559340e-01 -3.86656238e-03 -1.62148385e+01] [-2.18060734e-02 4.43258946e-04 9.99762121e-01 -2.54390803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.27, Y:-16.22, Z:-2.54 [[ 9.87401370e-01 1.56856099e-01 2.08494395e-02 2.36269254e+02] [-1.56811734e-01 9.87621370e-01 -3.75617790e-03 -1.62212498e+01] [-2.11805314e-02 4.39418441e-04 9.99775571e-01 -2.54453474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.30, Y:-16.23, Z:-2.55 [[ 9.87410742e-01 1.56828179e-01 2.06142840e-02 2.36298631e+02] [-1.56784803e-01 9.87625806e-01 -3.71383349e-03 -1.62271062e+01] [-2.09416326e-02 4.35072625e-04 9.99780605e-01 -2.54503548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.33, Y:-16.23, Z:-2.55 [[ 9.87378354e-01 1.57035030e-01 2.05909011e-02 2.36328385e+02] [-1.56991803e-01 9.87592940e-01 -3.70935576e-03 -1.62326161e+01] [-2.09179274e-02 4.29934898e-04 9.99781104e-01 -2.54506624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.36, Y:-16.24, Z:-2.55 [[ 9.87172474e-01 1.58434826e-01 1.97208806e-02 2.36359149e+02] [-1.58395455e-01 9.87369363e-01 -3.55259352e-03 -1.62364076e+01] [-2.00346479e-02 3.83324668e-04 9.99799213e-01 -2.54553685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.875898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:236.39, Y:-16.24, Z:-2.55 [[ 9.87067468e-01 1.59307437e-01 1.78593076e-02 2.36389932e+02] [-1.59275287e-01 9.87228966e-01 -3.21749006e-03 -1.62396312e+01] [-1.81437959e-02 3.31333407e-04 9.99835333e-01 -2.54697686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.905898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:236.42, Y:-16.24, Z:-2.55 [[ 9.86994823e-01 1.59963345e-01 1.59043443e-02 2.36419556e+02] [-1.59937933e-01 9.87122914e-01 -2.86536815e-03 -1.62426565e+01] [-1.61578965e-02 2.84395592e-04 9.99869412e-01 -2.54813032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:-16.24, Z:-2.55 [[ 9.87060515e-01 1.59581050e-01 1.56661327e-02 2.36448879e+02] [-1.59556347e-01 9.87184788e-01 -2.82234245e-03 -1.62445357e+01] [-1.59157602e-02 2.86191892e-04 9.99873295e-01 -2.54878827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.48, Y:-16.25, Z:-2.55 [[ 9.87358964e-01 1.57510369e-01 1.76850179e-02 2.36476953e+02] [-1.57478564e-01 9.87517268e-01 -3.18561010e-03 -1.62481368e+01] [-1.79660271e-02 3.60329475e-04 9.99838533e-01 -2.54909656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.51, Y:-16.25, Z:-2.55 [[ 9.87770353e-01 1.54680713e-01 1.95858693e-02 2.36507323e+02] [-1.54641164e-01 9.87964407e-01 -3.52710571e-03 -1.62521759e+01] [-1.98957170e-02 4.55188813e-04 9.99801957e-01 -2.54923311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.54, Y:-16.26, Z:-2.55 [[ 9.88264802e-01 1.51381510e-01 2.04039072e-02 2.36537601e+02] [-1.51337885e-01 9.88475262e-01 -3.67442141e-03 -1.62564697e+01] [-2.07249970e-02 5.43417175e-04 9.99785067e-01 -2.55011406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.57, Y:-16.26, Z:-2.55 [[ 9.88816637e-01 1.47862811e-01 1.94485604e-02 2.36567579e+02] [-1.47822497e-01 9.89007706e-01 -3.50234309e-03 -1.62607483e+01] [-1.97526424e-02 5.88240350e-04 9.99804724e-01 -2.55077315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.60, Y:-16.26, Z:-2.55 [[ 9.89782106e-01 1.41484031e-01 1.77101880e-02 2.36598324e+02] [-1.41449577e-01 9.89940323e-01 -3.18954194e-03 -1.62639325e+01] [-1.79832985e-02 6.51852933e-04 9.99838075e-01 -2.55167695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:-16.27, Z:-2.55 [[ 9.90100557e-01 1.39099618e-01 1.87665554e-02 2.36628718e+02] [-1.39060503e-01 9.90278119e-01 -3.37978995e-03 -1.62681585e+01] [-1.90542367e-02 7.36645290e-04 9.99818180e-01 -2.55215360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.66, Y:-16.27, Z:-2.55 [[ 9.90295635e-01 1.37423185e-01 2.07225188e-02 2.36660147e+02] [-1.37375124e-01 9.90512063e-01 -3.73201172e-03 -1.62718189e+01] [-2.10387698e-02 8.49036328e-04 9.99778300e-01 -2.55197858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.175898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:236.69, Y:-16.27, Z:-2.55 [[ 9.90408531e-01 1.36329269e-01 2.24782618e-02 2.36690433e+02] [-1.36272423e-01 9.90663128e-01 -4.04881489e-03 -1.62738615e+01] [-2.28203571e-02 9.46813604e-04 9.99739133e-01 -2.55289082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.205898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:236.72, Y:-16.28, Z:-2.55 [[ 9.90406968e-01 1.36340633e-01 2.24782135e-02 2.36720934e+02] [-1.36283783e-01 9.90661564e-01 -4.04908314e-03 -1.62793610e+01] [-2.28203567e-02 9.46824175e-04 9.99739133e-01 -2.55359468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.75, Y:-16.28, Z:-2.55 [[ 9.90385806e-01 1.36334966e-01 2.34250239e-02 2.36751674e+02] [-1.36273217e-01 9.90662305e-01 -4.21992407e-03 -1.62825298e+01] [-2.37816114e-02 9.87149540e-04 9.99716690e-01 -2.55343162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.78, Y:-16.28, Z:-2.56 [[ 9.90537457e-01 1.35435839e-01 2.21963996e-02 2.36782132e+02] [-1.35380168e-01 9.90785658e-01 -3.99884189e-03 -1.62827471e+01] [-2.25334609e-02 9.56050373e-04 9.99745632e-01 -2.55557714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.295898227 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:236.81, Y:-16.29, Z:-2.56 [[ 9.90676010e-01 1.34533374e-01 2.14898903e-02 2.36813041e+02] [-1.34480979e-01 9.90908612e-01 -3.87155914e-03 -1.62852498e+01] [-2.18153713e-02 9.45479261e-04 9.99761569e-01 -2.55762273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.84, Y:-16.29, Z:-2.56 [[ 9.90705549e-01 1.34282126e-01 2.16985286e-02 2.36843448e+02] [-1.34228648e-01 9.90942677e-01 -3.90914683e-03 -1.62883035e+01] [-2.20269266e-02 9.60249286e-04 9.99756917e-01 -2.55682850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:-16.29, Z:-2.56 [[ 9.90773070e-01 1.33704631e-01 2.21764528e-02 2.36874369e+02] [-1.33648627e-01 9.91020728e-01 -3.99524833e-03 -1.62860404e+01] [-2.25115076e-02 9.94531985e-04 9.99746089e-01 -2.55690151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.385898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:236.90, Y:-16.29, Z:-2.56 [[ 9.90806436e-01 1.33467155e-01 2.21161742e-02 2.36904269e+02] [-1.33411396e-01 9.91052735e-01 -3.98439141e-03 -1.62872630e+01] [-2.24500803e-02 9.97210990e-04 9.99747468e-01 -2.55827968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:-16.29, Z:-2.56 [[ 9.90717214e-01 1.34073995e-01 2.24402739e-02 2.36933335e+02] [-1.34016751e-01 9.90970821e-01 -4.04250755e-03 -1.62886049e+01] [-2.27796518e-02 9.97609233e-04 9.99740012e-01 -2.55831924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:-16.29, Z:-2.56 [[ 9.90588832e-01 1.35005028e-01 2.25257175e-02 2.36963397e+02] [-1.34947605e-01 9.90844430e-01 -4.05712708e-03 -1.62894042e+01] [-2.28672143e-02 9.79153157e-04 9.99738032e-01 -2.55918879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:-16.29, Z:-2.56 [[ 9.90434833e-01 1.36194719e-01 2.21323162e-02 2.36992796e+02] [-1.36139592e-01 9.90681647e-01 -3.98578022e-03 -1.62900159e+01] [-2.24689216e-02 9.34571084e-04 9.99747105e-01 -2.55948064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:-16.29, Z:-2.56 [[ 9.90319545e-01 1.37153964e-01 2.13538802e-02 2.37020862e+02] [-1.37102891e-01 9.90549351e-01 -3.84461297e-03 -1.62897383e+01] [-2.16793760e-02 8.79716675e-04 9.99764588e-01 -2.56062497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:-16.28, Z:-2.56 [[ 9.90358208e-01 1.37158561e-01 1.94460602e-02 2.37050164e+02] [-1.37116229e-01 9.90548782e-01 -3.50006594e-03 -1.62846734e+01] [-1.97423353e-02 7.99948578e-04 9.99804781e-01 -2.56149936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.08, Y:-16.28, Z:-2.56 [[ 9.90546098e-01 1.35891181e-01 1.87620517e-02 2.37079680e+02] [-1.35851569e-01 9.90723450e-01 -3.37587127e-03 -1.62849564e+01] [-1.90467557e-02 7.95101950e-04 9.99818278e-01 -2.56294847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:-16.29, Z:-2.56 [[ 9.90810184e-01 1.33954538e-01 1.87446479e-02 2.37108315e+02] [-1.33914670e-01 9.90987130e-01 -3.37190581e-03 -1.62850747e+01] [-1.90273869e-02 8.30735277e-04 9.99818618e-01 -2.56369436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.14, Y:-16.29, Z:-2.56 [[ 9.91104677e-01 1.31764741e-01 1.86968302e-02 2.37136877e+02] [-1.31724707e-01 9.91280635e-01 -3.36221976e-03 -1.62853198e+01] [-1.89768277e-02 8.69477242e-04 9.99819546e-01 -2.56404431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:-16.28, Z:-2.56 [[ 9.91824647e-01 1.26350492e-01 1.78723939e-02 2.37166687e+02] [-1.26313053e-01 9.91985227e-01 -3.21294752e-03 -1.62818540e+01] [-1.81351082e-02 9.29163917e-04 9.99835114e-01 -2.56377342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.20, Y:-16.28, Z:-2.56 [[ 9.92183205e-01 1.23539879e-01 1.76177989e-02 2.37196014e+02] [-1.23503070e-01 9.92339138e-01 -3.16639696e-03 -1.62832362e+01] [-1.78740076e-02 9.65793633e-04 9.99839781e-01 -2.56409590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:-16.28, Z:-2.56 [[ 9.92533707e-01 1.20678810e-01 1.77049271e-02 2.37224705e+02] [-1.20641197e-01 9.92691081e-01 -3.18123721e-03 -1.62847436e+01] [-1.79594312e-02 1.02154156e-03 9.99838195e-01 -2.56443813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:-16.29, Z:-2.56 [[ 9.92793991e-01 1.18452841e-01 1.81387857e-02 2.37252784e+02] [-1.18413008e-01 9.92959084e-01 -3.25832159e-03 -1.62870386e+01] [-1.83970295e-02 1.08697392e-03 9.99830169e-01 -2.56490225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:-16.29, Z:-2.56 [[ 9.93015128e-01 1.16467015e-01 1.88783135e-02 2.37282039e+02] [-1.16423533e-01 9.93193873e-01 -3.38991223e-03 -1.62894214e+01] [-1.91446383e-02 1.16835417e-03 9.99816042e-01 -2.56466688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.805898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.31, Y:-16.29, Z:-2.57 [[ 9.93194472e-01 1.14916086e-01 1.89481890e-02 2.37310968e+02] [-1.14872019e-01 9.93374476e-01 -3.40152932e-03 -1.62910093e+01] [-1.92135378e-02 1.20176339e-03 9.99814681e-01 -2.56529650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.34, Y:-16.29, Z:-2.57 [[ 9.93361679e-01 1.13531943e-01 1.85222075e-02 2.37339300e+02] [-1.13489611e-01 9.93533622e-01 -3.32424593e-03 -1.62911431e+01] [-1.87798440e-02 1.20010040e-03 9.99822923e-01 -2.56592386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.865898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:237.37, Y:-16.29, Z:-2.57 [[ 9.93432916e-01 1.13058190e-01 1.75751613e-02 2.37367781e+02] [-1.13020024e-01 9.93587708e-01 -3.15302615e-03 -1.62938985e+01] [-1.78189397e-02 1.14597480e-03 9.99840573e-01 -2.56712134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.40, Y:-16.30, Z:-2.57 [[ 9.93433174e-01 1.13083677e-01 1.73957294e-02 2.37395814e+02] [-1.13046306e-01 9.93584822e-01 -3.12000599e-03 -1.62978027e+01] [-1.76369545e-02 1.13299450e-03 9.99843815e-01 -2.56747428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.42, Y:-16.30, Z:-2.57 [[ 9.93493813e-01 1.12546955e-01 1.74133798e-02 2.37424006e+02] [-1.12509439e-01 9.93645750e-01 -3.12238843e-03 -1.63006400e+01] [-1.76541462e-02 1.14290398e-03 9.99843500e-01 -2.56753244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.45, Y:-16.31, Z:-2.57 [[ 9.93546208e-01 1.11907770e-01 1.85090036e-02 2.37452620e+02] [-1.11865297e-01 9.93717842e-01 -3.31763061e-03 -1.63054326e+01] [-1.87639957e-02 1.22570413e-03 9.99823189e-01 -2.56812441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.48, Y:-16.31, Z:-2.56 [[ 9.93659843e-01 1.10842582e-01 1.88158837e-02 2.37478085e+02] [-1.10999652e-01 9.93792023e-01 7.51615417e-03 -1.63136739e+01] [-1.78659652e-02 -9.55705712e-03 9.99794714e-01 -2.56351535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:-16.31, Z:-2.57 [[ 9.93743161e-01 1.10164167e-01 1.83952634e-02 2.37508798e+02] [-1.09914175e-01 9.93841180e-01 -1.40919803e-02 -1.63121382e+01] [-1.98344016e-02 1.19819089e-02 9.99731479e-01 -2.56851590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:-16.32, Z:-2.57 [[ 9.93866327e-01 1.08657971e-01 2.05710648e-02 2.37536164e+02] [-1.08604884e-01 9.94078170e-01 -3.68378261e-03 -1.63220044e+01] [-2.08495188e-02 1.42706939e-03 9.99781607e-01 -2.56989620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.075898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:237.56, Y:-16.33, Z:-2.57 [[ 9.94072286e-01 1.06772935e-01 2.04897492e-02 2.37563183e+02] [-1.06719888e-01 9.94282359e-01 -3.66829164e-03 -1.63262211e+01] [-2.07642705e-02 1.45988331e-03 9.99783333e-01 -2.57092578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.59, Y:-16.33, Z:-2.57 [[ 9.94195117e-01 1.05755846e-01 1.97931715e-02 2.37591546e+02] [-1.05706170e-01 9.94391099e-01 -3.54228668e-03 -1.63309815e+01] [-2.00567711e-02 1.42946376e-03 9.99797821e-01 -2.57018299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:-16.33, Z:-2.57 [[ 9.94151658e-01 1.06201716e-01 1.95876736e-02 2.37619563e+02] [-1.06153171e-01 9.94343614e-01 -3.50461723e-03 -1.63343882e+01] [-1.98490745e-02 1.40482737e-03 9.99802001e-01 -2.57034938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:-16.34, Z:-2.57 [[ 9.93991361e-01 1.07646866e-01 1.98324665e-02 2.37648824e+02] [-1.07597411e-01 9.94188219e-01 -3.54719357e-03 -1.63371072e+01] [-2.00990489e-02 1.39195772e-03 9.99797025e-01 -2.57024623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.68, Y:-16.34, Z:-2.57 [[ 9.93357570e-01 1.13009618e-01 2.16694445e-02 2.37677287e+02] [-1.12951868e-01 9.93592906e-01 -3.87465872e-03 -1.63351212e+01] [-2.19684801e-02 1.40131733e-03 9.99757682e-01 -2.57045705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:-16.34, Z:-2.57 [[ 9.93015484e-01 1.15850717e-01 2.23351717e-02 2.37705297e+02] [-1.15790111e-01 9.93265681e-01 -3.99225608e-03 -1.63361682e+01] [-2.26472652e-02 1.37818009e-03 9.99742568e-01 -2.57147292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.73, Y:-16.34, Z:-2.57 [[ 9.92761741e-01 1.17985502e-01 2.24398424e-02 2.37732959e+02] [-1.17924906e-01 9.93014421e-01 -4.00941408e-03 -1.63370865e+01] [-2.27561398e-02 1.33417661e-03 9.99740155e-01 -2.57258914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.76, Y:-16.34, Z:-2.57 [[ 9.92642511e-01 1.19101660e-01 2.18091699e-02 2.37760801e+02] [-1.19044717e-01 9.92881252e-01 -3.89552464e-03 -1.63381617e+01] [-2.21178794e-02 1.27059689e-03 9.99754562e-01 -2.57360994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.79, Y:-16.34, Z:-2.57 [[ 9.92676942e-01 1.19004565e-01 2.07461601e-02 2.37789266e+02] [-1.18953047e-01 9.92892971e-01 -3.70424771e-03 -1.63392151e+01] [-2.10395389e-02 1.20930233e-03 9.99777913e-01 -2.57438958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.82, Y:-16.34, Z:-2.58 [[ 9.92800120e-01 1.18204955e-01 1.93781139e-02 2.37817090e+02] [-1.18159877e-01 9.92988559e-01 -3.45893466e-03 -1.63408528e+01] [-1.96511086e-02 1.14431519e-03 9.99806243e-01 -2.57599073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:-16.34, Z:-2.58 [[ 9.93288771e-01 1.14444709e-01 1.67280292e-02 2.37846326e+02] [-1.14410602e-01 9.93429063e-01 -2.98505034e-03 -1.63417436e+01] [-1.69597336e-02 1.05115309e-03 9.99855621e-01 -2.57862299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.87, Y:-16.35, Z:-2.58 [[ 9.93593095e-01 1.11756810e-01 1.68278935e-02 2.37873461e+02] [-1.11721920e-01 9.93734974e-01 -3.00226315e-03 -1.63452758e+01] [-1.70579897e-02 1.10298335e-03 9.99853894e-01 -2.58018636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:-16.35, Z:-2.58 [[ 9.93880264e-01 1.09136687e-01 1.70647262e-02 2.37901003e+02] [-1.09100450e-01 9.94026072e-01 -3.04302088e-03 -1.63489787e+01] [-1.72948879e-02 1.16262909e-03 9.99849756e-01 -2.58049805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.93, Y:-16.35, Z:-2.58 [[ 9.94261720e-01 1.05771684e-01 1.59994615e-02 2.37928715e+02] [-1.05739414e-01 9.94389784e-01 -2.85198555e-03 -1.63524157e+01] [-1.62113603e-02 1.14384638e-03 9.99867933e-01 -2.58125035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.96, Y:-16.36, Z:-2.58 [[ 9.94374341e-01 1.04864804e-01 1.49346368e-02 2.37956081e+02] [-1.04836596e-01 9.94485900e-01 -2.66148659e-03 -1.63572565e+01] [-1.51313819e-02 1.08081749e-03 9.99884930e-01 -2.58247328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:-16.36, Z:-2.58 [[ 9.94412227e-01 1.04553498e-01 1.45907256e-02 2.37983493e+02] [-1.04526555e-01 9.94518699e-01 -2.59925648e-03 -1.63623930e+01] [-1.47825108e-02 1.05961414e-03 9.99890171e-01 -2.58294352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:-16.37, Z:-2.58 [[ 9.94386541e-01 1.04697550e-01 1.52914744e-02 2.38009602e+02] [-1.04667989e-01 9.94503493e-01 -2.72307094e-03 -1.63673324e+01] [-1.54925236e-02 1.10725722e-03 9.99879371e-01 -2.58342154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:-16.37, Z:-2.58 [[ 9.94290707e-01 1.05401361e-01 1.66296005e-02 2.38036695e+02] [-1.05366522e-01 9.94429050e-01 -2.95984695e-03 -1.63724518e+01] [-1.68489298e-02 1.19074514e-03 9.99857338e-01 -2.58357047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:-16.38, Z:-2.58 [[ 9.94151765e-01 1.06462233e-01 1.81124619e-02 2.38064434e+02] [-1.06421103e-01 9.94315928e-01 -3.22244508e-03 -1.63779436e+01] [-1.83525781e-02 1.27605129e-03 9.99830763e-01 -2.58403521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.09, Y:-16.38, Z:-2.58 [[ 9.93791206e-01 1.09509369e-01 1.96656513e-02 2.38092142e+02] [-1.09461503e-01 9.93984883e-01 -3.49736924e-03 -1.63827599e+01] [-1.99303548e-02 1.32302303e-03 9.99800495e-01 -2.58379464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.12, Y:-16.39, Z:-2.58 [[ 9.93622493e-01 1.11066608e-01 1.94563616e-02 2.38119898e+02] [-1.11020080e-01 9.93812145e-01 -3.45876308e-03 -1.63868660e+01] [-1.97201215e-02 1.27665798e-03 9.99804724e-01 -2.58445359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.15, Y:-16.39, Z:-2.59 [[ 9.93484429e-01 1.12465412e-01 1.84450472e-02 2.38147563e+02] [-1.12423854e-01 9.93654936e-01 -3.27802073e-03 -1.63907389e+01] [-1.86966761e-02 1.18299926e-03 9.99824502e-01 -2.58522214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.17, Y:-16.39, Z:-2.59 [[ 9.93386969e-01 1.13437953e-01 1.77245786e-02 2.38174751e+02] [-1.13399755e-01 9.93544454e-01 -3.14871012e-03 -1.63942672e+01] [-1.79673400e-02 1.11792473e-03 9.99837949e-01 -2.58654456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.20, Y:-16.40, Z:-2.59 [[ 9.93391766e-01 1.13444861e-01 1.74086783e-02 2.38202949e+02] [-1.13408031e-01 9.93543688e-01 -3.09160800e-03 -1.63969381e+01] [-1.76470095e-02 1.09689399e-03 9.99843678e-01 -2.58645937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.23, Y:-16.40, Z:-2.59 [[ 9.93528081e-01 1.12136992e-01 1.80899525e-02 2.38230228e+02] [-1.12097030e-01 9.93692077e-01 -3.21136153e-03 -1.64009718e+01] [-1.83359549e-02 1.16274791e-03 9.99831206e-01 -2.58705008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:-16.41, Z:-2.59 [[ 9.93729290e-01 1.10247479e-01 1.86438141e-02 2.38257880e+02] [-1.10204724e-01 9.93903402e-01 -3.30845624e-03 -1.64051856e+01] [-1.88948992e-02 1.23307347e-03 9.99820715e-01 -2.58670681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.28, Y:-16.41, Z:-2.59 [[ 9.93957171e-01 1.08100479e-01 1.90637854e-02 2.38284125e+02] [-1.08055408e-01 9.94139122e-01 -3.38169025e-03 -1.64093476e+01] [-1.93176172e-02 1.30131017e-03 9.99812551e-01 -2.58740018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.31, Y:-16.41, Z:-2.59 [[ 9.94185563e-01 1.05853009e-01 1.97536670e-02 2.38311500e+02] [-1.05804218e-01 9.94380814e-01 -3.50189570e-03 -1.64134792e+01] [-2.00133537e-02 1.39151285e-03 9.99798744e-01 -2.58741257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.34, Y:-16.42, Z:-2.59 [[ 9.94160978e-01 1.06022124e-01 2.00812939e-02 2.38338084e+02] [-1.05971763e-01 9.94362772e-01 -3.55862379e-03 -1.64167426e+01] [-2.03453839e-02 1.40979480e-03 9.99792017e-01 -2.58702721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.37, Y:-16.42, Z:-2.59 [[ 9.94010762e-01 1.07283187e-01 2.08068133e-02 2.38365825e+02] [-1.07229442e-01 9.94227473e-01 -3.68498738e-03 -1.64192770e+01] [-2.10820426e-02 1.43181413e-03 9.99776724e-01 -2.58707320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:-16.42, Z:-2.59 [[ 9.93796105e-01 1.09192855e-01 2.11239685e-02 2.38393268e+02] [-1.09137919e-01 9.94019582e-01 -3.73970979e-03 -1.64212015e+01] [-2.14059880e-02 1.41108306e-03 9.99769870e-01 -2.58683109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:-16.42, Z:-2.59 [[ 9.93586004e-01 1.11052751e-01 2.13105407e-02 2.38421555e+02] [-1.10997312e-01 9.93813554e-01 -3.77056856e-03 -1.64226515e+01] [-2.15974362e-02 1.38097141e-03 9.99765794e-01 -2.58746233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:-16.42, Z:-2.59 [[ 9.93415224e-01 1.12975717e-01 1.90441491e-02 2.38450512e+02] [-1.12931819e-01 9.93597030e-01 -3.36841593e-03 -1.64218297e+01] [-1.93027592e-02 1.19554528e-03 9.99812970e-01 -2.58914963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.48, Y:-16.43, Z:-2.59 [[ 9.93427710e-01 1.12865836e-01 1.90443468e-02 2.38478569e+02] [-1.12821939e-01 9.93609517e-01 -3.36729810e-03 -1.64266462e+01] [-1.93026971e-02 1.19654711e-03 9.99812970e-01 -2.58979620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.51, Y:-16.43, Z:-2.59 [[ 9.93464050e-01 1.12632720e-01 1.85216557e-02 2.38505756e+02] [-1.12591198e-01 9.93636005e-01 -3.27281040e-03 -1.64288277e+01] [-1.87724095e-02 1.16604407e-03 9.99823103e-01 -2.59119390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.53, Y:-16.43, Z:-2.59 [[ 9.93571693e-01 1.11636561e-01 1.87768206e-02 2.38533338e+02] [-1.11593752e-01 9.93748379e-01 -3.31571329e-03 -1.64314791e+01] [-1.90295898e-02 1.19902302e-03 9.99818202e-01 -2.59187904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.56, Y:-16.43, Z:-2.59 [[ 9.93701057e-01 1.10412236e-01 1.91662886e-02 2.38561317e+02] [-1.10367431e-01 9.93885096e-01 -3.38314983e-03 -1.64342896e+01] [-1.94226297e-02 1.24650552e-03 9.99810586e-01 -2.59234153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.59, Y:-16.43, Z:-2.59 [[ 9.94105668e-01 1.06867262e-01 1.82567381e-02 2.38588694e+02] [-1.06826036e-01 9.94272508e-01 -3.22144315e-03 -1.64346206e+01] [-1.84964396e-02 1.25215993e-03 9.99828142e-01 -2.59277406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.62, Y:-16.44, Z:-2.59 [[ 9.94320142e-01 1.04920207e-01 1.78663159e-02 2.38616387e+02] [-1.04880438e-01 9.94479846e-01 -3.15108932e-03 -1.64373484e+01] [-1.80983040e-02 1.25936454e-03 9.99835419e-01 -2.59319316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.64, Y:-16.44, Z:-2.59 [[ 9.94498563e-01 1.03202432e-01 1.79406466e-02 2.38643239e+02] [-1.03162075e-01 9.94659530e-01 -3.16306154e-03 -1.64403971e+01] [-1.81712708e-02 1.29486582e-03 9.99834050e-01 -2.59447598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.67, Y:-16.44, Z:-2.59 [[ 9.94639073e-01 1.01727875e-01 1.85621597e-02 2.38671413e+02] [-1.01684458e-01 9.94811326e-01 -3.27049214e-03 -1.64443172e+01] [-1.87985470e-02 1.36547612e-03 9.99822359e-01 -2.59488595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.70, Y:-16.45, Z:-2.60 [[ 9.94841111e-01 9.94496035e-02 2.00234913e-02 2.38699056e+02] [-9.93986512e-02 9.95041442e-01 -3.52647619e-03 -1.64478228e+01] [-2.02749103e-02 1.51797547e-03 9.99793291e-01 -2.59501212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:-16.45, Z:-2.60 [[ 9.94862375e-01 9.92886261e-02 1.97641991e-02 2.38725949e+02] [-9.92389795e-02 9.95057545e-01 -3.47950878e-03 -1.64517729e+01] [-2.00119910e-02 1.50025343e-03 9.99798614e-01 -2.59542188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.75, Y:-16.46, Z:-2.60 [[ 9.94833374e-01 9.96545145e-02 1.93787320e-02 2.38753519e+02] [-9.96068847e-02 9.95021025e-01 -3.41012397e-03 -1.64552007e+01] [-1.96220800e-02 1.46225002e-03 9.99806399e-01 -2.59562126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.78, Y:-16.46, Z:-2.60 [[ 9.94722973e-01 1.00836054e-01 1.89287421e-02 2.38779891e+02] [-1.00790847e-01 9.94902065e-01 -3.32968838e-03 -1.64583345e+01] [-1.91679972e-02 1.40427357e-03 9.99815291e-01 -2.59554413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.81, Y:-16.46, Z:-2.60 [[ 9.94554275e-01 1.02447600e-01 1.91385555e-02 2.38807479e+02] [-1.02401714e-01 9.94737436e-01 -3.36497902e-03 -1.64612411e+01] [-1.93825716e-02 1.38683339e-03 9.99811178e-01 -2.59596721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.84, Y:-16.46, Z:-2.60 [[ 9.94044699e-01 1.07102346e-01 2.01053353e-02 2.38836452e+02] [-1.07052682e-01 9.94247071e-01 -3.53354243e-03 -1.64607806e+01] [-2.03681214e-02 1.36016906e-03 9.99791623e-01 -2.59663170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:-16.46, Z:-2.60 [[ 9.93769176e-01 1.09667920e-01 1.98940273e-02 2.38864046e+02] [-1.09619832e-01 9.93967442e-01 -3.49509410e-03 -1.64618284e+01] [-2.01573152e-02 1.29253684e-03 9.99795985e-01 -2.59675548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:-16.46, Z:-2.60 [[ 9.93533834e-01 1.11828526e-01 1.96188825e-02 2.38892521e+02] [-1.11782210e-01 9.93726757e-01 -3.44520924e-03 -1.64625671e+01] [-1.98810811e-02 1.22988990e-03 9.99801595e-01 -2.59754647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.92, Y:-16.46, Z:-2.60 [[ 9.93397481e-01 1.13122838e-01 1.90963065e-02 2.38921029e+02] [-1.13079220e-01 9.93580320e-01 -3.35214284e-03 -1.64636384e+01] [-1.93529183e-02 1.17061481e-03 9.99812029e-01 -2.59889236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.95, Y:-16.46, Z:-2.60 [[ 9.93401744e-01 1.13216831e-01 1.83009348e-02 2.38948050e+02] [-1.13176809e-01 9.93569674e-01 -3.21132700e-03 -1.64647666e+01] [-1.85468301e-02 1.11889644e-03 9.99827367e-01 -2.59995442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.98, Y:-16.46, Z:-2.60 [[ 9.93916597e-01 1.08571563e-01 1.84936350e-02 2.38976061e+02] [-1.08529921e-01 9.94087891e-01 -3.24359037e-03 -1.64626338e+01] [-1.87364603e-02 1.21674555e-03 9.99823717e-01 -2.60085158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.00, Y:-16.46, Z:-2.60 [[ 9.94287591e-01 1.05084707e-01 1.86920222e-02 2.39002848e+02] [-1.05041583e-01 9.94462432e-01 -3.27682578e-03 -1.64638270e+01] [-1.89328581e-02 1.29466761e-03 9.99819919e-01 -2.60124272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.03, Y:-16.47, Z:-2.60 [[ 9.94690389e-01 1.01310166e-01 1.80909139e-02 2.39030583e+02] [-1.01269177e-01 9.94854012e-01 -3.16998562e-03 -1.64659210e+01] [-1.83189701e-02 1.32110226e-03 9.99831321e-01 -2.60161356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.06, Y:-16.47, Z:-2.60 [[ 9.95106976e-01 9.72893470e-02 1.72304604e-02 2.39058795e+02] [-9.72515845e-02 9.95255254e-01 -3.01812056e-03 -1.64680141e+01] [-1.74423372e-02 1.32766326e-03 9.99846989e-01 -2.60311679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.09, Y:-16.47, Z:-2.60 [[ 9.95704766e-01 9.12409661e-02 1.57195527e-02 2.39087524e+02] [-9.12088021e-02 9.95827986e-01 -2.75252936e-03 -1.64678807e+01] [-1.59051140e-02 1.30694502e-03 9.99872652e-01 -2.60360961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.755898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:239.11, Y:-16.47, Z:-2.60 [[ 9.95865391e-01 8.93826412e-02 1.62131755e-02 2.39114291e+02] [-8.93481985e-02 9.95996409e-01 -2.83787614e-03 -1.64688763e+01] [-1.64019215e-02 1.37752460e-03 9.99864531e-01 -2.60411325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.14, Y:-16.47, Z:-2.60 [[ 9.95859829e-01 8.92437303e-02 1.72846084e-02 2.39140942e+02] [-8.92045894e-02 9.96008733e-01 -3.02393876e-03 -1.64719577e+01] [-1.74854885e-02 1.46955274e-03 9.99846037e-01 -2.60343520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.17, Y:-16.48, Z:-2.60 [[ 9.95807627e-01 8.96106162e-02 1.83604988e-02 2.39169096e+02] [-8.95665415e-02 9.95975666e-01 -3.21058695e-03 -1.64752414e+01] [-1.85743127e-02 1.55264059e-03 9.99826277e-01 -2.60335767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:-16.48, Z:-2.60 [[ 9.95755178e-01 9.00564873e-02 1.90119529e-02 2.39196855e+02] [-9.00093348e-02 9.95935377e-01 -3.32319259e-03 -1.64789764e+01] [-1.92339515e-02 1.59783300e-03 9.99813734e-01 -2.60396655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.22, Y:-16.48, Z:-2.60 [[ 9.95659703e-01 9.10582059e-02 1.92395293e-02 2.39224783e+02] [-9.10101292e-02 9.95844293e-01 -3.36164353e-03 -1.64830580e+01] [-1.94656806e-02 1.59606096e-03 9.99809252e-01 -2.60417905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.25, Y:-16.49, Z:-2.60 [[ 9.95368253e-01 9.41734023e-02 1.93238313e-02 2.39251413e+02] [-9.41255114e-02 9.95554618e-01 -3.37508733e-03 -1.64859155e+01] [-1.95557729e-02 1.54058928e-03 9.99807581e-01 -2.60365074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.935898227 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:239.28, Y:-16.49, Z:-2.60 [[ 9.95149260e-01 9.64153507e-02 1.95456107e-02 2.39278819e+02] [-9.63668123e-02 9.95340039e-01 -3.41237261e-03 -1.64894586e+01] [-1.97835340e-02 1.51227188e-03 9.99803143e-01 -2.60485946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.31, Y:-16.49, Z:-2.60 [[ 9.94816261e-01 9.97534034e-02 1.97450154e-02 2.39306076e+02] [-9.97045722e-02 9.95011122e-01 -3.44471962e-03 -1.64948785e+01] [-1.99901324e-02 1.45819478e-03 9.99799114e-01 -2.60450596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.33, Y:-16.50, Z:-2.60 [[ 9.94472616e-01 1.02985712e-01 2.04489320e-02 2.39332373e+02] [-1.02934045e-01 9.94681791e-01 -3.56613003e-03 -1.64991969e+01] [-2.07074407e-02 1.44152737e-03 9.99784539e-01 -2.60498001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.36, Y:-16.50, Z:-2.61 [[ 9.93725452e-01 1.09586580e-01 2.23720438e-02 2.39359612e+02] [-1.09526469e-01 9.93976235e-01 -3.89843226e-03 -1.65033320e+01] [-2.26644957e-02 1.42364040e-03 9.99742114e-01 -2.60538899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.39, Y:-16.51, Z:-2.61 [[ 9.93394021e-01 1.12491916e-01 2.26691041e-02 2.39386315e+02] [-1.12430988e-01 9.93651690e-01 -3.94857710e-03 -1.65080165e+01] [-2.29693766e-02 1.37378310e-03 9.99735225e-01 -2.60530970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.41, Y:-16.51, Z:-2.61 [[ 9.93079310e-01 1.15274220e-01 2.24797456e-02 2.39413497e+02] [-1.15215079e-01 9.93332862e-01 -3.91284499e-03 -1.65134497e+01] [-2.27809202e-02 1.29575975e-03 9.99739641e-01 -2.60636299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.44, Y:-16.52, Z:-2.61 [[ 9.92798801e-01 1.17785444e-01 2.18432957e-02 2.39440804e+02] [-1.17730243e-01 9.93038340e-01 -3.80059755e-03 -1.65189006e+01] [-2.21388852e-02 1.20161218e-03 9.99754183e-01 -2.60745486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.47, Y:-16.52, Z:-2.61 [[ 9.92513488e-01 1.20331527e-01 2.09116897e-02 2.39468669e+02] [-1.20281528e-01 9.92733159e-01 -3.63713274e-03 -1.65245549e+01] [-2.11973895e-02 1.09461333e-03 9.99774711e-01 -2.60810775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.50, Y:-16.53, Z:-2.61 [[ 9.92201173e-01 1.22909206e-01 2.07402697e-02 2.39495531e+02] [-1.22860615e-01 9.92417385e-01 -3.60586624e-03 -1.65294989e+01] [-2.10261984e-02 1.02958241e-03 9.99778395e-01 -2.60903474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.52, Y:-16.54, Z:-2.61 [[ 9.91372221e-01 1.29313486e-01 2.14275975e-02 2.39522801e+02] [-1.29263152e-01 9.91603334e-01 -3.72350913e-03 -1.65352616e+01] [-2.17291771e-02 9.21584717e-04 9.99763469e-01 -2.60956798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.55, Y:-16.54, Z:-2.61 [[ 9.90883095e-01 1.33008009e-01 2.14373789e-02 2.39549713e+02] [-1.32958523e-01 9.91114607e-01 -3.72375720e-03 -1.65404834e+01] [-2.17421889e-02 8.39525819e-04 9.99763258e-01 -2.61033541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.58, Y:-16.55, Z:-2.61 [[ 9.90412342e-01 1.36567204e-01 2.08036344e-02 2.39576989e+02] [-1.36521415e-01 9.90630534e-01 -3.61223045e-03 -1.65461006e+01] [-2.11020277e-02 7.37456009e-04 9.99777055e-01 -2.61187548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.60, Y:-16.55, Z:-2.61 [[ 9.90002656e-01 1.39613725e-01 2.00686138e-02 2.39604285e+02] [-1.39571812e-01 9.90205833e-01 -3.48111159e-03 -1.65519427e+01] [-2.03580694e-02 6.45296934e-04 9.99792545e-01 -2.61326036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.325898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:239.63, Y:-16.56, Z:-2.62 [[ 9.89654258e-01 1.42156790e-01 1.93880682e-02 2.39631291e+02] [-1.42118224e-01 9.89843989e-01 -3.35972190e-03 -1.65571175e+01] [-1.96687701e-02 5.69565261e-04 9.99806389e-01 -2.61548291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.66, Y:-16.56, Z:-2.61 [[ 9.88976125e-01 1.46746104e-01 1.97940423e-02 2.39657743e+02] [-1.46706901e-01 9.89174073e-01 -3.42622947e-03 -1.65643741e+01] [-2.00825393e-02 4.84536539e-04 9.99798208e-01 -2.61497328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.68, Y:-16.57, Z:-2.61 [[ 9.88659316e-01 1.48724618e-01 2.08265450e-02 2.39684583e+02] [-1.48681747e-01 9.88878543e-01 -3.60063795e-03 -1.65700292e+01] [-2.11304270e-02 4.63277150e-04 9.99776620e-01 -2.61499835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.71, Y:-16.58, Z:-2.61 [[ 9.88330528e-01 1.50834370e-01 2.12546315e-02 2.39711601e+02] [-1.50790243e-01 9.88558957e-01 -3.67297791e-03 -1.65753992e+01] [-2.15654677e-02 4.25125154e-04 9.99767348e-01 -2.61469301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.74, Y:-16.58, Z:-2.61 [[ 9.87960063e-01 1.53224357e-01 2.13824616e-02 2.39738043e+02] [-1.53180346e-01 9.88191357e-01 -3.69091686e-03 -1.65800564e+01] [-2.16955021e-02 3.71105600e-04 9.99764556e-01 -2.61494179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.77, Y:-16.58, Z:-2.62 [[ 9.87537637e-01 1.55919002e-01 2.14168085e-02 2.39765277e+02] [-1.55875519e-01 9.87769795e-01 -3.69518205e-03 -1.65841839e+01] [-2.17310256e-02 3.10775220e-04 9.99763805e-01 -2.61528653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.79, Y:-16.59, Z:-2.62 [[ 9.87016928e-01 1.59124568e-01 2.18393003e-02 2.39792963e+02] [-1.59080224e-01 9.87258484e-01 -3.76413333e-03 -1.65881144e+01] [-2.21600006e-02 2.41062543e-04 9.99754408e-01 -2.61564882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:-16.59, Z:-2.62 [[ 9.85963864e-01 1.65343716e-01 2.31671071e-02 2.39819222e+02] [-1.65295636e-01 9.86235999e-01 -3.98847475e-03 -1.65917056e+01] [-2.35077042e-02 1.03070289e-04 9.99723650e-01 -2.61634896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:-16.60, Z:-2.62 [[ 9.85633692e-01 1.67188669e-01 2.39619523e-02 2.39846998e+02] [-1.67137856e-01 9.85924919e-01 -4.12207949e-03 -1.65960753e+01] [-2.43138509e-02 5.79110895e-05 9.99704373e-01 -2.61769816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.87, Y:-16.60, Z:-2.62 [[ 9.85442483e-01 1.68326204e-01 2.38621272e-02 2.39874969e+02] [-1.68276253e-01 9.85731347e-01 -4.10052808e-03 -1.66008471e+01] [-2.42118731e-02 2.54052300e-05 9.99706849e-01 -2.61792597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.90, Y:-16.61, Z:-2.62 [[ 9.85323678e-01 1.69051300e-01 2.36412431e-02 2.39902362e+02] [-1.69002581e-01 9.85607253e-01 -4.05827311e-03 -1.66057656e+01] [-2.39870370e-02 3.28148425e-06 9.99712270e-01 -2.61943115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.93, Y:-16.61, Z:-2.62 [[ 9.85219739e-01 1.69778627e-01 2.27438880e-02 2.39929682e+02] [-1.69733823e-01 9.85482226e-01 -3.90022150e-03 -1.66116053e+01] [-2.30758716e-02 -1.78318660e-05 9.99733716e-01 -2.62089243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.685898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:239.96, Y:-16.62, Z:-2.62 [[ 9.85094524e-01 1.70595355e-01 2.20454744e-02 2.39955961e+02] [-1.70553559e-01 9.85341171e-01 -3.77627431e-03 -1.66169458e+01] [-2.23665284e-02 -3.99469609e-05 9.99749837e-01 -2.62243434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.98, Y:-16.62, Z:-2.62 [[ 9.84624903e-01 1.73218602e-01 2.25635900e-02 2.39983114e+02] [-1.73175551e-01 9.84883397e-01 -3.86305767e-03 -1.66238165e+01] [-2.28916586e-02 -1.03799343e-04 9.99737946e-01 -2.62247426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.01, Y:-16.63, Z:-2.62 [[ 9.84405290e-01 1.74433620e-01 2.27845854e-02 2.40009228e+02] [-1.74390150e-01 9.84668926e-01 -3.89645417e-03 -1.66286128e+01] [-2.31149458e-02 -1.37717166e-04 9.99732804e-01 -2.62288922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.04, Y:-16.63, Z:-2.62 [[ 9.84214469e-01 1.75586080e-01 2.21677174e-02 2.40036874e+02] [-1.75545318e-01 9.84464068e-01 -3.78680820e-03 -1.66342292e+01] [-2.24882320e-02 -1.64407570e-04 9.99747094e-01 -2.62334007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.06, Y:-16.64, Z:-2.62 [[ 9.84007283e-01 1.76785789e-01 2.18277812e-02 2.40063257e+02] [-1.76746656e-01 9.84249332e-01 -3.72453183e-03 -1.66403541e+01] [-2.21424233e-02 -1.93020889e-04 9.99754808e-01 -2.62499320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.09, Y:-16.65, Z:-2.63 [[ 9.83639656e-01 1.78831312e-01 2.17345071e-02 2.40089645e+02] [-1.78793050e-01 9.83879720e-01 -3.70686592e-03 -1.66497682e+01] [-2.20470445e-02 -2.39758501e-04 9.99756906e-01 -2.62642235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.12, Y:-16.66, Z:-2.63 [[ 9.83550372e-01 1.79241224e-01 2.23885892e-02 2.40116632e+02] [-1.79200823e-01 9.83805121e-01 -3.81431899e-03 -1.66563196e+01] [-2.27096919e-02 -2.60478759e-04 9.99742068e-01 -2.62730254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.14, Y:-16.66, Z:-2.63 [[ 9.83522332e-01 1.79358594e-01 2.26785722e-02 2.40142808e+02] [-1.79317271e-01 9.83783727e-01 -3.85939320e-03 -1.66629158e+01] [-2.30030256e-02 -2.70860271e-04 9.99735359e-01 -2.62762881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.17, Y:-16.67, Z:-2.63 [[ 9.83546731e-01 1.79190806e-01 2.29452266e-02 2.40170146e+02] [-1.79148506e-01 9.83814302e-01 -3.90279200e-03 -1.66700256e+01] [-2.32731866e-02 -2.72024761e-04 9.99729106e-01 -2.62824593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.20, Y:-16.68, Z:-2.63 [[ 9.83637718e-01 1.78651710e-01 2.32466272e-02 2.40196388e+02] [-1.78608244e-01 9.83912341e-01 -3.94968280e-03 -1.66775034e+01] [-2.35782609e-02 -2.66982269e-04 9.99721959e-01 -2.62887901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.22, Y:-16.69, Z:-2.63 [[ 9.83642116e-01 1.78682331e-01 2.28213108e-02 2.40221401e+02] [-1.78640492e-01 9.83906781e-01 -3.87557585e-03 -1.66886324e+01] [-2.31465394e-02 -2.64630551e-04 9.99732048e-01 -2.62940653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.25, Y:-16.69, Z:-2.63 [[ 9.83672306e-01 1.78516018e-01 2.28216247e-02 2.40249479e+02] [-1.78474177e-01 9.83936971e-01 -3.87372634e-03 -1.66932052e+01] [-2.31465625e-02 -2.62593370e-04 9.99732048e-01 -2.63005276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.28, Y:-16.70, Z:-2.63 [[ 9.83540754e-01 1.79305389e-01 2.22971301e-02 2.40275573e+02] [-1.79265738e-01 9.83793423e-01 -3.78090241e-03 -1.67004252e+01] [-2.26137062e-02 -2.78439884e-04 9.99744239e-01 -2.63053618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.30, Y:-16.71, Z:-2.63 [[ 9.83379337e-01 1.80192456e-01 2.22656465e-02 2.40302557e+02] [-1.80153184e-01 9.83631328e-01 -3.77378254e-03 -1.67073690e+01] [-2.25811946e-02 -3.00167339e-04 9.99744967e-01 -2.63103476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.33, Y:-16.71, Z:-2.63 [[ 9.83170954e-01 1.81271543e-01 2.27046828e-02 2.40329992e+02] [-1.81231094e-01 9.83433025e-01 -3.84390469e-03 -1.67142064e+01] [-2.30253254e-02 -3.35579055e-04 9.99734826e-01 -2.63158841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.36, Y:-16.72, Z:-2.63 [[ 9.82952061e-01 1.82384208e-01 2.32647222e-02 2.40357146e+02] [-1.82342157e-01 9.83227268e-01 -3.93418999e-03 -1.67211496e+01] [-2.35920434e-02 -3.75019468e-04 9.99721599e-01 -2.63212364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16589822699999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:240.38, Y:-16.73, Z:-2.63 [[ 9.82740283e-01 1.83449656e-01 2.38277086e-02 2.40384491e+02] [-1.83405970e-01 9.83029019e-01 -4.02476557e-03 -1.67276037e+01] [-2.41616708e-02 -4.14844743e-04 9.99707978e-01 -2.63377510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.41, Y:-16.74, Z:-2.63 [[ 9.82140005e-01 1.86624895e-01 2.39198492e-02 2.40409690e+02] [-1.86581917e-01 9.82431117e-01 -4.03594108e-03 -1.67383867e+01] [-2.42528112e-02 -4.99152127e-04 9.99705733e-01 -2.63336551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.44, Y:-16.75, Z:-2.63 [[ 9.81920462e-01 1.87807581e-01 2.36752953e-02 2.40436875e+02] [-1.87765870e-01 9.82205700e-01 -3.99260503e-03 -1.67459185e+01] [-2.40038515e-02 -5.24991853e-04 9.99711728e-01 -2.63418347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.46, Y:-16.75, Z:-2.63 [[ 9.81727403e-01 1.88831428e-01 2.35371439e-02 2.40463455e+02] [-1.88790605e-01 9.82009362e-01 -3.96477384e-03 -1.67533610e+01] [-2.38623696e-02 -5.51264513e-04 9.99715101e-01 -2.63487384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.49, Y:-16.76, Z:-2.64 [[ 9.81516776e-01 1.90005389e-01 2.28641648e-02 2.40489625e+02] [-1.89967287e-01 9.81782883e-01 -3.84705174e-03 -1.67606968e+01] [-2.31786062e-02 -5.67497535e-04 9.99731179e-01 -2.63535820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.52, Y:-16.77, Z:-2.64 [[ 9.81250902e-01 1.91399592e-01 2.26465092e-02 2.40516940e+02] [-1.91362628e-01 9.81512017e-01 -3.80846642e-03 -1.67684782e+01] [-2.29567599e-02 -5.96634400e-04 9.99736281e-01 -2.63686450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.54, Y:-16.78, Z:-2.64 [[ 9.80985450e-01 1.92807245e-01 2.22016273e-02 2.40543186e+02] [-1.92772177e-01 9.81236455e-01 -3.72928142e-03 -1.67761633e+01] [-2.25040785e-02 -6.21485220e-04 9.99746558e-01 -2.63717074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.57, Y:-16.79, Z:-2.64 [[ 9.80218230e-01 1.96606846e-01 2.27589356e-02 2.40569585e+02] [-1.96571066e-01 9.80482135e-01 -3.82082397e-03 -1.67874380e+01] [-2.30659299e-02 -7.28506925e-04 9.99733681e-01 -2.63674329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.405898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:240.60, Y:-16.79, Z:-2.64 [[ 9.79811428e-01 1.98631286e-01 2.26975181e-02 2.40596209e+02] [-1.98596343e-01 9.80073980e-01 -3.80607159e-03 -1.67949698e+01] [-2.30012518e-02 -7.78411670e-04 9.99735133e-01 -2.63748343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.62, Y:-16.80, Z:-2.64 [[ 9.79235176e-01 2.01426574e-01 2.29304377e-02 2.40622246e+02] [-2.01391784e-01 9.79503242e-01 -3.84046315e-03 -1.68031122e+01] [-2.32340094e-02 -8.57285140e-04 9.99729686e-01 -2.63871847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.65, Y:-16.81, Z:-2.64 [[ 9.78737541e-01 2.03864825e-01 2.26265126e-02 2.40649670e+02] [-2.03831646e-01 9.78998628e-01 -3.78755832e-03 -1.68110472e+01] [-2.29234747e-02 -9.04973805e-04 9.99736813e-01 -2.63940720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.68, Y:-16.82, Z:-2.64 [[ 9.78353045e-01 2.05739778e-01 2.22814626e-02 2.40676515e+02] [-2.05708188e-01 9.78606286e-01 -3.72542336e-03 -1.68186096e+01] [-2.25712471e-02 -9.38700014e-04 9.99744796e-01 -2.64033829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.525898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:240.70, Y:-16.83, Z:-2.64 [[ 9.77729331e-01 2.08770317e-01 2.14548558e-02 2.40701831e+02] [-2.08741848e-01 9.77964214e-01 -3.58298272e-03 -1.68295000e+01] [-2.17301016e-02 -9.75338943e-04 9.99763398e-01 -2.64206303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.73, Y:-16.84, Z:-2.64 [[ 9.77503238e-01 2.09827370e-01 2.14451429e-02 2.40727315e+02] [-2.09799220e-01 9.77737937e-01 -3.57949999e-03 -1.68382517e+01] [-2.17188068e-02 -1.00020143e-03 9.99763619e-01 -2.64240289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.75, Y:-16.85, Z:-2.64 [[ 9.77457846e-01 2.10062694e-01 2.12090456e-02 2.40754574e+02] [-2.10035251e-01 9.77687411e-01 -3.53843067e-03 -1.68466028e+01] [-2.14791092e-02 -9.95980400e-04 9.99768801e-01 -2.64294858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.78, Y:-16.86, Z:-2.64 [[ 9.77460263e-01 2.10021950e-01 2.14991622e-02 2.40781307e+02] [-2.09993834e-01 9.77696146e-01 -3.58262239e-03 -1.68554719e+01] [-2.17720774e-02 -1.01282047e-03 9.99762447e-01 -2.64386117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.81, Y:-16.86, Z:-2.64 [[ 9.77471086e-01 2.09946385e-01 2.17437576e-02 2.40806823e+02] [-2.09917703e-01 9.77712361e-01 -3.61903280e-03 -1.68646018e+01] [-2.20189434e-02 -1.02689972e-03 9.99757026e-01 -2.64490958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.83, Y:-16.87, Z:-2.65 [[ 9.77582268e-01 2.09400860e-01 2.20042974e-02 2.40833799e+02] [-2.09371389e-01 9.77829342e-01 -3.66056057e-03 -1.68737933e+01] [-2.22829722e-02 -1.02857120e-03 9.99751175e-01 -2.64602300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.86, Y:-16.89, Z:-2.65 [[ 9.77759120e-01 2.08618059e-01 2.15779523e-02 2.40859652e+02] [-2.08589616e-01 9.77996685e-01 -3.58559314e-03 -1.68875534e+01] [-2.18511853e-02 -9.95090400e-04 9.99760739e-01 -2.64700049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.89, Y:-16.90, Z:-2.65 [[ 9.77842514e-01 2.08202754e-01 2.18089863e-02 2.40886271e+02] [-2.08173689e-01 9.78085176e-01 -3.61977810e-03 -1.68960900e+01] [-2.20846940e-02 -1.00048423e-03 9.99755603e-01 -2.64763571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.91, Y:-16.90, Z:-2.65 [[ 9.77899937e-01 2.07886666e-01 2.22451426e-02 2.40912127e+02] [-2.07856443e-01 9.78152390e-01 -3.68784905e-03 -1.69042143e+01] [-2.25257941e-02 -1.01744886e-03 9.99745744e-01 -2.64799728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.94, Y:-16.91, Z:-2.65 [[ 9.77870050e-01 2.08035629e-01 2.21662234e-02 2.40939514e+02] [-2.08005752e-01 9.78120715e-01 -3.67058462e-03 -1.69130145e+01] [-2.24448547e-02 -1.02134720e-03 9.99747561e-01 -2.64812873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.97, Y:-16.92, Z:-2.65 [[ 9.77772706e-01 2.08501198e-01 2.20858854e-02 2.40966448e+02] [-2.08471749e-01 9.78021567e-01 -3.65311667e-03 -1.69218226e+01] [-2.23621514e-02 -1.03236538e-03 9.99749403e-01 -2.64946703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.99, Y:-16.93, Z:-2.65 [[ 9.77573664e-01 2.09450105e-01 2.19176733e-02 2.40993230e+02] [-2.09421436e-01 9.77818772e-01 -3.62101952e-03 -1.69307531e+01] [-2.21899353e-02 -1.05021728e-03 9.99753221e-01 -2.65025326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.885898227 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:241.02, Y:-16.94, Z:-2.65 [[ 9.76846050e-01 2.12717336e-01 2.28720326e-02 2.41019105e+02] [-2.12687050e-01 9.77113071e-01 -3.77689967e-03 -1.69415395e+01] [-2.31519740e-02 -1.17513560e-03 9.99731266e-01 -2.65140127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:-16.95, Z:-2.65 [[ 9.76264074e-01 2.15372582e-01 2.28715587e-02 2.41045008e+02] [-2.15343069e-01 9.76531164e-01 -3.77481781e-03 -1.69489012e+01] [-2.31477821e-02 -1.24001263e-03 9.99731285e-01 -2.65096975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.07, Y:-16.95, Z:-2.65 [[ 9.75690462e-01 2.17967497e-01 2.27660192e-02 2.41072547e+02] [-2.17939030e-01 9.75955165e-01 -3.75437626e-03 -1.69548738e+01] [-2.30369460e-02 -1.29849503e-03 9.99733771e-01 -2.65131309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.10, Y:-16.96, Z:-2.65 [[ 9.74984217e-01 2.21136760e-01 2.24568534e-02 2.41100407e+02] [-2.21109931e-01 9.75241865e-01 -3.70188328e-03 -1.69606216e+01] [-2.27194860e-02 -1.35615555e-03 9.99740959e-01 -2.65266553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.13, Y:-16.97, Z:-2.65 [[ 9.74222073e-01 2.24473896e-01 2.24236967e-02 2.41126955e+02] [-2.24448061e-01 9.74479048e-01 -3.69488628e-03 -1.69659289e+01] [-2.26808281e-02 -1.43331548e-03 9.99741729e-01 -2.65393314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.15, Y:-16.97, Z:-2.65 [[ 9.73493783e-01 2.27591828e-01 2.26233330e-02 2.41154779e+02] [-2.27566410e-01 9.73755434e-01 -3.72597382e-03 -1.69705582e+01] [-2.28775946e-02 -1.52109832e-03 9.99737116e-01 -2.65439109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.18, Y:-16.97, Z:-2.66 [[ 9.71949047e-01 2.34119715e-01 2.24278865e-02 2.41182205e+02] [-2.34096496e-01 9.72206356e-01 -3.69223811e-03 -1.69732138e+01] [-2.26689595e-02 -1.66162231e-03 9.99741645e-01 -2.65596367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:-16.98, Z:-2.66 [[ 9.71424452e-01 2.36374895e-01 2.14812444e-02 2.41210246e+02] [-2.36354226e-01 9.71660538e-01 -3.53253720e-03 -1.69756910e+01] [-2.17074806e-02 -1.64558988e-03 9.99763011e-01 -2.65651736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.24, Y:-16.98, Z:-2.66 [[ 9.71086090e-01 2.37826661e-01 2.07433312e-02 2.41237682e+02] [-2.37807800e-01 9.71306255e-01 -3.40720395e-03 -1.69776832e+01] [-2.09584512e-02 -1.62423758e-03 9.99779028e-01 -2.65775432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.26, Y:-16.98, Z:-2.66 [[ 9.71117178e-01 2.37716428e-01 2.05505634e-02 2.41264570e+02] [-2.37697927e-01 9.71333266e-01 -3.37385177e-03 -1.69796434e+01] [-2.07634659e-02 -1.60842091e-03 9.99783122e-01 -2.65858237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:-16.98, Z:-2.66 [[ 9.71442765e-01 2.36287901e-01 2.16097887e-02 2.41292524e+02] [-2.36267130e-01 9.71681671e-01 -3.54599734e-03 -1.69822146e+01] [-2.18357119e-02 -1.66094930e-03 9.99760193e-01 -2.65912164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:-16.99, Z:-2.66 [[ 9.71921117e-01 2.34202785e-01 2.27683728e-02 2.41319488e+02] [-2.34179265e-01 9.72186272e-01 -3.73147509e-03 -1.69852134e+01] [-2.30090213e-02 -1.70518137e-03 9.99733803e-01 -2.65967544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.35, Y:-16.99, Z:-2.66 [[ 9.73366529e-01 2.27837925e-01 2.54456305e-02 2.41347227e+02] [-2.27806443e-01 9.73697516e-01 -4.16790931e-03 -1.69882645e+01] [-2.57259550e-02 -1.73977513e-03 9.99667519e-01 -2.65995674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.275898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:241.37, Y:-16.99, Z:-2.66 [[ 9.74239620e-01 2.24070551e-01 2.54862747e-02 2.41374594e+02] [-2.24037740e-01 9.74571538e-01 -4.17239311e-03 -1.69918387e+01] [-2.57731083e-02 -1.64497669e-03 9.99666465e-01 -2.66126616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.40, Y:-17.00, Z:-2.66 [[ 9.74860577e-01 2.21426492e-01 2.48427981e-02 2.41401399e+02] [-2.21394574e-01 9.75175850e-01 -4.06252948e-03 -1.69968843e+01] [-2.51256484e-02 -1.53966089e-03 9.99683115e-01 -2.66193758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.43, Y:-17.00, Z:-2.66 [[ 9.75389139e-01 2.19174743e-01 2.40511723e-02 2.41429088e+02] [-2.19144218e-01 9.75684563e-01 -3.93010492e-03 -1.70017728e+01] [-2.43277372e-02 -1.43729367e-03 9.99703004e-01 -2.66293365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.365898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:241.46, Y:-17.01, Z:-2.66 [[ 9.75808010e-01 2.17373539e-01 2.33981289e-02 2.41456414e+02] [-2.17344173e-01 9.76087550e-01 -3.82166242e-03 -1.70065631e+01] [-2.36693506e-02 -1.35623818e-03 9.99718922e-01 -2.66369651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.48, Y:-17.01, Z:-2.66 [[ 9.76114264e-01 2.16048931e-01 2.28867550e-02 2.41483925e+02] [-2.16020569e-01 9.76381673e-01 -3.73396081e-03 -1.70124378e+01] [-2.31529264e-02 -1.29923745e-03 9.99731091e-01 -2.66380573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.51, Y:-17.02, Z:-2.66 [[ 9.76588270e-01 2.14027328e-01 2.16253048e-02 2.41509746e+02] [-2.14001543e-01 9.76826956e-01 -3.52672117e-03 -1.70192645e+01] [-2.18789954e-02 -1.18369408e-03 9.99759925e-01 -2.66480973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.54, Y:-17.03, Z:-2.67 [[ 9.76697146e-01 2.13548947e-01 2.14367188e-02 2.41537123e+02] [-2.13523533e-01 9.76931672e-01 -3.49421115e-03 -1.70252429e+01] [-2.16883946e-02 -1.16445787e-03 9.99764101e-01 -2.66512843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.56, Y:-17.03, Z:-2.67 [[ 9.76736438e-01 2.13335665e-01 2.17675416e-02 2.41564458e+02] [-2.13309442e-01 9.76978251e-01 -3.54657329e-03 -1.70312818e+01] [-2.20230253e-02 -1.17915478e-03 9.99756768e-01 -2.66548068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:-17.04, Z:-2.67 [[ 9.76601777e-01 2.13885487e-01 2.24046245e-02 2.41591439e+02] [-2.13857888e-01 9.76857968e-01 -3.64874655e-03 -1.70377704e+01] [-2.26665499e-02 -1.22803331e-03 9.99742327e-01 -2.66584859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.62, Y:-17.04, Z:-2.67 [[ 9.76480074e-01 2.14386025e-01 2.29193763e-02 2.41618610e+02] [-2.14357319e-01 9.76748186e-01 -3.73092523e-03 -1.70441626e+01] [-2.31863174e-02 -1.26976191e-03 9.99730355e-01 -2.66594793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.575898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:241.65, Y:-17.05, Z:-2.67 [[ 9.76308545e-01 2.15093763e-01 2.35859729e-02 2.41645154e+02] [-2.15063614e-01 9.76592502e-01 -3.83754516e-03 -1.70507229e+01] [-2.38593163e-02 -1.32585644e-03 9.99714447e-01 -2.66634938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.605898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:241.67, Y:-17.06, Z:-2.67 [[ 9.75865581e-01 2.16951040e-01 2.48719386e-02 2.41670471e+02] [-2.16918201e-01 9.76181410e-01 -4.04334473e-03 -1.70605746e+01] [-2.51567319e-02 -1.44941522e-03 9.99682469e-01 -2.66783601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.635898227 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.70, Y:-17.07, Z:-2.67 [[ 9.75798072e-01 2.17304584e-01 2.44303194e-02 2.41697887e+02] [-2.17273062e-01 9.76102792e-01 -3.96950819e-03 -1.70681416e+01] [-2.47090953e-02 -1.43461185e-03 9.99693654e-01 -2.66911739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.73, Y:-17.08, Z:-2.67 [[ 9.75865648e-01 2.17107241e-01 2.34666290e-02 2.41725466e+02] [-2.17078138e-01 9.76146790e-01 -3.81132313e-03 -1.70757607e+01] [-2.37343404e-02 -1.37475281e-03 9.99717356e-01 -2.67050475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.695898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.75, Y:-17.08, Z:-2.67 [[ 9.75897563e-01 2.17046210e-01 2.26911891e-02 2.41752839e+02] [-2.17019017e-01 9.76160425e-01 -3.68382900e-03 -1.70842431e+01] [-2.29498019e-02 -1.32937981e-03 9.99735735e-01 -2.67143891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.78, Y:-17.09, Z:-2.67 [[ 9.75932824e-01 2.16869898e-01 2.28598026e-02 2.41779624e+02] [-2.16842291e-01 9.76199601e-01 -3.70950825e-03 -1.70927206e+01] [-2.31202109e-02 -1.33674110e-03 9.99731799e-01 -2.67197455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.81, Y:-17.10, Z:-2.67 [[ 9.75944382e-01 2.16682926e-01 2.41054492e-02 2.41806573e+02] [-2.16652217e-01 9.76241021e-01 -3.90979019e-03 -1.71017569e+01] [-2.43799131e-02 -1.40676123e-03 9.99701776e-01 -2.67243705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.83, Y:-17.12, Z:-2.67 [[ 9.75830181e-01 2.16952930e-01 2.62084725e-02 2.41831880e+02] [-2.16916785e-01 9.76180853e-01 -4.24862938e-03 -1.71157692e+01] [-2.65059616e-02 -1.53911681e-03 9.99647470e-01 -2.67189163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.815898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.86, Y:-17.12, Z:-2.67 [[ 9.75706385e-01 2.17500836e-01 2.62761751e-02 2.41859393e+02] [-2.17464783e-01 9.76058886e-01 -4.25658303e-03 -1.71238447e+01] [-2.65729046e-02 -1.56096748e-03 9.99645659e-01 -2.67351894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.845898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:241.89, Y:-17.13, Z:-2.67 [[ 9.75354446e-01 2.19179456e-01 2.53785390e-02 2.41885616e+02] [-2.19146437e-01 9.75683326e-01 -4.10932820e-03 -1.71328312e+01] [-2.56620976e-02 -1.55356486e-03 9.99669467e-01 -2.67400836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.875898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:241.91, Y:-17.14, Z:-2.67 [[ 9.75366886e-01 2.19124052e-01 2.53788682e-02 2.41913758e+02] [-2.19091067e-01 9.75695769e-01 -4.10729427e-03 -1.71372596e+01] [-2.56620613e-02 -1.55416449e-03 9.99669467e-01 -2.67465518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.905898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:241.94, Y:-17.15, Z:-2.68 [[ 9.74533585e-01 2.23031627e-01 2.32633841e-02 2.41939323e+02] [-2.23005050e-01 9.74810024e-01 -3.76366013e-03 -1.71479531e+01] [-2.35167953e-02 -1.52003893e-03 9.99722286e-01 -2.67630577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.935898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:241.97, Y:-17.16, Z:-2.68 [[ 9.74034093e-01 2.25197558e-01 2.33162205e-02 2.41966738e+02] [-2.25171522e-01 9.74311845e-01 -3.77032203e-03 -1.71552071e+01] [-2.35663371e-02 -1.57772666e-03 9.99721030e-01 -2.67721628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.99, Y:-17.16, Z:-2.68 [[ 9.73550533e-01 2.27270583e-01 2.33974751e-02 2.41994089e+02] [-2.27244998e-01 9.73830277e-01 -3.78182320e-03 -1.71623124e+01] [-2.36446668e-02 -1.63516319e-03 9.99719089e-01 -2.67752210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.995898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.02, Y:-17.17, Z:-2.68 [[ 9.73021619e-01 2.29504111e-01 2.35964320e-02 2.42020310e+02] [-2.29478783e-01 9.73306198e-01 -3.81228248e-03 -1.71690208e+01] [-2.38414880e-02 -1.70544723e-03 9.99714297e-01 -2.67867071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.025898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.05, Y:-17.18, Z:-2.68 [[ 9.72540914e-01 2.31610562e-01 2.28192608e-02 2.42047636e+02] [-2.31587493e-01 9.72807100e-01 -3.68490848e-03 -1.71755337e+01] [-2.30522026e-02 -1.70093113e-03 9.99732816e-01 -2.68020013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.055898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.08, Y:-17.18, Z:-2.68 [[ 9.72106909e-01 2.33585094e-01 2.11225548e-02 2.42075253e+02] [-2.33565820e-01 9.72335016e-01 -3.40955465e-03 -1.71811148e+01] [-2.13346208e-02 -1.61905521e-03 9.99771080e-01 -2.68131017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.085898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.10, Y:-17.19, Z:-2.68 [[ 9.71295531e-01 2.37103574e-01 1.91542871e-02 2.42101077e+02] [-2.37088427e-01 9.71483158e-01 -3.09062798e-03 -1.71879210e+01] [-1.93408663e-02 -1.53934665e-03 9.99811763e-01 -2.68311783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.13, Y:-17.19, Z:-2.68 [[ 9.71015552e-01 2.38187808e-01 1.98838234e-02 2.42128548e+02] [-2.38171748e-01 9.71217760e-01 -3.20654921e-03 -1.71932950e+01] [-2.00752833e-02 -1.62215581e-03 9.99797155e-01 -2.68386458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.16, Y:-17.20, Z:-2.68 [[ 9.70533029e-01 2.40081325e-01 2.06542304e-02 2.42155587e+02] [-2.40064454e-01 9.70751242e-01 -3.32923277e-03 -1.71984646e+01] [-2.08494065e-02 -1.72721618e-03 9.99781136e-01 -2.68415986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.18, Y:-17.20, Z:-2.68 [[ 9.69917080e-01 2.42547050e-01 2.07794506e-02 2.42182653e+02] [-2.42530566e-01 9.70137988e-01 -3.34796247e-03 -1.72024660e+01] [-2.09709728e-02 -1.79240592e-03 9.99778478e-01 -2.68467992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.205898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.21, Y:-17.21, Z:-2.69 [[ 9.69193114e-01 2.45469406e-01 2.02355783e-02 2.42210853e+02] [-2.45454455e-01 9.69402649e-01 -3.25785752e-03 -1.72061985e+01] [-2.04161276e-02 -1.80941978e-03 9.99789932e-01 -2.68526020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.235898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.24, Y:-17.21, Z:-2.69 [[ 9.68464863e-01 2.48348768e-01 1.99674262e-02 2.42238294e+02] [-2.48334845e-01 9.68668921e-01 -3.21331703e-03 -1.72100489e+01] [-2.01398486e-02 -1.84662306e-03 9.99795467e-01 -2.68620645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.27, Y:-17.21, Z:-2.69 [[ 9.67395133e-01 2.52444426e-01 2.04565109e-02 2.42266220e+02] [-2.52430749e-01 9.67609368e-01 -3.29056265e-03 -1.72140144e+01] [-2.06245958e-02 -1.98057808e-03 9.99785329e-01 -2.68704234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.295898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.29, Y:-17.22, Z:-2.69 [[ 9.67235238e-01 2.53019677e-01 2.09054265e-02 2.42293977e+02] [-2.53005558e-01 9.67458986e-01 -3.36129160e-03 -1.72177154e+01] [-2.10756156e-02 -2.03802941e-03 9.99775807e-01 -2.68768266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.32, Y:-17.22, Z:-2.69 [[ 9.67247031e-01 2.52936268e-01 2.13641340e-02 2.42320381e+02] [-2.52921536e-01 9.67480702e-01 -3.43350851e-03 -1.72211404e+01] [-2.15378462e-02 -2.08239868e-03 9.99765865e-01 -2.68831860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.35, Y:-17.22, Z:-2.69 [[ 9.67334585e-01 2.52570333e-01 2.17261932e-02 2.42348404e+02] [-2.52555046e-01 9.67576235e-01 -3.48987294e-03 -1.72247970e+01] [-2.19031865e-02 -2.11118491e-03 9.99757867e-01 -2.68896530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.38, Y:-17.23, Z:-2.69 [[ 9.67427391e-01 2.52195162e-01 2.19509222e-02 2.42375366e+02] [-2.52179495e-01 9.67674057e-01 -3.52442824e-03 -1.72284655e+01] [-2.21301817e-02 -2.12594404e-03 9.99752837e-01 -2.68954762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41589822699999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.40, Y:-17.23, Z:-2.69 [[ 9.67527953e-01 2.51808556e-01 2.19570171e-02 2.42403543e+02] [-2.51792821e-01 9.67774746e-01 -3.52362538e-03 -1.72321333e+01] [-2.21367257e-02 -2.11941323e-03 9.99752706e-01 -2.68997392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:-17.23, Z:-2.69 [[ 9.67528431e-01 2.51758186e-01 2.25066742e-02 2.42431905e+02] [-2.51741676e-01 9.67787732e-01 -3.61025301e-03 -1.72340579e+01] [-2.26905939e-02 -2.17284544e-03 9.99740174e-01 -2.68999778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.475898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.46, Y:-17.24, Z:-2.69 [[ 9.67377070e-01 2.52285094e-01 2.31048920e-02 2.42458403e+02] [-2.52267882e-01 9.67650346e-01 -3.70457537e-03 -1.72367288e+01] [-2.32920659e-02 -2.24490091e-03 9.99726183e-01 -2.69127513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.49, Y:-17.24, Z:-2.69 [[ 9.67187401e-01 2.53008436e-01 2.31357488e-02 2.42486619e+02] [-2.52991426e-01 9.67461416e-01 -3.70767981e-03 -1.72399317e+01] [-2.33210186e-02 -2.26712489e-03 9.99725457e-01 -2.69184263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.535898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.51, Y:-17.24, Z:-2.69 [[ 9.67159875e-01 2.53141421e-01 2.28297478e-02 2.42514524e+02] [-2.53124929e-01 9.67426687e-01 -3.65715304e-03 -1.72429156e+01] [-2.30118842e-02 -2.24172661e-03 9.99732678e-01 -2.69282059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.54, Y:-17.25, Z:-2.69 [[ 9.67264575e-01 2.52821016e-01 2.19266186e-02 2.42541947e+02] [-2.52805753e-01 9.67510684e-01 -3.51102320e-03 -1.72456584e+01] [-2.21018983e-02 -2.14708698e-03 9.99753418e-01 -2.69339963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.595898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:242.57, Y:-17.25, Z:-2.69 [[ 9.67600948e-01 2.51535654e-01 2.18682415e-02 2.42569170e+02] [-2.51520180e-01 9.67845725e-01 -3.50015555e-03 -1.72470801e+01] [-2.20454980e-02 -2.11355022e-03 9.99754734e-01 -2.69496327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.625898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:242.60, Y:-17.25, Z:-2.69 [[ 9.68443180e-01 2.48201676e-01 2.26657378e-02 2.42597249e+02] [-2.48184216e-01 9.68706073e-01 -3.62484294e-03 -1.72473870e+01] [-2.28561299e-02 -2.11482394e-03 9.99736528e-01 -2.69483499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.655898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.63, Y:-17.25, Z:-2.69 [[ 9.68964233e-01 2.46130730e-01 2.29777727e-02 2.42625440e+02] [-2.46112246e-01 9.69234373e-01 -3.67312768e-03 -1.72507295e+01] [-2.31749167e-02 -2.09598191e-03 9.99729228e-01 -2.69415020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.685898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.65, Y:-17.25, Z:-2.70 [[ 9.69512807e-01 2.43956098e-01 2.30290919e-02 2.42653578e+02] [-2.43936960e-01 9.69784110e-01 -3.67972187e-03 -1.72539591e+01] [-2.32309380e-02 -2.05010919e-03 9.99728023e-01 -2.69505156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.68, Y:-17.26, Z:-2.70 [[ 9.70100027e-01 2.41643996e-01 2.26741314e-02 2.42681396e+02] [-2.41624852e-01 9.70362982e-01 -3.62145586e-03 -1.72565263e+01] [-2.28772408e-02 -1.96545920e-03 9.99736350e-01 -2.69578306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.71, Y:-17.26, Z:-2.70 [[ 9.70466364e-01 2.40225850e-01 2.20585122e-02 2.42708369e+02] [-2.40207400e-01 9.70715202e-01 -3.52164786e-03 -1.72588709e+01] [-2.22585239e-02 -1.88097706e-03 9.99750479e-01 -2.69598117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.74, Y:-17.26, Z:-2.70 [[ 9.70778263e-01 2.39083490e-01 2.07038443e-02 2.42737045e+02] [-2.39067011e-01 9.70997451e-01 -3.30380017e-03 -1.72596246e+01] [-2.08932641e-02 -1.74234879e-03 9.99780194e-01 -2.69634167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.805898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.76, Y:-17.26, Z:-2.70 [[ 9.70851021e-01 2.38829220e-01 2.02212538e-02 2.42763763e+02] [-2.38813475e-01 9.71060102e-01 -3.22538939e-03 -1.72624333e+01] [-2.04063700e-02 -1.69773530e-03 9.99790327e-01 -2.69768674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.79, Y:-17.27, Z:-2.70 [[ 9.70927329e-01 2.38598403e-01 1.92593782e-02 2.42790936e+02] [-2.38584104e-01 9.71116985e-01 -3.07042536e-03 -1.72656173e+01] [-1.94357079e-02 -1.61382160e-03 9.99809806e-01 -2.69803131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.865898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.82, Y:-17.27, Z:-2.70 [[ 9.71098887e-01 2.37926309e-01 1.89214783e-02 2.42819064e+02] [-2.37912410e-01 9.71281934e-01 -3.01501788e-03 -1.72687457e+01] [-1.90954421e-02 -1.57377400e-03 9.99816427e-01 -2.69904978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:-17.27, Z:-2.70 [[ 9.71450363e-01 2.36508905e-01 1.86475294e-02 2.42847031e+02] [-2.36495163e-01 9.71628125e-01 -2.97050364e-03 -1.72714802e+01] [-1.88210146e-02 -1.52435367e-03 9.99821707e-01 -2.69931118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.87, Y:-17.27, Z:-2.70 [[ 9.71813859e-01 2.34984674e-01 1.89743875e-02 2.42874328e+02] [-2.34970231e-01 9.71997880e-01 -3.01871940e-03 -1.72748105e+01] [-1.91524172e-02 -1.52478287e-03 9.99815413e-01 -2.69987644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.955898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:242.90, Y:-17.28, Z:-2.70 [[ 9.72625413e-01 2.31381967e-01 2.14986141e-02 2.42902233e+02] [-2.31362596e-01 9.72861586e-01 -3.41822434e-03 -1.72796067e+01] [-2.17060913e-02 -1.64932331e-03 9.99763035e-01 -2.70084907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.985898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.93, Y:-17.29, Z:-2.70 [[ 9.73181257e-01 2.28904539e-01 2.28244096e-02 2.42930098e+02] [-2.28882067e-01 9.73447401e-01 -3.62731699e-03 -1.72855442e+01] [-2.30486715e-02 -1.69406113e-03 9.99732909e-01 -2.70017499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:-17.29, Z:-2.70 [[ 9.73700704e-01 2.26632251e-01 2.33401199e-02 2.42957181e+02] [-2.26608142e-01 9.73978954e-01 -3.70759616e-03 -1.72910698e+01] [-2.35730465e-02 -1.67897221e-03 9.99720707e-01 -2.70038577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.98, Y:-17.30, Z:-2.70 [[ 9.74158174e-01 2.24659746e-01 2.33205853e-02 2.42983393e+02] [-2.24635156e-01 9.74435907e-01 -3.70272019e-03 -1.72961758e+01] [-2.35562679e-02 -1.63158818e-03 9.99721181e-01 -2.70108316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.075898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:243.01, Y:-17.30, Z:-2.70 [[ 9.74352333e-01 2.23915922e-01 2.23425798e-02 2.43010819e+02] [-2.23893199e-01 9.74607236e-01 -3.54555762e-03 -1.73011730e+01] [-2.25691467e-02 -1.54772932e-03 9.99744086e-01 -2.70258001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.04, Y:-17.31, Z:-2.70 [[ 9.74328608e-01 2.24122135e-01 2.12845520e-02 2.43036788e+02] [-2.24101593e-01 9.74559940e-01 -3.37624103e-03 -1.73073935e+01] [-2.14997620e-02 -1.48033377e-03 9.99767757e-01 -2.70243247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.06, Y:-17.31, Z:-2.70 [[ 9.73936017e-01 2.25854818e-01 2.09340952e-02 2.43063241e+02] [-2.25835379e-01 9.74159825e-01 -3.31901476e-03 -1.73144073e+01] [-2.11427700e-02 -1.49515132e-03 9.99775349e-01 -2.70314620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16589822699999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.09, Y:-17.32, Z:-2.70 [[ 9.73702149e-01 2.26850148e-01 2.10507724e-02 2.43090854e+02] [-2.26830779e-01 9.73928476e-01 -3.33488002e-03 -1.73194662e+01] [-2.12584647e-02 -1.52778327e-03 9.99772846e-01 -2.70429117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.12, Y:-17.33, Z:-2.70 [[ 9.73497703e-01 2.27710283e-01 2.12190793e-02 2.43116932e+02] [-2.27690839e-01 9.73727679e-01 -3.35998241e-03 -1.73256173e+01] [-2.14267074e-02 -1.56045481e-03 9.99769204e-01 -2.70449713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.225898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.14, Y:-17.33, Z:-2.71 [[ 9.73310349e-01 2.28518176e-01 2.11283593e-02 2.43144099e+02] [-2.28499127e-01 9.73538375e-01 -3.34380684e-03 -1.73316187e+01] [-2.13333892e-02 -1.57324984e-03 9.99771180e-01 -2.70633275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.17, Y:-17.34, Z:-2.71 [[ 9.73246758e-01 2.28834935e-01 2.06233070e-02 2.43170476e+02] [-2.28816886e-01 9.73464015e-01 -3.26242745e-03 -1.73391501e+01] [-2.08226046e-02 -1.54381395e-03 9.99781994e-01 -2.70582720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.285898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.20, Y:-17.35, Z:-2.71 [[ 9.73369210e-01 2.28352932e-01 2.01821709e-02 2.43196959e+02] [-2.28335579e-01 9.73577260e-01 -3.19093581e-03 -1.73492625e+01] [-2.03775622e-02 -1.50234902e-03 9.99791227e-01 -2.70663600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.22, Y:-17.36, Z:-2.71 [[ 9.73489831e-01 2.27908268e-01 1.93744606e-02 2.43224546e+02] [-2.27892214e-01 9.73681551e-01 -3.06193345e-03 -1.73562784e+01] [-1.95623948e-02 -1.43452765e-03 9.99807609e-01 -2.70767671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.345898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.25, Y:-17.36, Z:-2.71 [[ 9.73416956e-01 2.28285010e-01 1.85845200e-02 2.43250997e+02] [-2.28270329e-01 9.73593364e-01 -2.93588473e-03 -1.73629038e+01] [-1.87639838e-02 -1.38445451e-03 9.99822982e-01 -2.70895640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.28, Y:-17.37, Z:-2.71 [[ 9.73194149e-01 2.29297381e-01 1.77724442e-02 2.43277855e+02] [-2.29284148e-01 9.73355487e-01 -2.80616769e-03 -1.73691919e+01] [-1.79423530e-02 -1.34399374e-03 9.99838120e-01 -2.70999571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.31, Y:-17.38, Z:-2.71 [[ 9.72796465e-01 2.31011737e-01 1.73382769e-02 2.43305625e+02] [-2.30999434e-01 9.72950036e-01 -2.73642361e-03 -1.73751790e+01] [-1.75014231e-02 -1.34314893e-03 9.99845936e-01 -2.71032855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.33, Y:-17.38, Z:-2.71 [[ 9.72250751e-01 2.33258650e-01 1.78572139e-02 2.43333183e+02] [-2.33246000e-01 9.72413682e-01 -2.81701089e-03 -1.73805395e+01] [-1.80216913e-02 -1.42628277e-03 9.99836579e-01 -2.71066937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.36, Y:-17.39, Z:-2.71 [[ 9.70886731e-01 2.38759158e-01 1.93137063e-02 2.43360444e+02] [-2.38745469e-01 9.71077405e-01 -3.04527803e-03 -1.73851984e+01] [-1.94821918e-02 -1.65443984e-03 9.99808835e-01 -2.71030194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.39, Y:-17.39, Z:-2.71 [[ 9.70186594e-01 2.41539880e-01 1.99112882e-02 2.43387019e+02] [-2.41525942e-01 9.70389289e-01 -3.13800515e-03 -1.73891547e+01] [-2.00796542e-02 -1.76464211e-03 9.99796826e-01 -2.71051059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.41, Y:-17.39, Z:-2.71 [[ 9.69455051e-01 2.44414472e-01 2.04565315e-02 2.43414652e+02] [-2.44400432e-01 9.69669040e-01 -3.22209391e-03 -1.73930765e+01] [-2.06235916e-02 -1.87590992e-03 9.99785551e-01 -2.71106790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.555898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.44, Y:-17.40, Z:-2.71 [[ 9.68767802e-01 2.47094321e-01 2.08168564e-02 2.43442877e+02] [-2.47080426e-01 9.68989433e-01 -3.27737472e-03 -1.73964188e+01] [-2.09811346e-02 -1.96842265e-03 9.99777934e-01 -2.71210702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.47, Y:-17.40, Z:-2.71 [[ 9.68273119e-01 2.49056017e-01 2.04515909e-02 2.43470457e+02] [-2.49043067e-01 9.68487064e-01 -3.21848270e-03 -1.73992908e+01] [-2.06086837e-02 -1.97695664e-03 9.99785664e-01 -2.71325468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.50, Y:-17.40, Z:-2.71 [[ 9.67860272e-01 2.50675065e-01 2.02115159e-02 2.43497854e+02] [-2.50662795e-01 9.68069241e-01 -3.17929732e-03 -1.74022511e+01] [-2.03631174e-02 -1.98915951e-03 9.99790671e-01 -2.71488547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.52, Y:-17.40, Z:-2.72 [[ 9.67479708e-01 2.52143516e-01 2.01658615e-02 2.43524438e+02] [-2.52131646e-01 9.67687749e-01 -3.17069409e-03 -1.74040907e+01] [-2.03137271e-02 -2.01686966e-03 9.99791621e-01 -2.71619384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.55, Y:-17.41, Z:-2.72 [[ 9.67578675e-01 2.51711856e-01 2.08002353e-02 2.43552326e+02] [-2.51699167e-01 9.67800003e-01 -3.26861959e-03 -1.74073476e+01] [-2.09532181e-02 -2.07275530e-03 9.99778309e-01 -2.71693514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.705898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:243.58, Y:-17.41, Z:-2.72 [[ 9.67884771e-01 2.50417543e-01 2.21387281e-02 2.43579698e+02] [-2.50402872e-01 9.68135481e-01 -3.47728919e-03 -1.74095673e+01] [-2.23040624e-02 -2.17798584e-03 9.99748861e-01 -2.71869884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.61, Y:-17.41, Z:-2.72 [[ 9.68259492e-01 2.48915645e-01 2.26838563e-02 2.43607434e+02] [-2.48899877e-01 9.68522674e-01 -3.56100600e-03 -1.74133268e+01] [-2.28562193e-02 -2.19803118e-03 9.99736346e-01 -2.71654091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.63, Y:-17.42, Z:-2.72 [[ 9.68667938e-01 2.47267131e-01 2.32678380e-02 2.43634012e+02] [-2.47250110e-01 9.68944814e-01 -3.65098456e-03 -1.74163725e+01] [-2.34480194e-02 -2.21638381e-03 9.99722601e-01 -2.71656356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.66, Y:-17.42, Z:-2.72 [[ 9.68989023e-01 2.46091066e-01 2.23486212e-02 2.43660725e+02] [-2.46075093e-01 9.69244429e-01 -3.50498056e-03 -1.74197155e+01] [-2.25238210e-02 -2.10315135e-03 9.99744094e-01 -2.71696020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.69, Y:-17.42, Z:-2.72 [[ 9.69015693e-01 2.45986003e-01 2.23488938e-02 2.43688889e+02] [-2.45970041e-01 9.69271100e-01 -3.50324176e-03 -1.74239804e+01] [-2.25238853e-02 -2.10246208e-03 9.99744094e-01 -2.71760692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.72, Y:-17.43, Z:-2.72 [[ 9.69334906e-01 2.44996397e-01 1.91469294e-02 2.43716390e+02] [-2.44984526e-01 9.69522349e-01 -2.99942028e-03 -1.74265712e+01] [-1.92982231e-02 -1.78325863e-03 9.99812182e-01 -2.71891840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.74, Y:-17.43, Z:-2.72 [[ 9.69401490e-01 2.44781751e-01 1.85107024e-02 2.43744408e+02] [-2.44770640e-01 9.69576677e-01 -2.89852008e-03 -1.74296048e+01] [-1.86570501e-02 -1.72104678e-03 9.99824461e-01 -2.72047289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.77, Y:-17.43, Z:-2.72 [[ 9.69489529e-01 2.44370023e-01 1.93221476e-02 2.43770881e+02] [-2.44357862e-01 9.69680406e-01 -3.02419424e-03 -1.74325617e+01] [-1.94753303e-02 -1.78959402e-03 9.99808736e-01 -2.72130049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.80, Y:-17.44, Z:-2.72 [[ 9.69546105e-01 2.44051055e-01 2.04800626e-02 2.43798681e+02] [-2.44037360e-01 9.69760539e-01 -3.20362510e-03 -1.74358608e+01] [-2.06426047e-02 -1.89183818e-03 9.99785129e-01 -2.72187277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.83, Y:-17.44, Z:-2.72 [[ 9.69626679e-01 2.43637748e-01 2.15580645e-02 2.43825757e+02] [-2.43622507e-01 9.69864275e-01 -3.37069176e-03 -1.74394611e+01] [-2.17296244e-02 -1.98371706e-03 9.99761916e-01 -2.72180642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.85, Y:-17.44, Z:-2.72 [[ 9.69792333e-01 2.42936832e-01 2.20119674e-02 2.43852940e+02] [-2.42920804e-01 9.70040025e-01 -3.43985297e-03 -1.74436670e+01] [-2.21881564e-02 -2.01122177e-03 9.99751790e-01 -2.72183006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.88, Y:-17.45, Z:-2.72 [[ 9.70517753e-01 2.40163156e-01 2.04193480e-02 2.43879933e+02] [-2.40148779e-01 9.70730853e-01 -3.18969861e-03 -1.74468892e+01] [-2.05877392e-02 -1.80802236e-03 9.99786415e-01 -2.72131027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.91, Y:-17.45, Z:-2.72 [[ 9.70781332e-01 2.39211540e-01 1.90116977e-02 2.43907617e+02] [-2.39198923e-01 9.70966047e-01 -2.96837251e-03 -1.74504009e+01] [-1.91697819e-02 -1.66593700e-03 9.99814855e-01 -2.72193640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.94, Y:-17.45, Z:-2.72 [[ 9.70953443e-01 2.38615281e-01 1.76680092e-02 2.43935094e+02] [-2.38604306e-01 9.71112960e-01 -2.75748186e-03 -1.74540195e+01] [-1.78156100e-02 -1.53827656e-03 9.99840106e-01 -2.72301869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.96, Y:-17.46, Z:-2.72 [[ 9.70972380e-01 2.38567459e-01 1.72685985e-02 2.43963091e+02] [-2.38556987e-01 9.71124764e-01 -2.69399840e-03 -1.74579930e+01] [-1.74126640e-02 -1.50374679e-03 9.99847257e-01 -2.72410345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.99, Y:-17.46, Z:-2.73 [[ 9.70916357e-01 2.38711465e-01 1.83919471e-02 2.43991228e+02] [-2.38699637e-01 9.71089212e-01 -2.86790273e-03 -1.74616799e+01] [-1.85448227e-02 -1.60565743e-03 9.99826741e-01 -2.72542131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:-17.46, Z:-2.73 [[ 9.70795640e-01 2.39088268e-01 1.98148026e-02 2.44018036e+02] [-2.39074646e-01 9.70996280e-01 -3.08834357e-03 -1.74649291e+01] [-1.99784864e-02 -1.73906645e-03 9.99798898e-01 -2.72605534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:-17.47, Z:-2.73 [[ 9.70709394e-01 2.39287975e-01 2.15531156e-02 2.44046180e+02] [-2.39271948e-01 9.70946787e-01 -3.35742115e-03 -1.74665995e+01] [-2.17303189e-02 -1.89797572e-03 9.99762067e-01 -2.72583756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:-17.47, Z:-2.73 [[ 9.70707610e-01 2.39334104e-01 2.11168817e-02 2.44073509e+02] [-2.39318761e-01 9.70935487e-01 -3.28800926e-03 -1.74693604e+01] [-2.12900625e-02 -1.86197033e-03 9.99771607e-01 -2.72551206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.10, Y:-17.47, Z:-2.73 [[ 9.70741388e-01 2.39275283e-01 2.02113204e-02 2.44100910e+02] [-2.39261247e-01 9.70950134e-01 -3.14538757e-03 -1.74724305e+01] [-2.03767977e-02 -1.78242782e-03 9.99790783e-01 -2.72628367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.13, Y:-17.48, Z:-2.73 [[ 9.70810761e-01 2.39082282e-01 1.91344973e-02 2.44127385e+02] [-2.39069688e-01 9.70997850e-01 -2.97658367e-03 -1.74756105e+01] [-1.92912041e-02 -1.68477883e-03 9.99812488e-01 -2.72743958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.335898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.16, Y:-17.48, Z:-2.73 [[ 9.70922663e-01 2.38728615e-01 1.78278074e-02 2.44155244e+02] [-2.38717648e-01 9.71085064e-01 -2.77193131e-03 -1.74783044e+01] [-1.79740568e-02 -1.56448131e-03 9.99837230e-01 -2.72936702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.18, Y:-17.48, Z:-2.73 [[ 9.71051830e-01 2.38251777e-01 1.71590784e-02 2.44181734e+02] [-2.38241563e-01 9.71202268e-01 -2.66687096e-03 -1.74818199e+01] [-1.73003226e-02 -1.49833572e-03 9.99849216e-01 -2.73016585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:-17.48, Z:-2.73 [[ 9.71298777e-01 2.37148433e-01 1.84202618e-02 2.44209858e+02] [-2.37136497e-01 9.71472128e-01 -2.86119419e-03 -1.74842484e+01] [-1.85732987e-02 -1.58904194e-03 9.99826239e-01 -2.73168995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:-17.49, Z:-2.73 [[ 9.71409813e-01 2.36593580e-01 1.96584037e-02 2.44236301e+02] [-2.36579897e-01 9.71607244e-01 -3.05224842e-03 -1.74872064e+01] [-1.98223898e-02 -1.68579906e-03 9.99802096e-01 -2.73206584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.26, Y:-17.49, Z:-2.73 [[ 9.71559746e-01 2.35860381e-01 2.10128786e-02 2.44263973e+02] [-2.35844638e-01 9.71785306e-01 -3.25972064e-03 -1.74900340e+01] [-2.11888456e-02 -1.78876138e-03 9.99773891e-01 -2.73249188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.29, Y:-17.49, Z:-2.73 [[ 9.71731285e-01 2.35093632e-01 2.16631977e-02 2.44291170e+02] [-2.35076743e-01 9.71971008e-01 -3.35911742e-03 -1.74926837e+01] [-2.18457072e-02 -1.82835446e-03 9.99759682e-01 -2.73244683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.32, Y:-17.50, Z:-2.73 [[ 9.71983110e-01 2.34065380e-01 2.14995716e-02 2.44318916e+02] [-2.34048554e-01 9.72219203e-01 -3.33103354e-03 -1.74954028e+01] [-2.16819760e-02 -1.79423530e-03 9.99763308e-01 -2.73239547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.35, Y:-17.50, Z:-2.73 [[ 9.72835649e-01 2.30615368e-01 2.01829691e-02 2.44346495e+02] [-2.30599827e-01 9.73043652e-01 -3.12578596e-03 -1.74966780e+01] [-2.03597643e-02 -1.61331319e-03 9.99791417e-01 -2.73235586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.37, Y:-17.50, Z:-2.73 [[ 9.73437592e-01 2.28061422e-01 2.01802237e-02 2.44373287e+02] [-2.28045370e-01 9.73645495e-01 -3.12385650e-03 -1.74993230e+01] [-2.03608150e-02 -1.56112722e-03 9.99791478e-01 -2.73295236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.605898227 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.40, Y:-17.50, Z:-2.74 [[ 9.74155246e-01 2.24853790e-01 2.15018467e-02 2.44401102e+02] [-2.24834851e-01 9.74391210e-01 -3.32559520e-03 -1.75016319e+01] [-2.16989831e-02 -1.59471849e-03 9.99763277e-01 -2.73546054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.635898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.43, Y:-17.51, Z:-2.74 [[ 9.74908844e-01 2.21425938e-01 2.28757618e-02 2.44428385e+02] [-2.21403603e-01 9.75175850e-01 -3.53634424e-03 -1.75050771e+01] [-2.30909288e-02 -1.61716282e-03 9.99732061e-01 -2.73585167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:-17.51, Z:-2.74 [[ 9.75838188e-01 2.17141684e-01 2.42758945e-02 2.44455072e+02] [-2.17115264e-01 9.76138768e-01 -3.75064822e-03 -1.75093095e+01] [-2.45110638e-02 -1.61064148e-03 9.99698261e-01 -2.73508757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:-17.51, Z:-2.74 [[ 9.76904199e-01 2.12219377e-01 2.49223094e-02 2.44482747e+02] [-2.12189986e-01 9.77220855e-01 -3.84845435e-03 -1.75134036e+01] [-2.51713171e-02 -1.52869328e-03 9.99681983e-01 -2.73530139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.51, Y:-17.52, Z:-2.73 [[ 9.79111032e-01 2.01759469e-01 2.51933179e-02 2.44509969e+02] [-2.01726020e-01 9.79434271e-01 -3.88860667e-03 -1.75177126e+01] [-2.54597622e-02 -1.27477005e-03 9.99675035e-01 -2.73491340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.54, Y:-17.52, Z:-2.74 [[ 9.80057587e-01 1.97129679e-01 2.50402701e-02 2.44537654e+02] [-1.97095170e-01 9.80376749e-01 -3.86326374e-03 -1.75219151e+01] [-2.53104625e-02 -1.14909535e-03 9.99678979e-01 -2.73506578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.56, Y:-17.53, Z:-2.74 [[ 9.80857276e-01 1.93050470e-01 2.55052999e-02 2.44564559e+02] [-1.93013331e-01 9.81188250e-01 -3.93341661e-03 -1.75261106e+01] [-2.57848485e-02 -1.06474258e-03 9.99666948e-01 -2.73602870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.59, Y:-17.53, Z:-2.74 [[ 9.81454385e-01 1.89942606e-01 2.58668973e-02 2.44591668e+02] [-1.89903383e-01 9.81794688e-01 -3.98706103e-03 -1.75307910e+01] [-2.61532951e-02 -9.99092767e-04 9.99657445e-01 -2.73665776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.62, Y:-17.54, Z:-2.74 [[ 9.82083008e-01 1.86557708e-01 2.66305689e-02 2.44618899e+02] [-1.86514945e-01 9.82443557e-01 -4.10282306e-03 -1.75360850e+01] [-2.69284441e-02 -9.37686272e-04 9.99636924e-01 -2.73823388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.65, Y:-17.54, Z:-2.74 [[ 9.82302618e-01 1.85457750e-01 2.62105069e-02 2.44645481e+02] [-1.85415979e-01 9.82651832e-01 -4.03638549e-03 -1.75402552e+01] [-2.65043816e-02 -8.94894763e-04 9.99648297e-01 -2.73916257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.67, Y:-17.55, Z:-2.74 [[ 9.82437535e-01 1.84851053e-01 2.54279098e-02 2.44673361e+02] [-1.84811598e-01 9.82766177e-01 -3.91348506e-03 -1.75451743e+01] [-2.57131015e-02 -8.54618028e-04 9.99668998e-01 -2.74060296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.70, Y:-17.55, Z:-2.74 [[ 9.82639571e-01 1.83934636e-01 2.42388939e-02 2.44700540e+02] [-1.83898546e-01 9.82938157e-01 -3.72889134e-03 -1.75499782e+01] [-2.45112060e-02 -7.93341153e-04 9.99699240e-01 -2.74129483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.73, Y:-17.55, Z:-2.74 [[ 9.82870271e-01 1.82851999e-01 2.30472935e-02 2.44726770e+02] [-1.82819109e-01 9.83140180e-01 -3.54401937e-03 -1.75546233e+01] [-2.33067513e-02 -7.30174380e-04 9.99728094e-01 -2.74277413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.75, Y:-17.56, Z:-2.74 [[ 9.83095199e-01 1.81829949e-01 2.14872011e-02 2.44753165e+02] [-1.81801153e-01 9.83329769e-01 -3.30247930e-03 -1.75594530e+01] [-2.17294941e-02 -6.59746385e-04 9.99763669e-01 -2.74370107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.78, Y:-17.57, Z:-2.75 [[ 9.83389577e-01 1.80371810e-01 2.02719215e-02 2.44781824e+02] [-1.80345902e-01 9.83598321e-01 -3.11412563e-03 -1.75654034e+01] [-2.05011284e-02 -5.93559284e-04 9.99789654e-01 -2.74670086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.81, Y:-17.57, Z:-2.75 [[ 9.83553807e-01 1.79441726e-01 2.05566640e-02 2.44808981e+02] [-1.79414903e-01 9.83768431e-01 -3.15687188e-03 -1.75697192e+01] [-2.07894716e-02 -5.83218521e-04 9.99783705e-01 -2.74766798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.84, Y:-17.57, Z:-2.75 [[ 9.83619143e-01 1.78934929e-01 2.18099076e-02 2.44836529e+02] [-1.78904642e-01 9.83860722e-01 -3.34792114e-03 -1.75740010e+01] [-2.20569715e-02 -6.08814399e-04 9.99756530e-01 -2.74819744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.87, Y:-17.58, Z:-2.75 [[ 9.83793703e-01 1.77773385e-01 2.33788981e-02 2.44865072e+02] [-1.77738291e-01 9.84071253e-01 -3.58727563e-03 -1.75780059e+01] [-2.36442236e-02 -6.26186206e-04 9.99720240e-01 -2.74853803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:-17.58, Z:-2.75 [[ 9.84095858e-01 1.75923414e-01 2.46230722e-02 2.44893137e+02] [-1.75883936e-01 9.84403665e-01 -3.77694996e-03 -1.75825069e+01] [-2.49034965e-02 -6.13922059e-04 9.99689671e-01 -2.74913922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.92, Y:-17.59, Z:-2.75 [[ 9.85223037e-01 1.69574335e-01 2.40855280e-02 2.44919836e+02] [-1.69534692e-01 9.85517299e-01 -3.69336472e-03 -1.75893445e+01] [-2.43630044e-02 -4.44544577e-04 9.99703079e-01 -2.74941840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.95, Y:-17.60, Z:-2.75 [[ 9.85973514e-01 1.65331280e-01 2.28428979e-02 2.44948030e+02] [-1.65294508e-01 9.86238036e-01 -3.50177780e-03 -1.75950833e+01] [-2.31074881e-02 -3.23145399e-04 9.99732934e-01 -2.75012951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.235898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.98, Y:-17.60, Z:-2.75 [[ 9.86725874e-01 1.60840985e-01 2.24104179e-02 2.44976802e+02] [-1.60804458e-01 9.86980310e-01 -3.43438327e-03 -1.76004412e+01] [-2.26710308e-02 -2.14900264e-04 9.99742956e-01 -2.75181027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.00, Y:-17.61, Z:-2.75 [[ 9.87448764e-01 1.56258069e-01 2.29859719e-02 2.45004838e+02] [-1.56218426e-01 9.87716256e-01 -3.52142653e-03 -1.76068037e+01] [-2.32538694e-02 -1.13604079e-04 9.99729586e-01 -2.75212740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.03, Y:-17.61, Z:-2.75 [[ 9.88159301e-01 1.51482650e-01 2.43762841e-02 2.45033769e+02] [-1.51436627e-01 9.88459917e-01 -3.73377889e-03 -1.76135895e+01] [-2.46605825e-02 -1.89391909e-06 9.99695882e-01 -2.75321220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.06, Y:-17.62, Z:-2.75 [[ 9.88874526e-01 1.46528836e-01 2.56217263e-02 2.45062724e+02] [-1.46476342e-01 9.89206391e-01 -3.92393898e-03 -1.76206301e+01] [-2.59201456e-02 1.27306552e-04 9.99664008e-01 -2.75357172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:-17.63, Z:-2.76 [[ 9.89536694e-01 1.41851122e-01 2.63702501e-02 2.45092905e+02] [-1.41793858e-01 9.89887970e-01 -4.03839180e-03 -1.76282946e+01] [-2.66764438e-02 2.56997360e-04 9.99644087e-01 -2.75522779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.12, Y:-17.64, Z:-2.76 [[ 9.90556567e-01 1.34796799e-01 2.50501810e-02 2.45123470e+02] [-1.34742844e-01 9.90873171e-01 -3.83722694e-03 -1.76394895e+01] [-2.53387982e-02 4.25657730e-04 9.99678830e-01 -2.75618192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.15, Y:-17.65, Z:-2.76 [[ 9.90857138e-01 1.32787133e-01 2.38685737e-02 2.45153875e+02] [-1.32737466e-01 9.91144473e-01 -3.66033850e-03 -1.76471280e+01] [-2.41432508e-02 4.58618546e-04 9.99708404e-01 -2.75671404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.19, Y:-17.65, Z:-2.76 [[ 9.90999737e-01 1.31803642e-01 2.33949125e-02 2.45185501e+02] [-1.31755569e-01 9.91275730e-01 -3.59124349e-03 -1.76546724e+01] [-2.36641479e-02 4.76511345e-04 9.99719851e-01 -2.75770721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.21, Y:-17.67, Z:-2.76 [[ 9.90826410e-01 1.30843455e-01 3.38085220e-02 2.45213383e+02] [-1.31625055e-01 9.91054932e-01 2.20219607e-02 -1.76712534e+01] [-3.06246731e-02 -2.62699888e-02 9.99185677e-01 -2.76096399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.25, Y:-17.66, Z:-2.76 [[ 9.91046595e-01 1.32107655e-01 1.93446322e-02 2.45248579e+02] [-1.31491437e-01 9.90855265e-01 -3.02629346e-02 -1.76557946e+01] [-2.31656960e-02 2.74483248e-02 9.99354762e-01 -2.75961510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.28, Y:-17.67, Z:-2.76 [[ 9.90677062e-01 1.34003716e-01 2.45349233e-02 2.45277628e+02] [-1.33951344e-01 9.90980727e-01 -3.77320303e-03 -1.76701355e+01] [-2.48192594e-02 4.51539728e-04 9.99691853e-01 -2.75901380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.31, Y:-17.67, Z:-2.76 [[ 9.90389767e-01 1.36005902e-01 2.51098491e-02 2.45309267e+02] [-1.35951664e-01 9.90707941e-01 -3.86263398e-03 -1.76739961e+01] [-2.54018679e-02 4.11787398e-04 9.99677236e-01 -2.75986170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.34, Y:-17.68, Z:-2.76 [[ 9.90181035e-01 1.37576615e-01 2.47829017e-02 2.45340679e+02] [-1.37524173e-01 9.90491059e-01 -3.81629305e-03 -1.76778454e+01] [-2.50722752e-02 3.70572948e-04 9.99685572e-01 -2.76084037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.37, Y:-17.68, Z:-2.76 [[ 9.90126706e-01 1.38052093e-01 2.43048620e-02 2.45371566e+02] [-1.38001746e-01 9.90424906e-01 -3.74479551e-03 -1.76817744e+01] [-2.45891176e-02 3.53708642e-04 9.99697579e-01 -2.76258850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:-17.69, Z:-2.76 [[ 9.90255071e-01 1.37240827e-01 2.36611551e-02 2.45402177e+02] [-1.37192865e-01 9.90537643e-01 -3.64625766e-03 -1.76859571e+01] [-2.39376802e-02 3.64583485e-04 9.99713386e-01 -2.76450470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:-17.69, Z:-2.77 [[ 9.90253474e-01 1.37252403e-01 2.36608386e-02 2.45432807e+02] [-1.37204396e-01 9.90536038e-01 -3.64831009e-03 -1.76906850e+01] [-2.39376527e-02 3.66380662e-04 9.99713386e-01 -2.76520635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:-17.70, Z:-2.77 [[ 9.90538370e-01 1.35249384e-01 2.32667654e-02 2.45463850e+02] [-1.35202401e-01 9.90811505e-01 -3.58794818e-03 -1.76951010e+01] [-2.35382466e-02 4.08277797e-04 9.99722854e-01 -2.76710229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:-17.70, Z:-2.77 [[ 9.90906863e-01 1.32537584e-01 2.31814126e-02 2.45495270e+02] [-1.32490119e-01 9.91177867e-01 -3.57836015e-03 -1.76995696e+01] [-2.34511703e-02 4.74513505e-04 9.99724871e-01 -2.76912943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.775898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.53, Y:-17.70, Z:-2.77 [[ 9.91667556e-01 1.26557933e-01 2.40530110e-02 2.45527385e+02] [-1.26504971e-01 9.91959009e-01 -3.71705260e-03 -1.77029953e+01] [-2.43300234e-02 6.43255005e-04 9.99703774e-01 -2.77121230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:-17.71, Z:-2.77 [[ 9.91960124e-01 1.24139010e-01 2.45889999e-02 2.45559281e+02] [-1.24082814e-01 9.92264574e-01 -3.80405830e-03 -1.77083486e+01] [-2.48710255e-02 7.22401835e-04 9.99690407e-01 -2.76986949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:-17.71, Z:-2.77 [[ 9.92242935e-01 1.21830698e-01 2.47232569e-02 2.45591460e+02] [-1.21773066e-01 9.92550583e-01 -3.82900074e-03 -1.77133339e+01] [-2.50055729e-02 7.88672129e-04 9.99687001e-01 -2.77042805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.62, Y:-17.72, Z:-2.77 [[ 9.92488981e-01 1.19890750e-01 2.43275822e-02 2.45624118e+02] [-1.19834255e-01 9.92786745e-01 -3.77225320e-03 -1.77178509e+01] [-2.46043595e-02 8.28642029e-04 9.99696923e-01 -2.77134582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:-17.72, Z:-2.77 [[ 9.92638993e-01 1.18840880e-01 2.33382769e-02 2.45655412e+02] [-1.18788497e-01 9.92912970e-01 -3.62310124e-03 -1.77218801e+01] [-2.36034504e-02 8.24112725e-04 9.99721060e-01 -2.77186277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:-17.73, Z:-2.77 [[ 9.92757661e-01 1.17967062e-01 2.27155995e-02 2.45687447e+02] [-1.17917119e-01 9.93017165e-01 -3.53035016e-03 -1.77255237e+01] [-2.29734453e-02 8.26224109e-04 9.99735734e-01 -2.77283467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:-17.73, Z:-2.77 [[ 9.92778191e-01 1.17689614e-01 2.32511826e-02 2.45719268e+02] [-1.17637114e-01 9.93050060e-01 -3.61775457e-03 -1.77277756e+01] [-2.35153604e-02 8.56425827e-04 9.99723109e-01 -2.77442024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.75, Y:-17.73, Z:-2.77 [[ 9.92665817e-01 1.18453362e-01 2.41532037e-02 2.45751336e+02] [-1.18396834e-01 9.92959231e-01 -3.76221854e-03 -1.77308919e+01] [-2.44287940e-02 8.74962891e-04 9.99701190e-01 -2.77460915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:-17.73, Z:-2.78 [[ 9.92480373e-01 1.19841093e-01 2.49162912e-02 2.45783879e+02] [-1.19781266e-01 9.92792704e-01 -3.88528209e-03 -1.77331336e+01] [-2.52023286e-02 8.71561307e-04 9.99681991e-01 -2.77536420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.81, Y:-17.73, Z:-2.78 [[ 9.92286944e-01 1.21386677e-01 2.51375272e-02 2.45814685e+02] [-1.21326180e-01 9.92604938e-01 -3.92362617e-03 -1.77343554e+01] [-2.54279096e-02 8.43522864e-04 9.99676303e-01 -2.77529596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:-17.73, Z:-2.77 [[ 9.92147268e-01 1.22562805e-01 2.49430958e-02 2.45845987e+02] [-1.22503579e-01 9.92460430e-01 -3.89460706e-03 -1.77346749e+01] [-2.52323695e-02 8.08405260e-04 9.99681286e-01 -2.77485725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.88, Y:-17.73, Z:-2.78 [[ 9.91893728e-01 1.24698846e-01 2.44342201e-02 2.45876215e+02] [-1.24642646e-01 9.92194362e-01 -3.81568809e-03 -1.77289378e+01] [-2.47193073e-02 7.39211241e-04 9.99694158e-01 -2.77633419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.91, Y:-17.73, Z:-2.78 [[ 9.91848190e-01 1.25142740e-01 2.40096435e-02 2.45905767e+02] [-1.25088599e-01 9.92138490e-01 -3.74968876e-03 -1.77285250e+01] [-2.42901378e-02 7.15789355e-04 9.99704695e-01 -2.77667890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.94, Y:-17.73, Z:-2.78 [[ 9.91912828e-01 1.24656240e-01 2.38697021e-02 2.45936046e+02] [-1.24602583e-01 9.92199727e-01 -3.72802900e-03 -1.77273691e+01] [-2.41482340e-02 7.23653252e-04 9.99708127e-01 -2.77797213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.97, Y:-17.73, Z:-2.78 [[ 9.92031413e-01 1.23731040e-01 2.37550986e-02 2.45966227e+02] [-1.23677645e-01 9.92315514e-01 -3.70958936e-03 -1.77262120e+01] [-2.40315442e-02 7.42054523e-04 9.99710925e-01 -2.77885975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.00, Y:-17.72, Z:-2.78 [[ 9.92219543e-01 1.22121451e-01 2.42225162e-02 2.45996246e+02] [-1.22065468e-01 9.92514845e-01 -3.78201397e-03 -1.77246753e+01] [-2.45030719e-02 7.95855388e-04 9.99699438e-01 -2.77985342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.03, Y:-17.72, Z:-2.78 [[ 9.92566931e-01 1.19154461e-01 2.47608819e-02 2.46026230e+02] [-1.19095055e-01 9.92875333e-01 -3.86545720e-03 -1.77166826e+01] [-2.50450553e-02 8.87826395e-04 9.99685929e-01 -2.78087501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.06, Y:-17.71, Z:-2.78 [[ 9.92796915e-01 1.17289591e-01 2.44425315e-02 2.46055618e+02] [-1.17231159e-01 9.93097327e-01 -3.81489551e-03 -1.77149585e+01] [-2.47212602e-02 9.21990189e-04 9.99693958e-01 -2.78180682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.08, Y:-17.71, Z:-2.78 [[ 9.93051384e-01 1.15254093e-01 2.37790570e-02 2.46084806e+02] [-1.15198235e-01 9.93335593e-01 -3.71026230e-03 -1.77137488e+01] [-2.40482066e-02 9.45175714e-04 9.99710353e-01 -2.78305373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:-17.71, Z:-2.78 [[ 9.93359879e-01 1.12718537e-01 2.30365612e-02 2.46114526e+02] [-1.12665450e-01 9.93626480e-01 -3.59361302e-03 -1.77129117e+01] [-2.32948041e-02 9.74326440e-04 9.99728164e-01 -2.78417187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:-17.71, Z:-2.79 [[ 9.94016638e-01 1.06805497e-01 2.28803385e-02 2.46143913e+02] [-1.06751590e-01 9.94279320e-01 -3.56817469e-03 -1.77069840e+01] [-2.31305481e-02 1.10431250e-03 9.99731843e-01 -2.78555042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:-17.71, Z:-2.79 [[ 9.94219980e-01 1.04389257e-01 2.50901366e-02 2.46171714e+02] [-1.04432563e-01 9.94531882e-01 4.18333852e-04 -1.77083977e+01] [-2.49092712e-02 -3.03614314e-03 9.99685105e-01 -2.78709932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:-17.70, Z:-2.79 [[ 9.94569803e-01 1.01514974e-01 2.29263523e-02 2.46203267e+02] [-1.01364327e-01 9.94820012e-01 -7.64313089e-03 -1.77048995e+01] [-2.35834863e-02 5.27771291e-03 9.99707940e-01 -2.78713348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.23, Y:-17.71, Z:-2.79 [[ 9.94769558e-01 9.94270755e-02 2.34047823e-02 2.46232587e+02] [-9.93685317e-02 9.95043990e-01 -3.65410736e-03 -1.77066439e+01] [-2.36521051e-02 1.30929591e-03 9.99719392e-01 -2.78782472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.26, Y:-17.71, Z:-2.79 [[ 9.94956367e-01 9.76215528e-02 2.30620981e-02 2.46260389e+02] [-9.75642535e-02 9.95222719e-01 -3.59949837e-03 -1.77072421e+01] [-2.33033126e-02 1.33130743e-03 9.99727555e-01 -2.78881802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:-17.71, Z:-2.79 [[ 9.95114406e-01 9.60298168e-02 2.29258060e-02 2.46289241e+02] [-9.59728036e-02 9.95377530e-01 -3.57685844e-03 -1.77085328e+01] [-2.31633173e-02 1.35912949e-03 9.99730771e-01 -2.78996529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.32, Y:-17.71, Z:-2.79 [[ 9.95360101e-01 9.34580244e-02 2.28881401e-02 2.46317621e+02] [-9.34005458e-02 9.95622214e-01 -3.56990551e-03 -1.77071992e+01] [-2.31215771e-02 1.41557673e-03 9.99731658e-01 -2.79121577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.585898227 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:246.35, Y:-17.71, Z:-2.79 [[ 9.95471901e-01 9.22384466e-02 2.29730953e-02 2.46346667e+02] [-9.21802482e-02 9.95735895e-01 -3.58181192e-03 -1.77084511e+01] [-2.32055164e-02 1.44792750e-03 9.99729667e-01 -2.79253391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.38, Y:-17.71, Z:-2.79 [[ 9.95521083e-01 9.15616575e-02 2.35422143e-02 2.46375847e+02] [-9.15003774e-02 9.95798281e-01 -3.66942340e-03 -1.77115827e+01] [-2.37792750e-02 1.49886686e-03 9.99716109e-01 -2.79203564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.40, Y:-17.71, Z:-2.79 [[ 9.95629087e-01 9.02626456e-02 2.39870130e-02 2.46403326e+02] [-9.01986802e-02 9.95916778e-01 -3.73758700e-03 -1.77138640e+01] [-2.42264331e-02 1.55765342e-03 9.99705283e-01 -2.79207707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.43, Y:-17.72, Z:-2.79 [[ 9.95774014e-01 8.86348585e-02 2.40411030e-02 2.46431909e+02] [-8.85701657e-02 9.96062901e-01 -3.74462548e-03 -1.77166279e+01] [-2.42783551e-02 1.59947628e-03 9.99703958e-01 -2.79245190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.46, Y:-17.72, Z:-2.79 [[ 9.95952028e-01 8.67296430e-02 2.36120180e-02 2.46459685e+02] [-8.66667313e-02 9.96230575e-01 -3.67674644e-03 -1.77194332e+01] [-2.38418971e-02 1.61548666e-03 9.99714436e-01 -2.79343090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.735898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.49, Y:-17.72, Z:-2.79 [[ 9.96255808e-01 8.38099494e-02 2.12192793e-02 2.46488588e+02] [-8.37585111e-02 9.96480608e-01 -3.30294977e-03 -1.77196391e+01] [-2.14214204e-02 1.51328765e-03 9.99769390e-01 -2.79391523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:-17.72, Z:-2.79 [[ 9.96283374e-01 8.36783064e-02 2.04298521e-02 2.46517654e+02] [-8.36306148e-02 9.96491753e-01 -3.17922318e-03 -1.77221032e+01] [-2.06242111e-02 1.45884610e-03 9.99786234e-01 -2.79343975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.55, Y:-17.72, Z:-2.79 [[ 9.96258108e-01 8.40967218e-02 1.99379802e-02 2.46545830e+02] [-8.40514001e-02 9.96456593e-01 -3.10181729e-03 -1.77232169e+01] [-2.01281844e-02 1.41439548e-03 9.99796407e-01 -2.79374912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:-17.72, Z:-2.79 [[ 9.96191534e-01 8.48594906e-02 2.00323559e-02 2.46575262e+02] [-8.48139163e-02 9.96391938e-01 -3.11530839e-03 -1.77243016e+01] [-2.02244414e-02 1.40442129e-03 9.99794479e-01 -2.79423017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.60, Y:-17.73, Z:-2.79 [[ 9.96120062e-01 8.56239675e-02 2.03311983e-02 2.46604016e+02] [-8.55771996e-02 9.96326529e-01 -3.16090097e-03 -1.77253746e+01] [-2.05271611e-02 1.40874986e-03 9.99788303e-01 -2.79461947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.63, Y:-17.73, Z:-2.80 [[ 9.96037829e-01 8.64783851e-02 2.07396100e-02 2.46632509e+02] [-8.64299243e-02 9.96252718e-01 -3.22340042e-03 -1.77273530e+01] [-2.09406473e-02 1.41810584e-03 9.99779715e-01 -2.79531914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.66, Y:-17.73, Z:-2.80 [[ 9.95863619e-01 8.80887029e-02 2.22717940e-02 2.46660888e+02] [-8.80332416e-02 9.96111527e-01 -3.46042095e-03 -1.77277974e+01] [-2.24900147e-02 1.48544911e-03 9.99745964e-01 -2.79520300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.69, Y:-17.73, Z:-2.80 [[ 9.95781757e-01 8.87942585e-02 2.31143066e-02 2.46688786e+02] [-8.87347450e-02 9.96048823e-01 -3.58982615e-03 -1.77302808e+01] [-2.33417339e-02 1.52364129e-03 9.99726384e-01 -2.79512547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.72, Y:-17.73, Z:-2.80 [[ 9.95680875e-01 8.97596511e-02 2.37234200e-02 2.46717782e+02] [-8.96972635e-02 9.95962266e-01 -3.68309933e-03 -1.77329402e+01] [-2.39582249e-02 1.53926571e-03 9.99711776e-01 -2.79605021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.74, Y:-17.74, Z:-2.80 [[ 9.95417084e-01 9.03740809e-02 3.12626823e-02 2.46744820e+02] [-9.08927660e-02 9.95738721e-01 1.55853662e-02 -1.77430763e+01] [-2.97209502e-02 -1.83554914e-02 9.99389684e-01 -2.80097226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.78, Y:-17.73, Z:-2.79 [[ 9.95544043e-01 9.20912127e-02 2.02797119e-02 2.46776060e+02] [-9.16083936e-02 9.95516017e-01 -2.35746250e-02 -1.77297216e+01] [-2.23597939e-02 2.16117857e-02 9.99516368e-01 -2.79347077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.80, Y:-17.74, Z:-2.80 [[ 9.95439225e-01 9.24785224e-02 2.34194961e-02 2.46803965e+02] [-9.24185028e-02 9.95713618e-01 -3.63463866e-03 -1.77404655e+01] [-2.36552372e-02 1.45366713e-03 9.99719119e-01 -2.79724132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.83, Y:-17.74, Z:-2.80 [[ 9.95432308e-01 9.24744889e-02 2.37273851e-02 2.46833213e+02] [-9.24129054e-02 9.95713966e-01 -3.68133271e-03 -1.77421632e+01] [-2.39661181e-02 1.47180092e-03 9.99711688e-01 -2.79758643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.86, Y:-17.75, Z:-2.80 [[ 9.95491383e-01 9.19351412e-02 2.33417181e-02 2.46861921e+02] [-9.18754207e-02 9.95763928e-01 -3.62045738e-03 -1.77451937e+01] [-2.35756881e-02 1.45960396e-03 9.99720989e-01 -2.79871752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.89, Y:-17.75, Z:-2.80 [[ 9.95602706e-01 9.09318381e-02 2.25089354e-02 2.46890279e+02] [-9.08760708e-02 9.95856093e-01 -3.49030377e-03 -1.77478160e+01] [-2.27330402e-02 1.42943227e-03 9.99740549e-01 -2.79898630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.92, Y:-17.75, Z:-2.80 [[ 9.95713039e-01 8.98862518e-02 2.18175628e-02 2.46918386e+02] [-8.98336303e-02 9.95951043e-01 -3.38210362e-03 -1.77502042e+01] [-2.20332291e-02 1.40765380e-03 9.99756248e-01 -2.79955763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:-17.75, Z:-2.80 [[ 9.95799733e-01 8.86045038e-02 2.30680314e-02 2.46946331e+02] [-8.86405709e-02 9.96063529e-01 5.43701739e-04 -1.77544192e+01] [-2.29290503e-02 -2.58618152e-03 9.99733750e-01 -2.80095266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.97, Y:-17.75, Z:-2.80 [[ 9.95925149e-01 8.80032828e-02 1.97108948e-02 2.46973745e+02] [-8.78740727e-02 9.96104623e-01 -7.32984977e-03 -1.77520092e+01] [-2.02791643e-02 5.56790512e-03 9.99778853e-01 -2.80032280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.275898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:247.00, Y:-17.76, Z:-2.80 [[ 9.96004625e-01 8.70364131e-02 1.99862369e-02 2.47002481e+02] [-8.69917445e-02 9.96204224e-01 -3.09525618e-03 -1.77557477e+01] [-2.01797736e-02 1.34425186e-03 9.99795464e-01 -2.80294052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:-17.76, Z:-2.80 [[ 9.96035630e-01 8.66524997e-02 2.01089056e-02 2.47030765e+02] [-8.66072226e-02 9.96237671e-01 -3.11329668e-03 -1.77593837e+01] [-2.03030242e-02 1.35937796e-03 9.99792948e-01 -2.80387833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:-17.76, Z:-2.81 [[ 9.96148478e-01 8.52742535e-02 2.04086005e-02 2.47058198e+02] [-8.52273482e-02 9.96356523e-01 -3.15874200e-03 -1.77624017e+01] [-2.06036016e-02 1.40720513e-03 9.99786733e-01 -2.80508520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.09, Y:-17.77, Z:-2.81 [[ 9.96321280e-01 8.31506976e-02 2.07332876e-02 2.47085493e+02] [-8.31018561e-02 9.96535896e-01 -3.20775895e-03 -1.77654575e+01] [-2.09281927e-02 1.47298382e-03 9.99779896e-01 -2.80649946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.11, Y:-17.77, Z:-2.81 [[ 9.96538470e-01 8.05315456e-02 2.06336690e-02 2.47114455e+02] [-8.04826391e-02 9.96750902e-01 -3.19113280e-03 -1.77691948e+01] [-2.08236150e-02 1.51943446e-03 9.99782010e-01 -2.80775616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.14, Y:-17.77, Z:-2.81 [[ 9.96964918e-01 7.49204341e-02 2.11632172e-02 2.47142899e+02] [-7.48677488e-02 9.97188104e-01 -3.27202537e-03 -1.77729914e+01] [-2.13488500e-02 1.67765208e-03 9.99770680e-01 -2.80845625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.17, Y:-17.78, Z:-2.81 [[ 9.97136815e-01 7.26487384e-02 2.09841230e-02 2.47169997e+02] [-7.25964614e-02 9.97356122e-01 -3.24339190e-03 -1.77765100e+01] [-2.11642719e-02 1.71073239e-03 9.99774548e-01 -2.80891635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.20, Y:-17.79, Z:-2.81 [[ 9.97145079e-01 7.05474991e-02 2.69210198e-02 2.47196861e+02] [-7.08939821e-02 9.97409985e-01 1.21394140e-02 -1.77862154e+01] [-2.59948887e-02 -1.40132952e-02 9.99563852e-01 -2.81343202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.23, Y:-17.78, Z:-2.81 [[ 9.97389896e-01 7.01257948e-02 1.71979115e-02 2.47227576e+02] [-6.97978509e-02 9.97380560e-01 -1.89809808e-02 -1.77768523e+01] [-1.84839190e-02 1.77310612e-02 9.99671923e-01 -2.80814351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.25, Y:-17.79, Z:-2.81 [[ 9.97426910e-01 6.91320559e-02 1.89820539e-02 2.47253758e+02] [-6.90887035e-02 9.97606215e-01 -2.93101028e-03 -1.77862048e+01] [-1.91392417e-02 1.61202303e-03 9.99815528e-01 -2.81207283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:-17.79, Z:-2.81 [[ 9.97466260e-01 6.86795407e-02 1.85521392e-02 2.47282458e+02] [-6.86380736e-02 9.97637517e-01 -2.86349030e-03 -1.77893988e+01] [-1.87049732e-02 1.58285186e-03 9.99823794e-01 -2.81364704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.31, Y:-17.79, Z:-2.81 [[ 9.97517981e-01 6.77724734e-02 1.90989619e-02 2.47311273e+02] [-6.77283728e-02 9.97699444e-01 -2.94725175e-03 -1.77913087e+01] [-1.92547662e-02 1.64639501e-03 9.99813254e-01 -2.81419213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.34, Y:-17.80, Z:-2.81 [[ 9.97520304e-01 6.77382269e-02 1.90991038e-02 2.47340259e+02] [-6.76941375e-02 9.97701771e-01 -2.94633210e-03 -1.77957048e+01] [-1.92547890e-02 1.64612874e-03 9.99813254e-01 -2.81485941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.37, Y:-17.80, Z:-2.82 [[ 9.97521385e-01 6.73847963e-02 2.02577294e-02 2.47367655e+02] [-6.73351365e-02 9.97725522e-01 -3.12435982e-03 -1.77984381e+01] [-2.04221880e-02 1.75255876e-03 9.99789909e-01 -2.81542033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.40, Y:-17.80, Z:-2.82 [[ 9.97508097e-01 6.73927576e-02 2.08761246e-02 2.47395386e+02] [-6.73400473e-02 9.97724892e-01 -3.21847693e-03 -1.78008899e+01] [-2.10455311e-02 1.80465758e-03 9.99776890e-01 -2.81541019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.42, Y:-17.80, Z:-2.82 [[ 9.97447615e-01 6.80376563e-02 2.16594845e-02 2.47423771e+02] [-6.79810943e-02 9.97681026e-01 -3.33795132e-03 -1.78035974e+01] [-2.18363631e-02 1.85699612e-03 9.99759834e-01 -2.81581901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.45, Y:-17.81, Z:-2.82 [[ 9.97347349e-01 6.93323605e-02 2.21650439e-02 2.47452520e+02] [-6.92734676e-02 9.97591863e-01 -3.41481163e-03 -1.78062887e+01] [-2.23484244e-02 1.87030387e-03 9.99748493e-01 -2.81635438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.48, Y:-17.80, Z:-2.82 [[ 9.97038943e-01 7.34128625e-02 2.28888009e-02 2.47481134e+02] [-7.33511527e-02 9.97299945e-01 -3.52521760e-03 -1.78041439e+01] [-2.30857962e-02 1.83585930e-03 9.99731802e-01 -2.81735497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.51, Y:-17.80, Z:-2.82 [[ 9.96862820e-01 7.57799608e-02 2.28454728e-02 2.47510628e+02] [-7.57191322e-02 9.97122982e-01 -3.51723447e-03 -1.78044536e+01] [-2.30462819e-02 1.77636090e-03 9.99732821e-01 -2.81825896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.54, Y:-17.80, Z:-2.82 [[ 9.96715078e-01 7.77000825e-02 2.28418677e-02 2.47539607e+02] [-7.76397982e-02 9.96975277e-01 -3.51563661e-03 -1.78043318e+01] [-2.30459427e-02 1.73065002e-03 9.99732909e-01 -2.81927739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.57, Y:-17.80, Z:-2.82 [[ 9.96619334e-01 7.89415748e-02 2.27625038e-02 2.47569236e+02] [-7.88820549e-02 9.96877803e-01 -3.50236601e-03 -1.78040637e+01] [-2.29679171e-02 1.69497260e-03 9.99734766e-01 -2.81961800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.60, Y:-17.80, Z:-2.82 [[ 9.96543228e-01 7.97736641e-02 2.31896046e-02 2.47597793e+02] [-7.97121392e-02 9.96811543e-01 -3.56697259e-03 -1.78039911e+01] [-2.34002160e-02 1.70614938e-03 9.99724722e-01 -2.82012474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.63, Y:-17.80, Z:-2.82 [[ 9.96506540e-01 8.00243417e-02 2.38918490e-02 2.47626577e+02] [-7.99591395e-02 9.96791373e-01 -3.67355351e-03 -1.78032879e+01] [-2.41091627e-02 1.75034840e-03 9.99707800e-01 -2.82058473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.66, Y:-17.80, Z:-2.82 [[ 9.96524822e-01 7.94239347e-02 2.51021629e-02 2.47655910e+02] [-7.93518130e-02 9.96839208e-01 -3.85787175e-03 -1.77976556e+01] [-2.53292275e-02 1.85256283e-03 9.99677447e-01 -2.82145237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.69, Y:-17.80, Z:-2.82 [[ 9.96585145e-01 7.87303137e-02 2.48915039e-02 2.47685361e+02] [-7.86592241e-02 9.96894229e-01 -3.82384092e-03 -1.77964348e+01] [-2.51152488e-02 1.85283667e-03 9.99682845e-01 -2.82166087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.71, Y:-17.79, Z:-2.82 [[ 9.96645766e-01 7.79034370e-02 2.50653287e-02 2.47713935e+02] [-7.78311217e-02 9.96959126e-01 -3.84932024e-03 -1.77947294e+01] [-2.52889834e-02 1.88554608e-03 9.99678404e-01 -2.82206427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.74, Y:-17.79, Z:-2.82 [[ 9.96672590e-01 7.74168331e-02 2.55025783e-02 2.47742845e+02] [-7.73418536e-02 9.96996946e-01 -3.91492213e-03 -1.77930473e+01] [-2.57290736e-02 1.92947890e-03 9.99667091e-01 -2.82218472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.77, Y:-17.79, Z:-2.82 [[ 9.96693792e-01 7.71604058e-02 2.54510820e-02 2.47771086e+02] [-7.70856890e-02 9.97016823e-01 -3.90533128e-03 -1.77906938e+01] [-2.56764939e-02 1.93050525e-03 9.99668440e-01 -2.82236213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.80, Y:-17.79, Z:-2.82 [[ 9.96651715e-01 7.77433494e-02 2.53245240e-02 2.47798347e+02] [-7.76696046e-02 9.96971587e-01 -3.88421337e-03 -1.77881015e+01] [-2.55498027e-02 1.90426214e-03 9.99671737e-01 -2.82299396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.83, Y:-17.78, Z:-2.82 [[ 9.96518632e-01 7.97613277e-02 2.42641042e-02 2.47828196e+02] [-7.96942691e-02 9.96812413e-01 -3.71979620e-03 -1.77775915e+01] [-2.44834562e-02 1.77313617e-03 9.99698663e-01 -2.82325416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.86, Y:-17.77, Z:-2.82 [[ 9.96426478e-01 8.08114841e-02 2.45718865e-02 2.47856727e+02] [-8.07430713e-02 9.96727836e-01 -3.76533866e-03 -1.77741183e+01] [-2.47957659e-02 1.76787356e-03 9.99690975e-01 -2.82395814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.89, Y:-17.77, Z:-2.82 [[ 9.96351694e-01 8.14726917e-02 2.54067471e-02 2.47885895e+02] [-8.13998084e-02 9.96673932e-01 -3.89152954e-03 -1.77707376e+01] [-2.56392960e-02 1.80922770e-03 9.99669622e-01 -2.82430920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.235898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:247.91, Y:-17.77, Z:-2.83 [[ 9.96349087e-01 8.12864051e-02 2.60962974e-02 2.47914683e+02] [-8.12094958e-02 9.96689046e-01 -3.99530119e-03 -1.77671971e+01] [-2.63346574e-02 1.86144754e-03 9.99651450e-01 -2.82503384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.94, Y:-17.76, Z:-2.83 [[ 9.96379411e-01 8.06315573e-02 2.69559135e-02 2.47942890e+02] [-8.05493099e-02 9.96742090e-01 -4.12499325e-03 -1.77648291e+01] [-2.72006982e-02 1.93877811e-03 9.99628112e-01 -2.82526460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.97, Y:-17.76, Z:-2.83 [[ 9.96503103e-01 7.90354972e-02 2.71100619e-02 2.47971993e+02] [-7.89517699e-02 9.96869812e-01 -4.14670911e-03 -1.77624278e+01] [-2.73529395e-02 1.99182113e-03 9.99623854e-01 -2.82612641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.00, Y:-17.75, Z:-2.83 [[ 9.96853115e-01 7.50596738e-02 2.54933705e-02 2.47999981e+02] [-7.49843881e-02 9.97177090e-01 -3.89772871e-03 -1.77545419e+01] [-2.57139672e-02 1.97385822e-03 9.99667393e-01 -2.82715088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.03, Y:-17.75, Z:-2.83 [[ 9.97053608e-01 7.26773662e-02 2.45378014e-02 2.48026960e+02] [-7.26069497e-02 9.97353583e-01 -3.74974346e-03 -1.77532221e+01] [-2.47453856e-02 1.95708033e-03 9.99691870e-01 -2.82827224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.385898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:248.05, Y:-17.75, Z:-2.83 [[ 9.97238491e-01 7.04821901e-02 2.34019696e-02 2.48054980e+02] [-7.04175834e-02 9.97511197e-01 -3.57444753e-03 -1.77518906e+01] [-2.35956616e-02 1.91666651e-03 9.99719746e-01 -2.82970751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.08, Y:-17.75, Z:-2.83 [[ 9.97472673e-01 6.73842183e-02 2.25307457e-02 2.48084114e+02] [-6.73235824e-02 9.97725264e-01 -3.43989408e-03 -1.77479582e+01] [-2.27112888e-02 1.91434983e-03 9.99740233e-01 -2.82952177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.11, Y:-17.75, Z:-2.83 [[ 9.97536439e-01 6.63995674e-02 2.26307175e-02 2.48112742e+02] [-6.63381758e-02 9.97791220e-01 -3.45361099e-03 -1.77481705e+01] [-2.28100495e-02 1.94382229e-03 9.99737927e-01 -2.82949457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.14, Y:-17.75, Z:-2.83 [[ 9.97544145e-01 6.53343360e-02 2.52408978e-02 2.48140274e+02] [-6.54172563e-02 9.97854934e-01 2.47263472e-03 -1.77510230e+01] [-2.50252065e-02 -4.11775257e-03 9.99678340e-01 -2.83234712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:-17.75, Z:-2.83 [[ 9.97632864e-01 6.51702975e-02 2.19431456e-02 2.48169146e+02] [-6.49681079e-02 9.97839167e-01 -9.80515306e-03 -1.77469131e+01] [-2.25347349e-02 8.35633828e-03 9.99711137e-01 -2.82905417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:-17.75, Z:-2.83 [[ 9.97656389e-01 6.44449666e-02 2.29907577e-02 2.48196082e+02] [-6.43811859e-02 9.97919226e-01 -3.50443870e-03 -1.77498474e+01] [-2.31687625e-02 2.01605342e-03 9.99729535e-01 -2.83171889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.22, Y:-17.75, Z:-2.83 [[ 9.97700198e-01 6.38704890e-02 2.26908608e-02 2.48223864e+02] [-6.38082539e-02 9.97956189e-01 -3.45699806e-03 -1.77498800e+01] [-2.28652851e-02 2.00118345e-03 9.99736552e-01 -2.83221447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.595898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:248.25, Y:-17.75, Z:-2.83 [[ 9.97795465e-01 6.26035155e-02 2.20229411e-02 2.48250970e+02] [-6.27752140e-02 9.98001772e-01 7.19270081e-03 -1.77490870e+01] [-2.15286459e-02 -8.55933909e-03 9.99731592e-01 -2.83147479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.28, Y:-17.74, Z:-2.83 [[ 9.97764770e-01 6.35055939e-02 2.07967117e-02 2.48281750e+02] [-6.32310709e-02 9.97906207e-01 -1.36026992e-02 -1.77440857e+01] [-2.16170152e-02 1.22572956e-02 9.99691184e-01 -2.83065614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.31, Y:-17.75, Z:-2.84 [[ 9.97736425e-01 6.34634991e-02 2.22353413e-02 2.48309343e+02] [-6.34037815e-02 9.97982228e-01 -3.38119345e-03 -1.77489150e+01] [-2.24050578e-02 1.96373515e-03 9.99747047e-01 -2.83520217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:-17.75, Z:-2.84 [[ 9.97702069e-01 6.41003129e-02 2.19483760e-02 2.48336948e+02] [-6.40423123e-02 9.97941608e-01 -3.33609290e-03 -1.77496701e+01] [-2.21170422e-02 1.92280204e-03 9.99753539e-01 -2.83592948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.37, Y:-17.75, Z:-2.84 [[ 9.97633042e-01 6.52068764e-02 2.18260532e-02 2.48365466e+02] [-6.51498405e-02 9.97869986e-01 -3.31490842e-03 -1.77505873e+01] [-2.19957182e-02 1.88509829e-03 9.99756288e-01 -2.83659028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.39, Y:-17.75, Z:-2.84 [[ 9.97563507e-01 6.62360907e-02 2.19050080e-02 2.48393207e+02] [-6.61789207e-02 9.97802231e-01 -3.32539641e-03 -1.77520326e+01] [-2.20771271e-02 1.86764432e-03 9.99754526e-01 -2.83748090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.42, Y:-17.75, Z:-2.84 [[ 9.97337925e-01 6.92447788e-02 2.28522236e-02 2.48420180e+02] [-6.91833786e-02 9.97597933e-01 -3.46753545e-03 -1.77525049e+01] [-2.30374398e-02 1.87731058e-03 9.99732840e-01 -2.83841704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.45, Y:-17.75, Z:-2.84 [[ 9.97222172e-01 7.07117456e-02 2.34048840e-02 2.48447976e+02] [-7.06478062e-02 9.97495010e-01 -3.54860371e-03 -1.77546002e+01] [-2.35971830e-02 1.88524259e-03 9.99719770e-01 -2.83848507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.48, Y:-17.76, Z:-2.84 [[ 9.97088955e-01 7.23216667e-02 2.41493913e-02 2.48475529e+02] [-7.22541036e-02 9.97379542e-01 -3.65981042e-03 -1.77573578e+01] [-2.43507924e-02 1.90426392e-03 9.99701662e-01 -2.83909494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:-17.76, Z:-2.84 [[ 9.96983652e-01 7.36419182e-02 2.45043850e-02 2.48502693e+02] [-7.35727927e-02 9.97282942e-01 -3.71187731e-03 -1.77595705e+01] [-2.47111550e-02 1.89782496e-03 9.99692831e-01 -2.83987492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.53, Y:-17.76, Z:-2.84 [[ 9.96890950e-01 7.49092513e-02 2.44343592e-02 2.48529330e+02] [-7.48409466e-02 9.97188622e-01 -3.69932815e-03 -1.77620997e+01] [-2.46427789e-02 1.85913618e-03 9.99694592e-01 -2.84135806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.56, Y:-17.76, Z:-2.84 [[ 9.96779998e-01 7.62457251e-02 2.48238641e-02 2.48557698e+02] [-7.61756849e-02 9.97087336e-01 -3.75637506e-03 -1.77632980e+01] [-2.50379680e-02 1.85330468e-03 9.99684783e-01 -2.84342816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.955898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.59, Y:-17.77, Z:-2.84 [[ 9.96768776e-01 7.61608262e-02 2.55252160e-02 2.48585973e+02] [-7.60867894e-02 9.97093724e-01 -3.86072786e-03 -1.77652604e+01] [-2.57450689e-02 1.90612125e-03 9.99666724e-01 -2.84418788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.985898227 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:248.61, Y:-17.77, Z:-2.84 [[ 9.96690059e-01 7.66781602e-02 2.70071659e-02 2.48612459e+02] [-7.65955239e-02 9.97053889e-01 -4.08264363e-03 -1.77670882e+01] [-2.72406494e-02 2.00050229e-03 9.99626903e-01 -2.84413486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.015898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.64, Y:-17.77, Z:-2.84 [[ 9.96555894e-01 7.78490007e-02 2.85636649e-02 2.48640477e+02] [-7.77571380e-02 9.96962994e-01 -4.31452480e-03 -1.77686101e+01] [-2.88127984e-02 2.07863628e-03 9.99582664e-01 -2.84339320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.67, Y:-17.77, Z:-2.84 [[ 9.96387563e-01 7.95615138e-02 2.96949458e-02 2.48668291e+02] [-7.94630470e-02 9.96827730e-01 -4.48330389e-03 -1.77702540e+01] [-2.99574438e-02 2.10745737e-03 9.99548953e-01 -2.84379329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.075898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.70, Y:-17.77, Z:-2.84 [[ 9.96259935e-01 8.13109669e-02 2.92347255e-02 2.48696114e+02] [-8.12163375e-02 9.96686732e-01 -4.41183232e-03 -1.77711315e+01] [-2.94965933e-02 2.02099445e-03 9.99562838e-01 -2.84438504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.105898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.72, Y:-17.78, Z:-2.85 [[ 9.95943747e-01 8.23374913e-02 3.62848504e-02 2.48721541e+02] [-8.29762638e-02 9.96415541e-01 1.64623844e-02 -1.77801018e+01] [-3.47993174e-02 -1.94063901e-02 9.99205884e-01 -2.85466385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.135898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:248.75, Y:-17.76, Z:-2.84 [[ 9.96155776e-01 8.45765122e-02 2.28141239e-02 2.48753531e+02] [-8.39826803e-02 9.96132089e-01 -2.58412620e-02 -1.77598443e+01] [-2.49114447e-02 2.38259312e-02 9.99405696e-01 -2.83826163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16589822699999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.78, Y:-17.77, Z:-2.85 [[ 9.96129992e-01 8.38258191e-02 2.64248079e-02 2.48780117e+02] [-8.37496317e-02 9.96478885e-01 -3.97878828e-03 -1.77699315e+01] [-2.66652883e-02 1.75032241e-03 9.99642886e-01 -2.84824958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.81, Y:-17.77, Z:-2.85 [[ 9.96178404e-01 8.30682072e-02 2.69863009e-02 2.48808439e+02] [-8.29886045e-02 9.96542232e-01 -4.05839471e-03 -1.77716877e+01] [-2.72301121e-02 1.80332971e-03 9.99627565e-01 -2.84906553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.84, Y:-17.77, Z:-2.85 [[ 9.96250290e-01 8.20300512e-02 2.75032802e-02 2.48835469e+02] [-8.19470985e-02 9.96628116e-01 -4.13168131e-03 -1.77710855e+01] [-2.77494644e-02 1.86237469e-03 9.99613175e-01 -2.84931383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.86, Y:-17.77, Z:-2.85 [[ 9.96273688e-01 8.18698803e-02 2.71304445e-02 2.48863055e+02] [-8.17891749e-02 9.96641330e-01 -4.07304427e-03 -1.77728276e+01] [-2.73727820e-02 1.83889017e-03 9.99623604e-01 -2.84958293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.89, Y:-17.78, Z:-2.85 [[ 9.96256687e-01 8.16409734e-02 2.84141770e-02 2.48890925e+02] [-8.16480087e-02 9.96660808e-01 -9.14471788e-04 -1.77759441e+01] [-2.83939550e-02 -1.40891233e-03 9.99595817e-01 -2.85194572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.92, Y:-17.78, Z:-2.85 [[ 9.96313185e-01 8.17155565e-02 2.61267306e-02 2.48919586e+02] [-8.15525160e-02 9.96642691e-01 -7.24795122e-03 -1.77755420e+01] [-2.66312855e-02 5.09052874e-03 9.99632363e-01 -2.84993387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.345898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.95, Y:-17.78, Z:-2.85 [[ 9.96309541e-01 8.15991136e-02 2.66248658e-02 2.48947302e+02] [-8.15215785e-02 9.96663604e-01 -3.98650638e-03 -1.77790822e+01] [-2.68613301e-02 1.80129325e-03 9.99637546e-01 -2.85180747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.375898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.97, Y:-17.78, Z:-2.85 [[ 9.96282675e-01 8.16859783e-02 2.73538530e-02 2.48974757e+02] [-8.16042973e-02 9.96656411e-01 -4.09106618e-03 -1.77807226e+01] [-2.75965757e-02 1.84366640e-03 9.99617442e-01 -2.85252024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.00, Y:-17.78, Z:-2.86 [[ 9.96073454e-01 8.15681503e-02 3.44138199e-02 2.49001466e+02] [-8.19178373e-02 9.96599576e-01 8.87431712e-03 -1.77849494e+01] [-3.35729367e-02 -1.16585774e-02 9.99368268e-01 -2.85964223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.435898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:249.03, Y:-17.77, Z:-2.85 [[ 9.96311467e-01 8.12750517e-02 2.75286620e-02 2.49031489e+02] [-8.07969699e-02 9.96567003e-01 -1.80570749e-02 -1.77746312e+01] [-2.89017459e-02 1.57662383e-02 9.99457910e-01 -2.84887862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.465898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.06, Y:-17.78, Z:-2.86 [[ 9.96345346e-01 8.01377524e-02 2.95616656e-02 2.49058664e+02] [-8.00419891e-02 9.96781735e-01 -4.41059309e-03 -1.77820615e+01] [-2.98199833e-02 2.02829938e-03 9.99553227e-01 -2.85572941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.09, Y:-17.79, Z:-2.86 [[ 9.96354349e-01 8.00254755e-02 2.95623817e-02 2.49086805e+02] [-7.99298049e-02 9.96790758e-01 -4.40578833e-03 -1.77861359e+01] [-2.98200842e-02 2.02681096e-03 9.99553228e-01 -2.85635798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.525898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.11, Y:-17.79, Z:-2.86 [[ 9.96450316e-01 7.89819574e-02 2.91310654e-02 2.49113818e+02] [-7.88887152e-02 9.96873990e-01 -4.33811350e-03 -1.77867859e+01] [-2.93826341e-02 2.02460224e-03 9.99566187e-01 -2.85754839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.14, Y:-17.79, Z:-2.86 [[ 9.96571336e-01 7.75379117e-02 2.88694550e-02 2.49142237e+02] [-7.74458498e-02 9.96987308e-01 -4.29518938e-03 -1.77871638e+01] [-2.91155203e-02 2.04464313e-03 9.99573962e-01 -2.85762168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.585898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:249.17, Y:-17.79, Z:-2.86 [[ 9.96747040e-01 7.53503691e-02 2.85947734e-02 2.49170567e+02] [-7.52593035e-02 9.97154944e-01 -4.24920800e-03 -1.77872988e+01] [-2.88335991e-02 2.08336277e-03 9.99582054e-01 -2.85838625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.20, Y:-17.79, Z:-2.86 [[ 9.97224350e-01 6.92112177e-02 2.74481780e-02 2.49197619e+02] [-6.91251291e-02 9.97599678e-01 -4.07409672e-03 -1.77851596e+01] [-2.76642667e-02 2.16542961e-03 9.99614925e-01 -2.85988433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.22, Y:-17.79, Z:-2.86 [[ 9.97518084e-01 6.49793900e-02 2.71173681e-02 2.49224413e+02] [-6.48938995e-02 9.97884065e-01 -4.02176155e-03 -1.77872014e+01] [-2.73213212e-02 2.25202811e-03 9.99624166e-01 -2.86102742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.25, Y:-17.79, Z:-2.86 [[ 9.97811105e-01 6.03926724e-02 2.69392677e-02 2.49251235e+02] [-6.03067003e-02 9.98171907e-01 -3.99319520e-03 -1.77895719e+01] [-2.71311800e-02 2.35983617e-03 9.99629096e-01 -2.86185232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.28, Y:-17.79, Z:-2.86 [[ 9.98297994e-01 5.19462401e-02 2.65085413e-02 2.49278526e+02] [-5.18600954e-02 9.98646637e-01 -3.92736611e-03 -1.77928725e+01] [-2.66766775e-02 2.54594623e-03 9.99640872e-01 -2.86322353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.31, Y:-17.80, Z:-2.86 [[ 9.98474140e-01 4.84640710e-02 2.64693320e-02 2.49305321e+02] [-4.83770188e-02 9.98821456e-01 -3.91969397e-03 -1.77974233e+01] [-2.66281010e-02 2.63320569e-03 9.99641941e-01 -2.86401637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.33, Y:-17.80, Z:-2.86 [[ 9.98572695e-01 4.63190906e-02 2.65916260e-02 2.49332464e+02] [-4.62305341e-02 9.98923044e-01 -3.93574870e-03 -1.78025835e+01] [-2.67452883e-02 2.70078611e-03 9.99638632e-01 -2.86467875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.36, Y:-17.81, Z:-2.86 [[ 9.98598301e-01 4.55910350e-02 2.68866194e-02 2.49359905e+02] [-4.55002896e-02 9.98956407e-01 -3.97761408e-03 -1.78083049e+01] [-2.70399043e-02 2.74868969e-03 9.99630576e-01 -2.86482772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.39, Y:-17.81, Z:-2.87 [[ 9.98585628e-01 4.59407794e-02 2.67617114e-02 2.49387424e+02] [-4.58510484e-02 9.98940449e-01 -3.95732636e-03 -1.78143501e+01] [-2.69151587e-02 2.72467670e-03 9.99634008e-01 -2.86502596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.41, Y:-17.82, Z:-2.87 [[ 9.98547365e-01 4.69933186e-02 2.63588132e-02 2.49413480e+02] [-4.69066840e-02 9.98891679e-01 -3.89582230e-03 -1.78204003e+01] [-2.65126768e-02 2.65375857e-03 9.99644955e-01 -2.86595210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.44, Y:-17.83, Z:-2.87 [[ 9.98456190e-01 4.95409459e-02 2.51183629e-02 2.49440257e+02] [-4.94631324e-02 9.98769059e-01 -3.71016547e-03 -1.78301775e+01] [-2.52712488e-02 2.46200477e-03 9.99677599e-01 -2.86832578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.47, Y:-17.84, Z:-2.87 [[ 9.98415342e-01 5.05631842e-02 2.47016188e-02 2.49467260e+02] [-5.04882814e-02 9.98717995e-01 -3.64701747e-03 -1.78375366e+01] [-2.48543560e-02 2.39409591e-03 9.99688216e-01 -2.87008573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.945898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:249.49, Y:-17.84, Z:-2.87 [[ 9.98397363e-01 5.10120554e-02 2.45046274e-02 2.49493598e+02] [-5.09385177e-02 9.98695244e-01 -3.61627323e-03 -1.78439629e+01] [-2.46571284e-02 2.36224826e-03 9.99693176e-01 -2.87147970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.52, Y:-17.85, Z:-2.87 [[ 9.98314514e-01 5.21595736e-02 2.54462243e-02 2.49519661e+02] [-5.20806960e-02 9.98635827e-01 -3.75318010e-03 -1.78521270e+01] [-2.56072755e-02 2.42159710e-03 9.99669147e-01 -2.87221395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.55, Y:-17.86, Z:-2.87 [[ 9.98210432e-01 5.34791610e-02 2.67565613e-02 2.49546960e+02] [-5.33924743e-02 9.98565814e-01 -3.94434741e-03 -1.78597179e+01] [-2.69291278e-02 2.50868972e-03 9.99634197e-01 -2.87231827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.035898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.57, Y:-17.87, Z:-2.87 [[ 9.98076699e-01 5.53843521e-02 2.78473934e-02 2.49574423e+02] [-5.52912387e-02 9.98461838e-01 -4.10325978e-03 -1.78673803e+01] [-2.80318160e-02 2.55565110e-03 9.99603764e-01 -2.87198457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.60, Y:-17.87, Z:-2.87 [[ 9.97914746e-01 5.77522096e-02 2.88243419e-02 2.49600167e+02] [-5.76534852e-02 9.98327629e-01 -4.24514495e-03 -1.78744748e+01] [-2.90213034e-02 2.57446898e-03 9.99575478e-01 -2.87236010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.095898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.63, Y:-17.88, Z:-2.87 [[ 9.97586749e-01 6.28684375e-02 2.94658664e-02 2.49626809e+02] [-6.27675486e-02 9.98018748e-01 -4.33737680e-03 -1.78843505e+01] [-2.96801712e-02 2.47740942e-03 9.99556377e-01 -2.87287769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.65, Y:-17.89, Z:-2.88 [[ 9.97437592e-01 6.48801359e-02 3.01466067e-02 2.49654416e+02] [-6.47755038e-02 9.97890004e-01 -4.43554272e-03 -1.78912497e+01] [-3.03707761e-02 2.47141542e-03 9.99535646e-01 -2.87509758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.155898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.68, Y:-17.90, Z:-2.88 [[ 9.97329971e-01 6.63308655e-02 3.05474306e-02 2.49681891e+02] [-6.62241718e-02 9.97794657e-01 -4.49241682e-03 -1.78976281e+01] [-3.07780490e-02 2.45744364e-03 9.99523223e-01 -2.87620460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.185898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:249.71, Y:-17.90, Z:-2.88 [[ 9.97254342e-01 6.72687721e-02 3.09626998e-02 2.49708086e+02] [-6.71596867e-02 9.97731861e-01 -4.55089490e-03 -1.79048155e+01] [-3.11986052e-02 2.45895448e-03 9.99510180e-01 -2.87851986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.215898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.73, Y:-17.91, Z:-2.88 [[ 9.97265080e-01 6.71919228e-02 3.07832071e-02 2.49734351e+02] [-6.70841642e-02 9.97737076e-01 -4.52124086e-03 -1.79117927e+01] [-3.10173379e-02 2.44380991e-03 9.99515859e-01 -2.87940665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.76, Y:-17.92, Z:-2.88 [[ 9.97350089e-01 6.64951805e-02 2.95159369e-02 2.49761099e+02] [-6.63958791e-02 9.97783951e-01 -4.33284838e-03 -1.79180415e+01] [-2.97386416e-02 2.36163014e-03 9.99554919e-01 -2.88023808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.275898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.79, Y:-17.92, Z:-2.88 [[ 9.97458729e-01 6.53840734e-02 2.83020782e-02 2.49788746e+02] [-6.52923894e-02 9.97857535e-01 -4.15258135e-03 -1.79239612e+01] [-2.85129546e-02 2.29411821e-03 9.99590790e-01 -2.88174215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.305898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.82, Y:-17.93, Z:-2.88 [[ 9.97565359e-01 6.43208628e-02 2.69477375e-02 2.49815912e+02] [-6.42374084e-02 9.97926819e-01 -3.95211989e-03 -1.79298206e+01] [-2.71460737e-02 2.21144508e-03 9.99629031e-01 -2.88271007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.84, Y:-17.94, Z:-2.88 [[ 9.97691523e-01 6.25467257e-02 2.64486760e-02 2.49842034e+02] [-6.24657650e-02 9.98039577e-01 -3.87707374e-03 -1.79377942e+01] [-2.66393237e-02 2.21598682e-03 9.99642654e-01 -2.88445741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.365898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.87, Y:-17.94, Z:-2.89 [[ 9.97697053e-01 6.25177890e-02 2.63080936e-02 2.49869485e+02] [-6.24377312e-02 9.98041419e-01 -3.85441846e-03 -1.79441434e+01] [-2.64975368e-02 2.20292426e-03 9.99646451e-01 -2.88559056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.90, Y:-17.95, Z:-2.89 [[ 9.97662824e-01 6.32352377e-02 2.58880990e-02 2.49896060e+02] [-6.31580027e-02 9.97996340e-01 -3.79110414e-03 -1.79504014e+01] [-2.60759594e-02 2.14720304e-03 9.99657658e-01 -2.88591413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.425898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.92, Y:-17.96, Z:-2.89 [[ 9.97598218e-01 6.43757798e-02 2.55647285e-02 2.49923317e+02] [-6.43008849e-02 9.97923542e-01 -3.74179807e-03 -1.79571832e+01] [-2.57525256e-02 2.08897641e-03 9.99666166e-01 -2.88652950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.95, Y:-17.96, Z:-2.89 [[ 9.97526791e-01 6.54537707e-02 2.56145327e-02 2.49950030e+02] [-6.53789860e-02 9.97853470e-01 -3.74717436e-03 -1.79635731e+01] [-2.58048170e-02 2.06325464e-03 9.99664871e-01 -2.88767064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.485898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.98, Y:-17.97, Z:-2.89 [[ 9.97429726e-01 6.68102240e-02 2.58908340e-02 2.49977342e+02] [-6.67343450e-02 9.97763601e-01 -3.78474553e-03 -1.79700132e+01] [-2.60857914e-02 2.04720985e-03 9.99657612e-01 -2.88831113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.00, Y:-17.98, Z:-2.89 [[ 9.97221577e-01 6.94401122e-02 2.69665973e-02 2.50003085e+02] [-6.93588044e-02 9.97583998e-01 -3.94000391e-03 -1.79775402e+01] [-2.71750402e-02 2.05868597e-03 9.99628571e-01 -2.88816125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.545898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.03, Y:-17.98, Z:-2.89 [[ 9.97135220e-01 7.06311092e-02 2.70665777e-02 2.50030932e+02] [-7.05496915e-02 9.97500436e-01 -3.95247666e-03 -1.79829975e+01] [-2.72780909e-02 2.03161497e-03 9.99625819e-01 -2.88808023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.06, Y:-17.99, Z:-2.89 [[ 9.97060879e-01 7.17015510e-02 2.69905930e-02 2.50057584e+02] [-7.16210380e-02 9.97424137e-01 -3.93924383e-03 -1.79885087e+01] [-2.72035189e-02 1.99457163e-03 9.99627926e-01 -2.88885084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.605898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.08, Y:-17.99, Z:-2.89 [[ 9.97005773e-01 7.24772259e-02 2.69544235e-02 2.50083599e+02] [-7.23972922e-02 9.97368126e-01 -3.93096143e-03 -1.79944140e+01] [-2.71683880e-02 1.96776397e-03 9.99628934e-01 -2.89045955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.11, Y:-18.00, Z:-2.89 [[ 9.96988858e-01 7.27489029e-02 2.68479722e-02 2.50110624e+02] [-7.26697523e-02 9.97348381e-01 -3.91341137e-03 -1.80001123e+01] [-2.70614780e-02 1.95059204e-03 9.99631868e-01 -2.89117420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.14, Y:-18.01, Z:-2.89 [[ 9.96964798e-01 7.29483244e-02 2.71980363e-02 2.50138455e+02] [-7.28672210e-02 9.97333779e-01 -3.96255638e-03 -1.80055198e+01] [-2.74145822e-02 1.96868390e-03 9.99622211e-01 -2.89125192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.16, Y:-18.01, Z:-2.89 [[ 9.96876165e-01 7.37819576e-02 2.81803939e-02 2.50164921e+02] [-7.36952771e-02 9.97272363e-01 -4.10363128e-03 -1.80117631e+01] [-2.84063020e-02 2.01405027e-03 9.99594431e-01 -2.89165010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.725898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.19, Y:-18.02, Z:-2.89 [[ 9.96831463e-01 7.44872787e-02 2.79048310e-02 2.50191754e+02] [-7.44026223e-02 9.97220014e-01 -4.06131314e-03 -1.80161228e+01] [-2.81297721e-02 1.97225211e-03 9.99602334e-01 -2.89212718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.22, Y:-18.02, Z:-2.89 [[ 9.96792494e-01 7.52219073e-02 2.73201284e-02 2.50218364e+02] [-7.51411009e-02 9.97164993e-01 -3.97389566e-03 -1.80198465e+01] [-2.75415996e-02 1.90828484e-03 9.99618837e-01 -2.89272898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.785898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.25, Y:-18.02, Z:-2.89 [[ 9.96757876e-01 7.58462358e-02 2.68530342e-02 2.50246604e+02] [-7.57684741e-02 9.97117799e-01 -3.90303745e-03 -1.80231760e+01] [-2.70716691e-02 1.85576989e-03 9.99631773e-01 -2.89371054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.27, Y:-18.03, Z:-2.89 [[ 9.96696090e-01 7.66338420e-02 2.69101900e-02 2.50273463e+02] [-7.65560865e-02 9.97057612e-01 -3.90942826e-03 -1.80262629e+01] [-2.71306043e-02 1.83637303e-03 9.99630211e-01 -2.89398704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.845898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.30, Y:-18.03, Z:-2.89 [[ 9.96630038e-01 7.73210635e-02 2.73864988e-02 2.50301077e+02] [-7.72408636e-02 9.97004534e-01 -3.97590103e-03 -1.80295892e+01] [-2.76118844e-02 1.84714558e-03 9.99617013e-01 -2.89457531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.33, Y:-18.03, Z:-2.90 [[ 9.96563289e-01 7.77592535e-02 2.85501194e-02 2.50327894e+02] [-7.76723969e-02 9.96970338e-01 -4.14043910e-03 -1.80319013e+01] [-2.87855797e-02 1.90865340e-03 9.99583787e-01 -2.89553191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.905898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.36, Y:-18.04, Z:-2.90 [[ 9.96604124e-01 7.71257332e-02 2.88416628e-02 2.50355520e+02] [-7.70368939e-02 9.97019479e-01 -4.18048568e-03 -1.80351367e+01] [-2.90781227e-02 1.94441714e-03 9.99575251e-01 -2.89662614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.38, Y:-18.04, Z:-2.90 [[ 9.96728274e-01 7.54596018e-02 2.89585418e-02 2.50382455e+02] [-7.53694024e-02 9.97146856e-01 -4.19532002e-03 -1.80382301e+01] [-2.91924960e-02 1.99900609e-03 9.99571809e-01 -2.89736967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.965898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.41, Y:-18.04, Z:-2.90 [[ 9.97114368e-01 7.05380323e-02 2.80592661e-02 2.50409844e+02] [-7.04514717e-02 9.97506934e-01 -4.06288904e-03 -1.80426143e+01] [-2.82759007e-02 2.07434844e-03 9.99598004e-01 -2.89909318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.44, Y:-18.05, Z:-2.90 [[ 9.97329210e-01 6.78939708e-02 2.69231605e-02 2.50436464e+02] [-6.78133728e-02 9.97690415e-01 -3.89651112e-03 -1.80471428e+01] [-2.71255288e-02 2.06035404e-03 9.99629912e-01 -2.89978578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.025898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.46, Y:-18.05, Z:-2.90 [[ 9.97490025e-01 6.57533645e-02 2.62706249e-02 2.50463650e+02] [-6.56759427e-02 9.97833769e-01 -3.80005317e-03 -1.80518067e+01] [-2.64635829e-02 2.06516708e-03 9.99647645e-01 -2.90027856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.055898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.49, Y:-18.06, Z:-2.90 [[ 9.97611115e-01 6.39772945e-02 2.60570488e-02 2.50491202e+02] [-6.39005711e-02 9.97949159e-01 -3.76740087e-03 -1.80558177e+01] [-2.62446381e-02 2.09334068e-03 9.99653358e-01 -2.90037635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.52, Y:-18.06, Z:-2.90 [[ 9.97668124e-01 6.28329539e-02 2.66520926e-02 2.50518356e+02] [-6.27523308e-02 9.98021699e-01 -3.85152611e-03 -1.80596508e+01] [-2.68413695e-02 2.17006390e-03 9.99637350e-01 -2.90121679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.115898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.55, Y:-18.06, Z:-2.90 [[ 9.97696506e-01 6.22474137e-02 2.69618462e-02 2.50546526e+02] [-6.21647498e-02 9.98058305e-01 -3.89418804e-03 -1.80633424e+01] [-2.71518976e-02 2.20914138e-03 9.99628878e-01 -2.90175889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.57, Y:-18.07, Z:-2.90 [[ 9.97680577e-01 6.27187233e-02 2.64542659e-02 2.50572747e+02] [-6.26393598e-02 9.98028921e-01 -3.81893571e-03 -1.80670945e+01] [-2.66416412e-02 2.15299970e-03 9.99642730e-01 -2.90267857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.175898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.60, Y:-18.07, Z:-2.90 [[ 9.97634890e-01 6.36738000e-02 2.58896495e-02 2.50600282e+02] [-6.35981748e-02 9.97968598e-01 -3.73488183e-03 -1.80709746e+01] [-2.60748713e-02 2.07951397e-03 9.99657830e-01 -2.90361791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.63, Y:-18.08, Z:-2.90 [[ 9.97581291e-01 6.46373545e-02 2.55652296e-02 2.50627634e+02] [-6.45639721e-02 9.97906761e-01 -3.68635112e-03 -1.80752608e+01] [-2.57499915e-02 2.02684214e-03 9.99666359e-01 -2.90450571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.235898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.65, Y:-18.08, Z:-2.91 [[ 9.97542288e-01 6.50484285e-02 2.60400801e-02 2.50654363e+02] [-6.49724821e-02 9.97879999e-01 -3.75295819e-03 -1.80796000e+01] [-2.62289991e-02 2.05184586e-03 9.99653855e-01 -2.90517005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.68, Y:-18.09, Z:-2.91 [[ 9.97599056e-01 6.38153066e-02 2.69022314e-02 2.50681587e+02] [-6.37338591e-02 9.97959408e-01 -3.87506642e-03 -1.80863691e+01] [-2.70946234e-02 2.15117958e-03 9.99630559e-01 -2.90679299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.295898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.71, Y:-18.09, Z:-2.91 [[ 9.97664586e-01 6.28694211e-02 2.66984792e-02 2.50708038e+02] [-6.27889172e-02 9.98019427e-01 -3.84383371e-03 -1.80923490e+01] [-2.68872605e-02 2.15848817e-03 9.99636142e-01 -2.90789276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.74, Y:-18.10, Z:-2.91 [[ 9.97710146e-01 6.22157354e-02 2.65267118e-02 2.50735235e+02] [-6.21360897e-02 9.98060387e-01 -3.81705106e-03 -1.80983937e+01] [-2.67127409e-02 2.16004443e-03 9.99640817e-01 -2.90867305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.355898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.76, Y:-18.10, Z:-2.91 [[ 9.97715891e-01 6.21877895e-02 2.63757510e-02 2.50761842e+02] [-6.21090865e-02 9.98062158e-01 -3.79351464e-03 -1.81044331e+01] [-2.65605493e-02 2.14667604e-03 9.99644901e-01 -2.90973637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.79, Y:-18.11, Z:-2.91 [[ 9.97696821e-01 6.25376803e-02 2.62695908e-02 2.50789251e+02] [-6.24597833e-02 9.98040338e-01 -3.77624034e-03 -1.81107056e+01] [-2.64542685e-02 2.12675004e-03 9.99647762e-01 -2.91062250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.82, Y:-18.11, Z:-2.91 [[ 9.97700329e-01 6.24815852e-02 2.62698380e-02 2.50817446e+02] [-6.24037139e-02 9.98043851e-01 -3.77451945e-03 -1.81146467e+01] [-2.64542883e-02 2.12650384e-03 9.99647762e-01 -2.91125063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.445898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:250.84, Y:-18.12, Z:-2.91 [[ 9.97687132e-01 6.29478501e-02 2.56506326e-02 2.50843668e+02] [-6.28738001e-02 9.98014686e-01 -3.68402207e-03 -1.81205131e+01] [-2.58316093e-02 2.06274867e-03 9.99664180e-01 -2.91291411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.475898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.87, Y:-18.13, Z:-2.91 [[ 9.97585734e-01 6.49212201e-02 2.46564194e-02 2.50870238e+02] [-6.48534460e-02 9.97888523e-01 -3.53936014e-03 -1.81287730e+01] [-2.48341376e-02 1.93176141e-03 9.99689719e-01 -2.91422899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.90, Y:-18.13, Z:-2.91 [[ 9.97555484e-01 6.57731042e-02 2.35998991e-02 2.50896367e+02] [-6.57112894e-02 9.97832932e-01 -3.38613130e-03 -1.81340906e+01] [-2.37714729e-02 1.82707405e-03 9.99715749e-01 -2.91495394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.535898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.92, Y:-18.14, Z:-2.92 [[ 9.97556453e-01 6.62538853e-02 2.21708440e-02 2.50923480e+02] [-6.61994864e-02 9.97801343e-01 -3.17943857e-03 -1.81397781e+01] [-2.23327481e-02 1.70397098e-03 9.99749141e-01 -2.91593655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.95, Y:-18.15, Z:-2.92 [[ 9.97565728e-01 6.64156720e-02 2.12503539e-02 2.50950837e+02] [-6.63657626e-02 9.97790713e-01 -3.04608685e-03 -1.81454166e+01] [-2.14057137e-02 1.62837590e-03 9.99769545e-01 -2.91669164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.595898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.98, Y:-18.15, Z:-2.92 [[ 9.97571314e-01 6.61976832e-02 2.16642647e-02 2.50978499e+02] [-6.61457925e-02 9.97805141e-01 -3.10388713e-03 -1.81518543e+01] [-2.18221848e-02 1.66334880e-03 9.99760484e-01 -2.91671848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.01, Y:-18.16, Z:-2.92 [[ 9.97592608e-01 6.56876008e-02 2.22289708e-02 2.51005566e+02] [-6.56328788e-02 9.97838761e-01 -3.18320840e-03 -1.81561493e+01] [-2.23900260e-02 1.71659382e-03 9.99747838e-01 -2.91701416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.655898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.03, Y:-18.16, Z:-2.92 [[ 9.97627199e-01 6.49988637e-02 2.26962373e-02 2.51032931e+02] [-6.49416816e-02 9.97883774e-01 -3.24827153e-03 -1.81604880e+01] [-2.28593409e-02 1.76663221e-03 9.99737130e-01 -2.91773997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.06, Y:-18.16, Z:-2.92 [[ 9.97666181e-01 6.44478526e-02 2.25536363e-02 2.51059775e+02] [-6.43912826e-02 9.97919513e-01 -3.22629571e-03 -1.81644027e+01] [-2.27146416e-02 1.76650855e-03 9.99740429e-01 -2.91821930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.715898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.09, Y:-18.17, Z:-2.92 [[ 9.97683492e-01 6.42977129e-02 2.22138113e-02 2.51086296e+02] [-6.42428557e-02 9.97929243e-01 -3.17511132e-03 -1.81678086e+01] [-2.23719643e-02 1.74067748e-03 9.99748201e-01 -2.91879285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.11, Y:-18.17, Z:-2.92 [[ 9.97637992e-01 6.51284827e-02 2.18338446e-02 2.51114128e+02] [-6.50757380e-02 9.97875455e-01 -3.11835789e-03 -1.81705418e+01] [-2.19905515e-02 1.69013876e-03 9.99756750e-01 -2.91974437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.775898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.14, Y:-18.17, Z:-2.92 [[ 9.97629954e-01 6.53747926e-02 2.14618736e-02 2.51142276e+02] [-6.53239173e-02 9.97859408e-01 -3.06382033e-03 -1.81740151e+01] [-2.16162291e-02 1.65458528e-03 9.99764973e-01 -2.91965434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.805898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.17, Y:-18.18, Z:-2.92 [[ 9.97638127e-01 6.51929709e-02 2.16343473e-02 2.51170267e+02] [-6.51412636e-02 9.97871277e-01 -3.08698637e-03 -1.81776571e+01] [-2.17895436e-02 1.67040658e-03 9.99761184e-01 -2.92016413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:-18.18, Z:-2.92 [[ 9.97819526e-01 6.20691824e-02 2.24412718e-02 2.51196818e+02] [-6.20127961e-02 9.98070223e-01 -3.20052863e-03 -1.81812800e+01] [-2.25966194e-02 1.80190394e-03 9.99743040e-01 -2.92161222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.865898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.22, Y:-18.19, Z:-2.92 [[ 9.97968023e-01 5.95735335e-02 2.26012978e-02 2.51224733e+02] [-5.95157556e-02 9.98222169e-01 -3.22109131e-03 -1.81857205e+01] [-2.27530083e-02 1.86941281e-03 9.99739369e-01 -2.92230153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.25, Y:-18.19, Z:-2.92 [[ 9.98097538e-01 5.72945831e-02 2.27735789e-02 2.51252428e+02] [-5.72353665e-02 9.98355442e-01 -3.24413005e-03 -1.81908783e+01] [-2.29219975e-02 1.93450408e-03 9.99735385e-01 -2.92334052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.925898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.28, Y:-18.20, Z:-2.92 [[ 9.98191660e-01 5.55286074e-02 2.30213549e-02 2.51279612e+02] [-5.54676640e-02 9.98455103e-01 -3.27790502e-03 -1.81965922e+01] [-2.31678068e-02 1.99503667e-03 9.99729600e-01 -2.92384322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.31, Y:-18.20, Z:-2.92 [[ 9.98255891e-01 5.44582067e-02 2.27920877e-02 2.51306892e+02] [-5.43982232e-02 9.98514051e-01 -3.24401253e-03 -1.82027116e+01] [-2.29348830e-02 1.99850555e-03 9.99734963e-01 -2.92471802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.985898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:-18.21, Z:-2.93 [[ 9.98267068e-01 5.42762035e-02 2.27366470e-02 2.51333953e+02] [-5.42164997e-02 9.98523965e-01 -3.23458908e-03 -1.82087644e+01] [-2.28786481e-02 1.99628234e-03 9.99736256e-01 -2.92594921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.36, Y:-18.22, Z:-2.93 [[ 9.98139774e-01 5.64862753e-02 2.29410508e-02 2.51361071e+02] [-5.64261083e-02 9.98401449e-01 -3.26210300e-03 -1.82171126e+01] [-2.30886424e-02 1.96156053e-03 9.99731497e-01 -2.92586969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.045898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.39, Y:-18.22, Z:-2.93 [[ 9.98051109e-01 5.79438979e-02 2.31622257e-02 2.51388265e+02] [-5.78829857e-02 9.98317946e-01 -3.29221651e-03 -1.82228167e+01] [-2.33140294e-02 1.94510156e-03 9.99726299e-01 -2.92617396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.42, Y:-18.23, Z:-2.93 [[ 9.97991154e-01 5.89813778e-02 2.31269235e-02 2.51415004e+02] [-5.89209650e-02 9.98257244e-01 -3.28559828e-03 -1.82287523e+01] [-2.32804080e-02 1.91633737e-03 9.99727138e-01 -2.92682679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.105898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.44, Y:-18.23, Z:-2.93 [[ 9.97978277e-01 5.93593112e-02 2.27119133e-02 2.51442196e+02] [-5.93011747e-02 9.98234926e-01 -3.22533671e-03 -1.82349494e+01] [-2.28632788e-02 1.87197284e-03 9.99736848e-01 -2.92757564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.47, Y:-18.24, Z:-2.93 [[ 9.98019334e-01 5.89615506e-02 2.19304391e-02 2.51469203e+02] [-5.89072803e-02 9.98258604e-01 -3.11305251e-03 -1.82413164e+01] [-2.20757999e-02 1.81502408e-03 9.99754652e-01 -2.92875175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.50, Y:-18.25, Z:-2.93 [[ 9.98134915e-01 5.77364764e-02 1.98290434e-02 2.51495946e+02] [-5.76918949e-02 9.98330471e-01 -2.81350337e-03 -1.82495555e+01] [-1.99583801e-02 1.66428086e-03 9.99799427e-01 -2.93030841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:-18.25, Z:-2.93 [[ 9.98153493e-01 5.76687213e-02 1.90767532e-02 2.51523048e+02] [-5.76274672e-02 9.98334490e-01 -2.70569024e-03 -1.82548737e+01] [-1.92010143e-02 1.60134919e-03 9.99814361e-01 -2.93097781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.225898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.55, Y:-18.26, Z:-2.93 [[ 9.98153717e-01 5.77228464e-02 1.89005604e-02 2.51549437e+02] [-5.76823845e-02 9.98331389e-01 -2.67944391e-03 -1.82592012e+01] [-1.90236878e-02 1.58426750e-03 9.99817778e-01 -2.93185170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.58, Y:-18.26, Z:-2.93 [[ 9.98140252e-01 5.81030135e-02 1.84411625e-02 2.51576839e+02] [-5.80645867e-02 9.98309409e-01 -2.61284371e-03 -1.82631886e+01] [-1.85618001e-02 1.53720600e-03 9.99826533e-01 -2.93187361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.285898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.60, Y:-18.27, Z:-2.93 [[ 9.98104799e-01 5.87352492e-02 1.83570351e-02 2.51604584e+02] [-5.86973014e-02 9.98272442e-01 -2.59967865e-03 -1.82669320e+01] [-1.84780151e-02 1.51724331e-03 9.99828116e-01 -2.93228841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.63, Y:-18.27, Z:-2.93 [[ 9.98054339e-01 5.97649812e-02 1.77674874e-02 2.51631871e+02] [-5.97296149e-02 9.98211424e-01 -2.51502713e-03 -1.82712016e+01] [-1.78860194e-02 1.44888856e-03 9.99838983e-01 -2.93373156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.345898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.66, Y:-18.28, Z:-2.94 [[ 9.98088866e-01 5.92722439e-02 1.74761844e-02 2.51658693e+02] [-5.92379730e-02 9.98240827e-01 -2.47265190e-03 -1.82760602e+01] [-1.75920004e-02 1.43267260e-03 9.99844222e-01 -2.93510103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.69, Y:-18.28, Z:-2.94 [[ 9.98170371e-01 5.78510979e-02 1.75829742e-02 2.51686549e+02] [-5.78162143e-02 9.98324148e-01 -2.48626288e-03 -1.82813555e+01] [-1.76973407e-02 1.46513294e-03 9.99842316e-01 -2.93637531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.405898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.71, Y:-18.29, Z:-2.94 [[ 9.98360248e-01 5.41346674e-02 1.86078658e-02 2.51714145e+02] [-5.40949816e-02 9.98532331e-01 -2.62987611e-03 -1.82883025e+01] [-1.87229231e-02 1.61897160e-03 9.99823400e-01 -2.93729122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.74, Y:-18.29, Z:-2.94 [[ 9.98458292e-01 5.25925674e-02 1.77499352e-02 2.51742892e+02] [-5.25562367e-02 9.98614818e-01 -2.50743538e-03 -1.82932089e+01] [-1.78572208e-02 1.57069985e-03 9.99839313e-01 -2.93737337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.465898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:251.77, Y:-18.30, Z:-2.94 [[ 9.98545714e-01 5.13818909e-02 1.63205021e-02 2.51770149e+02] [-5.13510262e-02 9.98678006e-01 -2.30490622e-03 -1.82976396e+01] [-1.64173569e-02 1.46347970e-03 9.99864155e-01 -2.93869849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.80, Y:-18.30, Z:-2.94 [[ 9.98564336e-01 5.11795969e-02 1.58087281e-02 2.51798491e+02] [-5.11506274e-02 9.98688456e-01 -2.23169815e-03 -1.83036770e+01] [-1.59022117e-02 1.41986782e-03 9.99872544e-01 -2.93976680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.525898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:251.83, Y:-18.31, Z:-2.94 [[ 9.98532668e-01 5.15837056e-02 1.64812781e-02 2.51825161e+02] [-5.15522838e-02 9.98667588e-01 -2.32599732e-03 -1.83113538e+01] [-1.65793018e-02 1.47293678e-03 9.99861469e-01 -2.93999293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.555898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.85, Y:-18.32, Z:-2.94 [[ 9.98509287e-01 5.18651536e-02 1.70061470e-02 2.51852425e+02] [-5.18317604e-02 9.98652950e-01 -2.39880775e-03 -1.83168874e+01] [-1.71076534e-02 1.51377328e-03 9.99852507e-01 -2.94038522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.88, Y:-18.32, Z:-2.94 [[ 9.98485815e-01 5.22676874e-02 1.71512974e-02 2.51880164e+02] [-5.22337975e-02 9.98631955e-01 -2.41829877e-03 -1.83226516e+01] [-1.72542326e-02 1.51875962e-03 9.99849981e-01 -2.94105069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.615898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.91, Y:-18.33, Z:-2.94 [[ 9.98461199e-01 5.27840867e-02 1.70022118e-02 2.51907480e+02] [-5.27508729e-02 9.98604828e-01 -2.39639242e-03 -1.83283755e+01] [-1.71049822e-02 1.49582333e-03 9.99852580e-01 -2.94190971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.93, Y:-18.33, Z:-2.94 [[ 9.98424063e-01 5.34280429e-02 1.71707235e-02 2.51934463e+02] [-5.33942832e-02 9.98570578e-01 -2.41890809e-03 -1.83340268e+01] [-1.72754169e-02 1.49827756e-03 9.99849646e-01 -2.94287434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.675898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.96, Y:-18.34, Z:-2.94 [[ 9.98322778e-01 5.54213969e-02 1.67361762e-02 2.51961545e+02] [-5.53896171e-02 9.98462035e-01 -2.35683048e-03 -1.83413730e+01] [-1.68410554e-02 1.42586716e-03 9.99857163e-01 -2.94308932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.705898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:251.99, Y:-18.35, Z:-2.94 [[ 9.98244556e-01 5.69766059e-02 1.61701004e-02 2.51989519e+02] [-5.69471587e-02 9.98374599e-01 -2.27610964e-03 -1.83464357e+01] [-1.62735025e-02 1.35127278e-03 9.99866665e-01 -2.94338491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.735898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.02, Y:-18.35, Z:-2.94 [[ 9.98140580e-01 5.89053166e-02 1.56699388e-02 2.52017047e+02] [-5.88779147e-02 9.98262756e-01 -2.20471985e-03 -1.83520565e+01] [-1.57725860e-02 1.27800703e-03 9.99874788e-01 -2.94383439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.04, Y:-18.36, Z:-2.94 [[ 9.98062424e-01 6.03359677e-02 1.51976807e-02 2.52043700e+02] [-6.03103717e-02 9.98177384e-01 -2.13734577e-03 -1.83570942e+01] [-1.52989400e-02 1.21662672e-03 9.99882224e-01 -2.94406475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.795898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.07, Y:-18.36, Z:-2.94 [[ 9.98017832e-01 6.11239570e-02 1.49756328e-02 2.52069752e+02] [-6.10992095e-02 9.98129479e-01 -2.10493415e-03 -1.83627092e+01] [-1.50762825e-02 1.18576249e-03 9.99885643e-01 -2.94496472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.10, Y:-18.37, Z:-2.95 [[ 9.98077108e-01 5.98628601e-02 1.60787210e-02 2.52097044e+02] [-5.98341932e-02 9.98205775e-01 -2.25852757e-03 -1.83717233e+01] [-1.61850741e-02 1.29212736e-03 9.99868178e-01 -2.94579587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.855898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.12, Y:-18.38, Z:-2.95 [[ 9.98182339e-01 5.79047441e-02 1.67050448e-02 2.52123953e+02] [-5.78735490e-02 9.98321167e-01 -2.34523103e-03 -1.83782150e+01] [-1.68127998e-02 1.37418796e-03 9.99857711e-01 -2.94668201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.15, Y:-18.38, Z:-2.95 [[ 9.98302677e-01 5.57614328e-02 1.68055891e-02 2.52152403e+02] [-5.57295768e-02 9.98443114e-01 -2.35831495e-03 -1.83847203e+01] [-1.69109278e-02 1.41774376e-03 9.99855995e-01 -2.94705193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91589822699999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.18, Y:-18.39, Z:-2.95 [[ 9.98507173e-01 5.21163237e-02 1.63497439e-02 2.52180012e+02] [-5.20856994e-02 9.98639985e-01 -2.29363099e-03 -1.83924876e+01] [-1.64470436e-02 1.43861915e-03 9.99863703e-01 -2.94716583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.21, Y:-18.40, Z:-2.95 [[ 9.98569198e-01 5.11248327e-02 1.56782950e-02 2.52207627e+02] [-5.10965606e-02 9.98691297e-01 -2.19883159e-03 -1.83976054e+01] [-1.57701917e-02 1.39457854e-03 9.99874670e-01 -2.94771519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.975898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.24, Y:-18.40, Z:-2.95 [[ 9.98582692e-01 5.11493881e-02 1.47087291e-02 2.52235660e+02] [-5.11245201e-02 9.98690158e-01 -2.06200851e-03 -1.84020671e+01] [-1.47949334e-02 1.30710930e-03 9.99889695e-01 -2.94795566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.26, Y:-18.41, Z:-2.95 [[ 9.98493748e-01 5.27132412e-02 1.52167422e-02 2.52263370e+02] [-5.26868154e-02 9.98608808e-01 -2.13259803e-03 -1.84061436e+01] [-1.53079890e-02 1.32766411e-03 9.99881944e-01 -2.94762174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.29, Y:-18.41, Z:-2.95 [[ 9.98440841e-01 5.34455253e-02 1.61078412e-02 2.52290805e+02] [-5.34160240e-02 9.98569796e-01 -2.25649630e-03 -1.84096483e+01] [-1.62054033e-02 1.39256123e-03 9.99867714e-01 -2.94800991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.32, Y:-18.41, Z:-2.95 [[ 9.98403151e-01 5.39778153e-02 1.66596093e-02 2.52318776e+02] [-5.39463513e-02 9.98541111e-01 -2.33262165e-03 -1.84139444e+01] [-1.67612146e-02 1.43017167e-03 9.99858498e-01 -2.94819407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.35, Y:-18.42, Z:-2.95 [[ 9.98405582e-01 5.38447490e-02 1.69421340e-02 2.52346678e+02] [-5.38122101e-02 9.98548258e-01 -2.37097520e-03 -1.84183643e+01] [-1.70452029e-02 1.45550120e-03 9.99853661e-01 -2.94968932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.37, Y:-18.42, Z:-2.95 [[ 9.98473100e-01 5.27226384e-02 1.64861168e-02 2.52374896e+02] [-5.26916944e-02 9.98608165e-01 -2.30604569e-03 -1.84226574e+01] [-1.65847517e-02 1.43384315e-03 9.99861435e-01 -2.95146965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.40, Y:-18.43, Z:-2.95 [[ 9.98590575e-01 5.07689530e-02 1.54718196e-02 2.52402416e+02] [-5.07414761e-02 9.98709478e-01 -2.16359309e-03 -1.84272007e+01] [-1.55616962e-02 1.37548070e-03 9.99877963e-01 -2.95275410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.43, Y:-18.43, Z:-2.95 [[ 9.98923413e-01 4.45289417e-02 1.30072755e-02 2.52430731e+02] [-4.45090056e-02 9.99007328e-01 -1.81831308e-03 -1.84349424e+01] [-1.30753311e-02 1.23741461e-03 9.99913749e-01 -2.95398012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.46, Y:-18.44, Z:-2.96 [[ 9.99072987e-01 4.12188623e-02 1.24165700e-02 2.52457575e+02] [-4.12004479e-02 9.99149394e-01 -1.73531916e-03 -1.84417657e+01] [-1.24775363e-02 1.22214225e-03 9.99921406e-01 -2.95502368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.49, Y:-18.45, Z:-2.95 [[ 9.99170834e-01 3.87723295e-02 1.24238149e-02 2.52485947e+02] [-3.87537164e-02 9.99247285e-01 -1.73552384e-03 -1.84491241e+01] [-1.24817536e-02 1.25261580e-03 9.99921315e-01 -2.95449647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.51, Y:-18.46, Z:-2.95 [[ 9.99214391e-01 3.73773426e-02 1.31732639e-02 2.52512756e+02] [-3.73563035e-02 9.99300316e-01 -1.83965025e-03 -1.84559013e+01] [-1.32328081e-02 1.34610056e-03 9.99911536e-01 -2.95448874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.54, Y:-18.46, Z:-2.96 [[ 9.99215583e-01 3.73454071e-02 1.31733955e-02 2.52541800e+02] [-3.73243776e-02 9.99301511e-01 -1.83870755e-03 -1.84598781e+01] [-1.32328613e-02 1.34557644e-03 9.99911536e-01 -2.95513531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.57, Y:-18.47, Z:-2.95 [[ 9.99106462e-01 3.95670703e-02 1.48568298e-02 2.52569965e+02] [-3.95405724e-02 9.99215815e-01 -2.07318645e-03 -1.84697226e+01] [-1.49272092e-02 1.48388642e-03 9.99887482e-01 -2.95403680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36589822699995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:252.60, Y:-18.48, Z:-2.95 [[ 9.98980227e-01 4.25312732e-02 1.51524781e-02 2.52598601e+02] [-4.25040581e-02 9.99094058e-01 -2.11376612e-03 -1.84758671e+01] [-1.52286520e-02 1.46756875e-03 9.99882960e-01 -2.95475152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.63, Y:-18.48, Z:-2.95 [[ 9.98799286e-01 4.66440520e-02 1.49772434e-02 2.52625718e+02] [-4.66179297e-02 9.98910610e-01 -2.08873220e-03 -1.84826562e+01] [-1.50583543e-02 1.38801615e-03 9.99885653e-01 -2.95431754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.65, Y:-18.49, Z:-2.96 [[ 9.98622851e-01 5.02006394e-02 1.52413226e-02 2.52654091e+02] [-5.01740156e-02 9.98738231e-01 -2.12443917e-03 -1.84885049e+01] [-1.53287398e-02 1.35679515e-03 9.99881587e-01 -2.95566134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.68, Y:-18.50, Z:-2.96 [[ 9.98295207e-01 5.65450025e-02 1.44686687e-02 2.52682529e+02] [-5.65216800e-02 9.98399336e-01 -2.01613265e-03 -1.84964430e+01] [-1.45595115e-02 1.19490210e-03 9.99893291e-01 -2.95548327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.71, Y:-18.50, Z:-2.96 [[ 9.98161217e-01 5.88828855e-02 1.43871984e-02 2.52709746e+02] [-5.88600744e-02 9.98264231e-01 -2.00420961e-03 -1.85027264e+01] [-1.44802392e-02 1.15369273e-03 9.99894490e-01 -2.95632368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.74, Y:-18.51, Z:-2.96 [[ 9.98079096e-01 6.02997038e-02 1.42148957e-02 2.52737566e+02] [-6.02775912e-02 9.98179690e-01 -1.97932441e-03 -1.85097819e+01] [-1.43083729e-02 1.11868265e-03 9.99897004e-01 -2.95647906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.76, Y:-18.52, Z:-2.96 [[ 9.98048377e-01 6.07099096e-02 1.46199789e-02 2.52764405e+02] [-6.06865716e-02 9.98154797e-01 -2.03510401e-03 -1.85164068e+01] [-1.47165531e-02 1.14389585e-03 9.99891051e-01 -2.95716397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.79, Y:-18.53, Z:-2.96 [[ 9.98114046e-01 5.95440721e-02 1.49283385e-02 2.52790681e+02] [-5.95196231e-02 9.98224975e-01 -2.07712974e-03 -1.85260553e+01] [-1.50255210e-02 1.18468329e-03 9.99886409e-01 -2.95824524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.82, Y:-18.53, Z:-2.96 [[ 9.98189095e-01 5.83378478e-02 1.46705876e-02 2.52818529e+02] [-5.83141192e-02 9.98296199e-01 -2.04039722e-03 -1.85336597e+01] [-1.47646242e-02 1.18119986e-03 9.99890299e-01 -2.95890575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.85, Y:-18.54, Z:-2.96 [[ 9.98263991e-01 5.71175981e-02 1.43730234e-02 2.52846388e+02] [-5.70947060e-02 9.98366767e-01 -1.99837368e-03 -1.85414704e+01] [-1.44636912e-02 1.17428094e-03 9.99894706e-01 -2.95967852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.87, Y:-18.55, Z:-2.96 [[ 9.98348250e-01 5.56980996e-02 1.40887363e-02 2.52874732e+02] [-5.56759726e-02 9.98446970e-01 -1.95822382e-03 -1.85494095e+01] [-1.41759254e-02 1.17058523e-03 9.99898831e-01 -2.96058775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.90, Y:-18.56, Z:-2.96 [[ 9.98481612e-01 5.33217415e-02 1.38297689e-02 2.52901674e+02] [-5.33002028e-02 9.98576685e-01 -1.92161585e-03 -1.85600825e+01] [-1.39125487e-02 1.18156860e-03 9.99902518e-01 -2.96058306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.93, Y:-18.57, Z:-2.96 [[ 9.98509085e-01 5.27433351e-02 1.40622791e-02 2.52929934e+02] [-5.27210182e-02 9.98607370e-01 -1.95327198e-03 -1.85670218e+01] [-1.41457177e-02 1.20898215e-03 9.99899213e-01 -2.96134948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.96, Y:-18.57, Z:-2.96 [[ 9.98507186e-01 5.27281543e-02 1.42527836e-02 2.52956737e+02] [-5.27052354e-02 9.98608152e-01 -1.97915065e-03 -1.85732468e+01] [-1.43373028e-02 1.22499983e-03 9.99896465e-01 -2.96165530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.98, Y:-18.58, Z:-2.96 [[ 9.98439621e-01 5.37159551e-02 1.52617143e-02 2.52983557e+02] [-5.36898055e-02 9.98555415e-01 -2.11829796e-03 -1.85795718e+01] [-1.53534539e-02 1.29559413e-03 9.99881289e-01 -2.96190799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.01, Y:-18.59, Z:-2.96 [[ 9.98274322e-01 5.66567018e-02 1.54401070e-02 2.53012161e+02] [-5.66303012e-02 9.98392919e-01 -2.14210749e-03 -1.85860862e+01] [-1.55366583e-02 1.26403299e-03 9.99878500e-01 -2.96205340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.04, Y:-18.59, Z:-2.96 [[ 9.98232979e-01 5.75807077e-02 1.46758726e-02 2.53039375e+02] [-5.75569630e-02 9.98340149e-01 -2.03555570e-03 -1.85901595e+01] [-1.47687216e-02 1.18726018e-03 9.99890232e-01 -2.96280764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:-18.59, Z:-2.96 [[ 9.98214151e-01 5.80660711e-02 1.40299713e-02 2.53067888e+02] [-5.80444298e-02 9.98312106e-01 -1.94516264e-03 -1.85945092e+01] [-1.41192382e-02 1.12732719e-03 9.99899683e-01 -2.96345524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.10, Y:-18.60, Z:-2.96 [[ 9.98216733e-01 5.80507362e-02 1.39091932e-02 2.53096227e+02] [-5.80294728e-02 9.98313009e-01 -1.92781161e-03 -1.85987462e+01] [-1.39976394e-02 1.11723066e-03 9.99901404e-01 -2.96402291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.935898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:253.12, Y:-18.60, Z:-2.96 [[ 9.98235049e-01 5.77333614e-02 1.39156711e-02 2.53124845e+02] [-5.77120563e-02 9.98331408e-01 -1.92808878e-03 -1.86017274e+01] [-1.40037665e-02 1.12158381e-03 9.99901313e-01 -2.96462979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:253.15, Y:-18.61, Z:-2.96 [[ 9.98224582e-01 5.77119831e-02 1.47312597e-02 2.53152922e+02] [-5.76881150e-02 9.98332569e-01 -2.04041715e-03 -1.86051726e+01] [-1.48244528e-02 1.18697596e-03 9.99889407e-01 -2.96496668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.18, Y:-18.61, Z:-2.96 [[ 9.98271462e-01 5.65478740e-02 1.60133301e-02 2.53181308e+02] [-5.65195395e-02 9.98399032e-01 -2.21686620e-03 -1.86081176e+01] [-1.61130524e-02 1.30796821e-03 9.99869321e-01 -2.96448979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.21, Y:-18.61, Z:-2.97 [[ 9.98333192e-01 5.55480976e-02 1.56603304e-02 2.53210223e+02] [-5.55208874e-02 9.98455174e-01 -2.16730732e-03 -1.86115516e+01] [-1.57565277e-02 1.29421940e-03 9.99875021e-01 -2.96525115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.24, Y:-18.61, Z:-2.97 [[ 9.98384018e-01 5.47869950e-02 1.50910137e-02 2.53237965e+02] [-5.47616500e-02 9.98497272e-01 -2.08792624e-03 -1.86148860e+01] [-1.51827272e-02 1.25814338e-03 9.99883944e-01 -2.96679756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.085898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:253.27, Y:-18.62, Z:-2.97 [[ 9.98422005e-01 5.44147328e-02 1.38757950e-02 2.53266950e+02] [-5.43932811e-02 9.98517746e-01 -1.91899024e-03 -1.86178079e+01] [-1.39596488e-02 1.16121207e-03 9.99901885e-01 -2.96918489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.29, Y:-18.62, Z:-2.97 [[ 9.98386984e-01 5.50075843e-02 1.40568562e-02 2.53294861e+02] [-5.49856349e-02 9.98485254e-01 -1.94350530e-03 -1.86220899e+01] [-1.41424711e-02 1.16744524e-03 9.99899309e-01 -2.96955378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.32, Y:-18.63, Z:-2.97 [[ 9.98370313e-01 5.52834559e-02 1.41583137e-02 2.53323905e+02] [-5.52612301e-02 9.98470014e-01 -1.95654380e-03 -1.86258289e+01] [-1.42448162e-02 1.17094941e-03 9.99897852e-01 -2.97050318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.35, Y:-18.63, Z:-2.97 [[ 9.98340252e-01 5.57699554e-02 1.43685091e-02 2.53352212e+02] [-5.57471243e-02 9.98442947e-01 -1.98493108e-03 -1.86296196e+01] [-1.44568361e-02 1.18063353e-03 9.99894797e-01 -2.97109810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.38, Y:-18.63, Z:-2.97 [[ 9.98312002e-01 5.63470160e-02 1.40769482e-02 2.53380088e+02] [-5.63251669e-02 9.98410585e-01 -1.94410697e-03 -1.86338207e+01] [-1.41641187e-02 1.14793886e-03 9.99899025e-01 -2.97161579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:253.41, Y:-18.64, Z:-2.97 [[ 9.98293567e-01 5.69343329e-02 1.29783172e-02 2.53407848e+02] [-5.69158193e-02 9.98377373e-01 -1.79171265e-03 -1.86384595e+01] [-1.30592682e-02 1.04998366e-03 9.99914173e-01 -2.97354089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.44, Y:-18.65, Z:-2.97 [[ 9.98315900e-01 5.70503433e-02 1.05177170e-02 2.53435924e+02] [-5.70381961e-02 9.98370942e-01 -1.45154716e-03 -1.86473701e+01] [-1.05833943e-02 8.49191006e-04 9.99943634e-01 -2.97486832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.46, Y:-18.65, Z:-2.98 [[ 9.98343369e-01 5.66008698e-02 1.03372607e-02 2.53463455e+02] [-5.65891167e-02 9.98396533e-01 -1.42617923e-03 -1.86536571e+01] [-1.04014082e-02 8.38840121e-04 9.99945552e-01 -2.97527086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.49, Y:-18.66, Z:-2.98 [[ 9.98372502e-01 5.60375787e-02 1.05895069e-02 2.53491461e+02] [-5.60252192e-02 9.98428286e-01 -1.46045026e-03 -1.86593685e+01] [-1.06547033e-02 8.64793936e-04 9.99942863e-01 -2.97572063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:253.52, Y:-18.67, Z:-2.98 [[ 9.98397407e-01 5.55364374e-02 1.08775897e-02 2.53520195e+02] [-5.55233723e-02 9.98456262e-01 -1.49966953e-03 -1.86651131e+01] [-1.09440838e-02 8.93305713e-04 9.99939713e-01 -2.97676376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.55, Y:-18.67, Z:-2.98 [[ 9.98317199e-01 5.66791961e-02 1.22571788e-02 2.53548186e+02] [-5.66626999e-02 9.98391950e-01 -1.68923341e-03 -1.86740624e+01] [-1.23332130e-02 9.91865920e-04 9.99923451e-01 -2.97613416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:-18.68, Z:-2.98 [[ 9.98234925e-01 5.79064436e-02 1.31862575e-02 2.53575528e+02] [-5.78874659e-02 9.98321462e-01 -1.81668050e-03 -1.86787705e+01] [-1.32693213e-02 1.05015490e-03 9.99911407e-01 -2.97618943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.60, Y:-18.68, Z:-2.98 [[ 9.98122603e-01 5.96877091e-02 1.37348647e-02 2.53604337e+02] [-5.96672999e-02 9.98216528e-01 -1.89131367e-03 -1.86824543e+01] [-1.38232572e-02 1.06824063e-03 9.99903884e-01 -2.97637574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.63, Y:-18.69, Z:-2.98 [[ 9.98009752e-01 6.14279369e-02 1.42528082e-02 2.53632909e+02] [-6.14061459e-02 9.98110934e-01 -1.96193412e-03 -1.86857885e+01] [-1.43464013e-02 1.08281937e-03 9.99896499e-01 -2.97754499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.66, Y:-18.69, Z:-2.98 [[ 9.97913634e-01 6.28341539e-02 1.48407465e-02 2.53660751e+02] [-6.28106921e-02 9.98023370e-01 -2.04221498e-03 -1.86886425e+01] [-1.49397327e-02 1.10579662e-03 9.99887785e-01 -2.97844178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.69, Y:-18.69, Z:-2.98 [[ 9.97817663e-01 6.42664196e-02 1.51571247e-02 2.53689695e+02] [-6.42421258e-02 9.97932164e-01 -2.08478565e-03 -1.86925662e+01] [-1.52597639e-02 1.10651003e-03 9.99882951e-01 -2.97886554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.72, Y:-18.70, Z:-2.98 [[ 9.97834717e-01 6.38382746e-02 1.58288352e-02 2.53716844e+02] [-6.38117374e-02 9.97959581e-01 -2.17646128e-03 -1.86957191e+01] [-1.59354793e-02 1.16168315e-03 9.99872347e-01 -2.98012802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.74, Y:-18.70, Z:-2.98 [[ 9.97916204e-01 6.25459312e-02 1.58510871e-02 2.53744743e+02] [-6.25191720e-02 9.98041385e-01 -2.17858882e-03 -1.86997142e+01] [-1.59563028e-02 1.18305224e-03 9.99871990e-01 -2.98077139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.77, Y:-18.70, Z:-2.98 [[ 9.98033481e-01 6.06566983e-02 1.58093879e-02 2.53773289e+02] [-6.06298585e-02 9.98157955e-01 -2.17195095e-03 -1.87035907e+01] [-1.59120097e-02 1.20915881e-03 9.99872665e-01 -2.98174534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.80, Y:-18.71, Z:-2.98 [[ 9.98144604e-01 5.87685715e-02 1.59249904e-02 2.53800785e+02] [-5.87411099e-02 9.98270854e-01 -2.18714162e-03 -1.87081956e+01] [-1.60259890e-02 1.24763199e-03 9.99870797e-01 -2.98268535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.685898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:253.83, Y:-18.71, Z:-2.98 [[ 9.98369880e-01 5.49032804e-02 1.55952674e-02 2.53830006e+02] [-5.48764931e-02 9.98490855e-01 -2.14074740e-03 -1.87134633e+01] [-1.56892659e-02 1.28144414e-03 9.99876095e-01 -2.98439870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.86, Y:-18.72, Z:-2.98 [[ 9.98431134e-01 5.40560100e-02 1.46020311e-02 2.53858019e+02] [-5.40324384e-02 9.98537169e-01 -2.00427433e-03 -1.87186251e+01] [-1.46890139e-02 1.21214655e-03 9.99891376e-01 -2.98427726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.89, Y:-18.72, Z:-2.99 [[ 9.98448460e-01 5.39862465e-02 1.36440052e-02 2.53885715e+02] [-5.39656667e-02 9.98541036e-01 -1.87230254e-03 -1.87225794e+01] [-1.37251776e-02 1.13308975e-03 9.99905163e-01 -2.98517839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.91, Y:-18.73, Z:-2.99 [[ 9.98404103e-01 5.48680247e-02 1.33696310e-02 2.53912972e+02] [-5.48483529e-02 9.98493012e-01 -1.83390890e-03 -1.87258806e+01] [-1.34501061e-02 1.09767993e-03 9.99908941e-01 -2.98554361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.94, Y:-18.73, Z:-2.99 [[ 9.98278465e-01 5.67812597e-02 1.46967555e-02 2.53941377e+02] [-5.67577092e-02 9.98385949e-01 -2.01493731e-03 -1.87291073e+01] [-1.47874449e-02 1.17731435e-03 9.99889967e-01 -2.98577091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.97, Y:-18.73, Z:-2.99 [[ 9.97987425e-01 6.08731958e-02 1.77638255e-02 2.53969386e+02] [-6.08394506e-02 9.98144596e-01 -2.43442955e-03 -1.87296218e+01] [-1.78790580e-02 1.34878870e-03 9.99839247e-01 -2.98646201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.00, Y:-18.73, Z:-2.99 [[ 9.97835755e-01 6.33070739e-02 1.77769748e-02 2.53997924e+02] [-6.32736824e-02 9.97993242e-01 -2.43513327e-03 -1.87317672e+01] [-1.78954619e-02 1.30504838e-03 9.99839012e-01 -2.98639427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.03, Y:-18.73, Z:-2.99 [[ 9.97673016e-01 6.60378156e-02 1.69576177e-02 2.54026883e+02] [-6.60078364e-02 9.97816402e-01 -2.32216888e-03 -1.87336371e+01] [-1.70739401e-02 1.19742958e-03 9.99853513e-01 -2.98735019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.05, Y:-18.74, Z:-2.99 [[ 9.97544701e-01 6.84011739e-02 1.50282969e-02 2.54054883e+02] [-6.83779033e-02 9.97657371e-01 -2.05746464e-03 -1.87352019e+01] [-1.51338241e-02 1.02480952e-03 9.99884952e-01 -2.98829139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.08, Y:-18.74, Z:-2.99 [[ 9.97451453e-01 6.99415479e-02 1.40988877e-02 2.54083840e+02] [-6.99212319e-02 9.97550650e-01 -1.92938800e-03 -1.87366329e+01] [-1.41992990e-02 9.38659273e-04 9.99898744e-01 -2.98977780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.11, Y:-18.74, Z:-2.99 [[ 9.97379514e-01 7.05728672e-02 1.59240543e-02 2.54113454e+02] [-7.05470436e-02 9.97506075e-01 -2.17832193e-03 -1.87353823e+01] [-1.60380713e-02 1.04921872e-03 9.99870831e-01 -2.99029254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:-18.74, Z:-2.99 [[ 9.97371276e-01 7.02670210e-02 1.76941899e-02 2.54142457e+02] [-7.02351044e-02 9.97527531e-01 -2.41957128e-03 -1.87364903e+01] [-1.78204577e-02 1.17045762e-03 9.99840518e-01 -2.99005808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.17, Y:-18.74, Z:-2.99 [[ 9.97250107e-01 6.99129414e-02 2.45846624e-02 2.54170153e+02] [-7.02369853e-02 9.97451095e-01 1.25729246e-02 -1.87447815e+01] [-2.36429883e-02 -1.42651029e-02 9.99618685e-01 -2.99451947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.20, Y:-18.73, Z:-2.99 [[ 9.97360204e-01 7.06768956e-02 1.66553568e-02 2.54200820e+02] [-7.03750091e-02 9.97357029e-01 -1.80641733e-02 -1.87335819e+01] [-1.78880569e-02 1.68443667e-02 9.99698097e-01 -2.98823227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.23, Y:-18.74, Z:-2.99 [[ 9.97346910e-01 7.05473468e-02 1.79502776e-02 2.54227905e+02] [-7.05145553e-02 9.97507732e-01 -2.45400134e-03 -1.87423520e+01] [-1.80786640e-02 1.18173481e-03 9.99835869e-01 -2.99205399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.26, Y:-18.74, Z:-2.99 [[ 9.97339684e-01 7.09120454e-02 1.68830413e-02 2.54256809e+02] [-7.08831063e-02 9.97481961e-01 -2.30712542e-03 -1.87420216e+01] [-1.70041321e-02 1.10426533e-03 9.99854810e-01 -2.99315226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.28, Y:-18.74, Z:-2.99 [[ 9.97321639e-01 7.12364566e-02 1.65805753e-02 2.54284834e+02] [-7.12086008e-02 9.97458874e-01 -2.26514112e-03 -1.87431589e+01] [-1.66998026e-02 1.07839468e-03 9.99859967e-01 -2.99289635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.195898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:254.31, Y:-18.74, Z:-2.99 [[ 9.97289589e-01 7.16723627e-02 1.66297540e-02 2.54314228e+02] [-7.16444213e-02 9.97427652e-01 -2.27068884e-03 -1.87443998e+01] [-1.67497221e-02 1.07310524e-03 9.99859138e-01 -2.99307648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22589822699996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:254.34, Y:-18.75, Z:-2.99 [[ 9.97291990e-01 7.16389152e-02 1.66298638e-02 2.54343285e+02] [-7.16109826e-02 9.97430055e-01 -2.26988388e-03 -1.87482880e+01] [-1.67497380e-02 1.07285613e-03 9.99859138e-01 -2.99373106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.37, Y:-18.75, Z:-2.99 [[ 9.97244692e-01 7.21641957e-02 1.71858644e-02 2.54372389e+02] [-7.21344511e-02 9.97392160e-01 -2.34522265e-03 -1.87513370e+01] [-1.73102875e-02 1.09906794e-03 9.99849562e-01 -2.99454903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:-18.75, Z:-3.00 [[ 9.97389571e-01 7.02815812e-02 1.65693327e-02 2.54400207e+02] [-7.02536846e-02 9.97526596e-01 -2.26044695e-03 -1.87546043e+01] [-1.66872179e-02 1.09048954e-03 9.99860164e-01 -2.99642696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:-18.76, Z:-3.00 [[ 9.97526780e-01 6.84824167e-02 1.58265860e-02 2.54428759e+02] [-6.84567562e-02 9.97651750e-01 -2.15809444e-03 -1.87593085e+01] [-1.59372128e-02 1.06932026e-03 9.99872423e-01 -2.99669620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:-18.76, Z:-3.00 [[ 9.97689375e-01 6.62754022e-02 1.49493120e-02 2.54456737e+02] [-6.62522709e-02 9.97800824e-01 -2.03783216e-03 -1.87638549e+01] [-1.50514939e-02 1.04269763e-03 9.99886176e-01 -2.99703173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.48, Y:-18.77, Z:-3.00 [[ 9.97795672e-01 6.47347169e-02 1.46018172e-02 2.54482756e+02] [-6.47435670e-02 9.97901925e-01 1.33700918e-04 -1.87696536e+01] [-1.45625264e-02 -1.07877993e-03 9.99893379e-01 -2.99781797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40589822699997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:254.51, Y:-18.77, Z:-3.00 [[ 9.97909194e-01 6.34598740e-02 1.22508985e-02 2.54511111e+02] [-6.34175794e-02 9.97979803e-01 -3.81090246e-03 -1.87722022e+01] [-1.24679887e-02 3.02601227e-03 9.99917693e-01 -2.99685291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.54, Y:-18.78, Z:-3.00 [[ 9.97816913e-01 6.46402658e-02 1.35293699e-02 2.54539336e+02] [-6.46212074e-02 9.97908166e-01 -1.84157973e-03 -1.87796162e+01] [-1.36201089e-02 9.63275183e-04 9.99906778e-01 -2.99637805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.57, Y:-18.78, Z:-3.00 [[ 9.97676496e-01 6.64521967e-02 1.50238440e-02 2.54566440e+02] [-6.64289104e-02 9.97789066e-01 -2.04427035e-03 -1.87836149e+01] [-1.51264735e-02 1.04150289e-03 9.99885046e-01 -2.99658650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.59, Y:-18.79, Z:-3.00 [[ 9.97495221e-01 6.88406739e-02 1.62556394e-02 2.54594311e+02] [-6.88137450e-02 9.97627075e-01 -2.21082142e-03 -1.87872939e+01] [-1.63692604e-02 1.08667238e-03 9.99865424e-01 -2.99672209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52589822699997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:254.62, Y:-18.79, Z:-3.00 [[ 9.97344407e-01 7.08144875e-02 1.70130095e-02 2.54622587e+02] [-7.07852947e-02 9.97488894e-01 -2.31276611e-03 -1.87901643e+01] [-1.71340654e-02 1.10235345e-03 9.99852593e-01 -2.99681235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.65, Y:-18.79, Z:-3.00 [[ 9.97096298e-01 7.39148465e-02 1.83185182e-02 2.54650385e+02] [-7.38815382e-02 9.97263918e-01 -2.48934725e-03 -1.87940885e+01] [-1.84523970e-02 1.12871863e-03 9.99829103e-01 -2.99646292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.68, Y:-18.80, Z:-3.00 [[ 9.97049638e-01 7.42078434e-02 1.96269071e-02 2.54677710e+02] [-7.41696874e-02 9.97242072e-01 -2.66590747e-03 -1.87984295e+01] [-1.97706088e-02 1.20232051e-03 9.99803819e-01 -2.99700543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:254.71, Y:-18.80, Z:-3.00 [[ 9.97080607e-01 7.35703485e-02 2.04368801e-02 2.54705755e+02] [-7.35288692e-02 9.97289229e-01 -2.77471815e-03 -1.88028294e+01] [-2.05856174e-02 1.26391697e-03 9.99787295e-01 -2.99827497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.73, Y:-18.81, Z:-3.00 [[ 9.97161224e-01 7.24737809e-02 2.04216739e-02 2.54734451e+02] [-7.24321531e-02 9.97369491e-01 -2.77173474e-03 -1.88079522e+01] [-2.05688326e-02 1.28468059e-03 9.99787614e-01 -2.99817520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.76, Y:-18.81, Z:-3.00 [[ 9.97269365e-01 7.12037667e-02 1.95917435e-02 2.54762046e+02] [-7.11652267e-02 9.97460999e-01 -2.65825365e-03 -1.88122601e+01] [-1.97312777e-02 1.25674406e-03 9.99804530e-01 -2.99969191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.79, Y:-18.82, Z:-3.00 [[ 9.97481481e-01 6.86728621e-02 1.77407080e-02 2.54789596e+02] [-6.86408791e-02 9.97638532e-01 -2.40619424e-03 -1.88156948e+01] [-1.78640541e-02 1.18239640e-03 9.99839726e-01 -3.00052514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.82, Y:-18.82, Z:-3.00 [[ 9.97539596e-01 6.78254334e-02 1.77331357e-02 2.54818042e+02] [-6.77933634e-02 9.97696487e-01 -2.40410112e-03 -1.88189365e+01] [-1.78553464e-02 1.19599714e-03 9.99839865e-01 -3.00062244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.85, Y:-18.82, Z:-3.00 [[ 9.97570379e-01 6.71693666e-02 1.84828323e-02 2.54846598e+02] [-6.71344314e-02 9.97740795e-01 -2.50487062e-03 -1.88221192e+01] [-1.86093264e-02 1.25795029e-03 9.99826040e-01 -3.00135559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.87, Y:-18.82, Z:-3.00 [[ 9.97577719e-01 6.67986465e-02 1.94070725e-02 2.54874025e+02] [-6.67600777e-02 9.97765593e-01 -2.62919948e-03 -1.88246454e+01] [-1.95393362e-02 1.32721315e-03 9.99808208e-01 -3.00166821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:-18.83, Z:-3.00 [[ 9.97616401e-01 6.59235899e-02 2.03861878e-02 2.54902493e+02] [-6.58808750e-02 9.97823677e-01 -2.76056799e-03 -1.88257460e+01] [-2.05238074e-02 1.41092802e-03 9.99788369e-01 -3.00270204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.93, Y:-18.83, Z:-3.00 [[ 9.97675959e-01 6.50988434e-02 2.01201667e-02 2.54930596e+02] [-6.50570871e-02 9.97877827e-01 -2.72366507e-03 -1.88283872e+01] [-2.02547757e-02 1.40837573e-03 9.99793859e-01 -3.00407249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.96, Y:-18.83, Z:-3.00 [[ 9.97770402e-01 6.39033602e-02 1.92505863e-02 2.54959408e+02] [-6.38649350e-02 9.97955152e-01 -2.60488756e-03 -1.88310816e+01] [-1.93776828e-02 1.36964227e-03 9.99811297e-01 -3.00474689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:254.99, Y:-18.83, Z:-3.01 [[ 9.97903606e-01 6.21845206e-02 1.79298136e-02 2.54987871e+02] [-6.21509251e-02 9.98063815e-01 -2.42543566e-03 -1.88334173e+01] [-1.80459227e-02 1.30599649e-03 9.99836306e-01 -3.00660119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.02, Y:-18.84, Z:-3.01 [[ 9.98039937e-01 6.03362132e-02 1.66079950e-02 2.55015854e+02] [-6.03071451e-02 9.98177341e-01 -2.24600155e-03 -1.88366742e+01] [-1.67132396e-02 1.24001848e-03 9.99859555e-01 -3.00632377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:-18.84, Z:-3.01 [[ 9.98234990e-01 5.73788157e-02 1.53158703e-02 2.55044546e+02] [-5.73537622e-02 9.98351771e-01 -2.07040616e-03 -1.88382986e+01] [-1.54094237e-02 1.18832910e-03 9.99880562e-01 -3.00678572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.07, Y:-18.84, Z:-3.01 [[ 9.98256770e-01 5.69766522e-02 1.53974999e-02 2.55071853e+02] [-5.69512931e-02 9.98374790e-01 -2.08081148e-03 -1.88406366e+01] [-1.54910334e-02 1.20027661e-03 9.99879286e-01 -3.00746896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.10, Y:-18.84, Z:-3.01 [[ 9.98253773e-01 5.68751505e-02 1.59568814e-02 2.55100700e+02] [-5.68479185e-02 9.98380523e-01 -2.15539337e-03 -1.88429863e+01] [-1.60536279e-02 1.24451408e-03 9.99870358e-01 -3.00835110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:-18.85, Z:-3.01 [[ 9.98242030e-01 5.69964759e-02 1.62558284e-02 2.55129367e+02] [-5.69682422e-02 9.98373578e-01 -2.19502040e-03 -1.88454569e+01] [-1.63544980e-02 1.26509565e-03 9.99865456e-01 -3.00886189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.15, Y:-18.86, Z:-3.02 [[ 9.98038862e-01 5.65114341e-02 2.69237437e-02 2.55154798e+02] [-5.71622480e-02 9.98075214e-01 2.40487809e-02 -1.88592554e+01] [-2.55128902e-02 -2.55406396e-02 9.99348172e-01 -3.01712337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.19, Y:-18.84, Z:-3.00 [[ 9.98261357e-01 5.74016129e-02 1.33910011e-02 2.55188105e+02] [-5.69931502e-02 9.97949951e-01 -2.91148763e-02 -1.88392455e+01] [-1.50347898e-02 2.83010606e-02 9.99486371e-01 -3.00438295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.22, Y:-18.85, Z:-3.01 [[ 9.98278524e-01 5.64346913e-02 1.59722874e-02 2.55215427e+02] [-5.64073827e-02 9.98405509e-01 -2.15547992e-03 -1.88541186e+01] [-1.60684636e-02 1.25081438e-03 9.99870112e-01 -3.01172554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.185898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:255.24, Y:-18.86, Z:-3.01 [[ 9.98299743e-01 5.61927569e-02 1.54918626e-02 2.55243468e+02] [-5.61670483e-02 9.98419198e-01 -2.08996391e-03 -1.88583170e+01] [-1.55848139e-02 1.21627824e-03 9.99877810e-01 -3.01376577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.27, Y:-18.86, Z:-3.01 [[ 9.98338465e-01 5.57008527e-02 1.47554910e-02 2.55270838e+02] [-5.56774845e-02 9.98446822e-01 -1.99010692e-03 -1.88634649e+01] [-1.48434238e-02 1.16525166e-03 9.99889151e-01 -3.01378251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.30, Y:-18.87, Z:-3.01 [[ 9.98383383e-01 5.49568143e-02 1.45041237e-02 2.55298598e+02] [-5.49341716e-02 9.98488064e-01 -1.95523812e-03 -1.88684262e+01] [-1.45896481e-02 1.15530523e-03 9.99892898e-01 -3.01479799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.33, Y:-18.87, Z:-3.02 [[ 9.98504648e-01 5.29680011e-02 1.35224963e-02 2.55326761e+02] [-5.29481490e-02 9.98595600e-01 -1.82214609e-03 -1.88744683e+01] [-1.36000208e-02 1.10343020e-03 9.99906907e-01 -3.01556322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.35, Y:-18.88, Z:-3.02 [[ 9.98548680e-01 5.19620805e-02 1.41589650e-02 2.55354591e+02] [-5.19402231e-02 9.98648374e-01 -1.90733842e-03 -1.88794302e+01] [-1.42389366e-02 1.16915046e-03 9.99897938e-01 -3.01604357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.38, Y:-18.88, Z:-3.02 [[ 9.98558989e-01 5.14779756e-02 1.51645477e-02 2.55382464e+02] [-5.14528644e-02 9.98673337e-01 -2.04169743e-03 -1.88843843e+01] [-1.52495319e-02 1.25849590e-03 9.99882927e-01 -3.01618078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.41, Y:-18.89, Z:-3.02 [[ 9.98499400e-01 5.18097962e-02 1.77396048e-02 2.55410734e+02] [-5.17755055e-02 9.98655896e-01 -2.38716328e-03 -1.88909330e+01] [-1.78394393e-02 1.46510409e-03 9.99839791e-01 -3.01703785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.44, Y:-18.90, Z:-3.02 [[ 9.98460268e-01 5.23488351e-02 1.83491658e-02 2.55439293e+02] [-5.23122529e-02 9.98627726e-01 -2.46834683e-03 -1.88957662e+01] [-1.84532008e-02 1.50466004e-03 9.99828593e-01 -3.01780180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:-18.90, Z:-3.02 [[ 9.98423327e-01 5.30206017e-02 1.84302747e-02 2.55466647e+02] [-5.29838239e-02 9.98592295e-01 -2.47845281e-03 -1.88997330e+01] [-1.85357393e-02 1.49803867e-03 9.99827076e-01 -3.01843256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.50, Y:-18.90, Z:-3.02 [[ 9.98375222e-01 5.39729296e-02 1.82712427e-02 2.55495605e+02] [-5.39369622e-02 9.98541322e-01 -2.45598345e-03 -1.89033935e+01] [-1.83771474e-02 1.46649769e-03 9.99830050e-01 -3.01903261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.52, Y:-18.91, Z:-3.02 [[ 9.98331799e-01 5.47876474e-02 1.82190392e-02 2.55524006e+02] [-5.47520346e-02 9.98496981e-01 -2.44817169e-03 -1.89066954e+01] [-1.83257852e-02 1.44655818e-03 9.99831022e-01 -3.01927526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.55, Y:-18.91, Z:-3.02 [[ 9.98304001e-01 5.52980527e-02 1.82001858e-02 2.55552893e+02] [-5.52626133e-02 9.98468861e-01 -2.44479952e-03 -1.89097473e+01] [-1.83075115e-02 1.43486331e-03 9.99831374e-01 -3.01990236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.58, Y:-18.91, Z:-3.02 [[ 9.98295353e-01 5.50970561e-02 1.92536366e-02 2.55581072e+02] [-5.50573753e-02 9.98479845e-01 -2.58538512e-03 -1.89120671e+01] [-1.93668152e-02 1.52092325e-03 9.99811289e-01 -3.02100262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.61, Y:-18.92, Z:-3.02 [[ 9.98312335e-01 5.44512591e-02 2.01876601e-02 2.55609702e+02] [-5.44075287e-02 9.98515137e-01 -2.70954884e-03 -1.89152227e+01] [-2.03052226e-02 1.60661533e-03 9.99792537e-01 -3.02179255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.64, Y:-18.92, Z:-3.02 [[ 9.98373326e-01 5.31177920e-02 2.07171989e-02 2.55638330e+02] [-5.30714724e-02 9.98586848e-01 -2.77962466e-03 -1.89179240e+01] [-2.08355698e-02 1.67561087e-03 9.99781512e-01 -3.02211629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.67, Y:-18.92, Z:-3.02 [[ 9.98485112e-01 5.10410021e-02 2.05498832e-02 2.55666375e+02] [-5.09950114e-02 9.98695105e-01 -2.75618401e-03 -1.89208300e+01] [-2.06637461e-02 1.70406717e-03 9.99785030e-01 -3.02259003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:255.70, Y:-18.92, Z:-3.02 [[ 9.98623916e-01 4.85249625e-02 1.98897321e-02 2.55696055e+02] [-4.84813939e-02 9.98820525e-01 -2.66716086e-03 -1.89236607e+01] [-1.99956965e-02 1.69920869e-03 9.99798622e-01 -3.02393455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.72, Y:-18.93, Z:-3.03 [[ 9.98850207e-01 4.45477939e-02 1.77132192e-02 2.55724992e+02] [-4.45126255e-02 9.99005999e-01 -2.37495598e-03 -1.89273322e+01] [-1.78014113e-02 1.58376338e-03 9.99840288e-01 -3.02531556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72589822699996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:255.75, Y:-18.93, Z:-3.03 [[ 9.98893326e-01 4.36770444e-02 1.74481654e-02 2.55753521e+02] [-4.36427958e-02 9.99044461e-01 -2.33903380e-03 -1.89297750e+01] [-1.75336551e-02 1.57495853e-03 9.99845033e-01 -3.02667552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.78, Y:-18.93, Z:-3.03 [[ 9.98868402e-01 4.42059182e-02 1.75428573e-02 2.55782727e+02] [-4.41713854e-02 9.99021201e-01 -2.35128752e-03 -1.89332522e+01] [-1.76296272e-02 1.57373450e-03 9.99843348e-01 -3.02641360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.81, Y:-18.94, Z:-3.03 [[ 9.98806892e-01 4.54806399e-02 1.77849547e-02 2.55811223e+02] [-4.54453548e-02 9.98963983e-01 -2.38333779e-03 -1.89350650e+01] [-1.78749249e-02 1.57225063e-03 9.99838995e-01 -3.02571173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.84, Y:-18.94, Z:-3.03 [[ 9.98696709e-01 4.76193299e-02 1.83652662e-02 2.55839859e+02] [-4.75820706e-02 9.98864301e-01 -2.46069543e-03 -1.89361700e+01] [-1.84615854e-02 1.58363103e-03 9.99828316e-01 -3.02610944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.87, Y:-18.93, Z:-3.03 [[ 9.98400995e-01 5.35106502e-02 1.82226230e-02 2.55868522e+02] [-5.34749561e-02 9.98566208e-01 -2.44079327e-03 -1.89334436e+01] [-1.83271040e-02 1.46243646e-03 9.99830975e-01 -3.02749095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.90, Y:-18.93, Z:-3.03 [[ 9.98284546e-01 5.58037003e-02 1.77175539e-02 2.55896789e+02] [-5.57703351e-02 9.98440806e-01 -2.37210294e-03 -1.89337667e+01] [-1.78223010e-02 1.37991979e-03 9.99840218e-01 -3.02919322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.93, Y:-18.93, Z:-3.03 [[ 9.98189629e-01 5.76023858e-02 1.73040366e-02 2.55925345e+02] [-5.75708420e-02 9.98338737e-01 -2.31597562e-03 -1.89342105e+01] [-1.74086958e-02 1.31557489e-03 9.99847592e-01 -3.02990771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.95, Y:-18.93, Z:-3.03 [[ 9.98062257e-01 5.95144268e-02 1.81593846e-02 2.55954409e+02] [-5.94800172e-02 9.98226540e-01 -2.42960554e-03 -1.89320022e+01] [-1.82717762e-02 1.34477708e-03 9.99832153e-01 -3.03136758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.98, Y:-18.93, Z:-3.03 [[ 9.98076594e-01 5.90895442e-02 1.87493478e-02 2.55981895e+02] [-5.90528031e-02 9.98251711e-01 -2.50771584e-03 -1.89331018e+01] [-1.88647483e-02 1.39569094e-03 9.99821071e-01 -3.03181115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.01, Y:-18.93, Z:-3.03 [[ 9.98146754e-01 5.79181151e-02 1.86694648e-02 2.56010853e+02] [-5.78815049e-02 9.98320340e-01 -2.49584677e-03 -1.89344457e+01] [-1.87826612e-02 1.41060464e-03 9.99822595e-01 -3.03277291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.04, Y:-18.94, Z:-3.03 [[ 9.98256642e-01 5.62634981e-02 1.78352360e-02 2.56038616e+02] [-5.62298375e-02 9.98415006e-01 -2.38359925e-03 -1.89360309e+01] [-1.79410769e-02 1.37657136e-03 9.99838098e-01 -3.03332382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.07, Y:-18.94, Z:-3.03 [[ 9.98378349e-01 5.43002755e-02 1.70924855e-02 2.56067856e+02] [-5.42690914e-02 9.98523736e-01 -2.28335154e-03 -1.89379295e+01] [-1.71912391e-02 1.35205509e-03 9.99851306e-01 -3.03387148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.10, Y:-18.94, Z:-3.03 [[ 9.98570906e-01 5.05740046e-02 1.72746900e-02 2.56095979e+02] [-5.05416108e-02 9.98719292e-01 -2.30695567e-03 -1.89396758e+01] [-1.73692382e-02 1.43056816e-03 9.99848120e-01 -3.03463409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.13, Y:-18.94, Z:-3.04 [[ 9.98572548e-01 5.05415328e-02 1.72748335e-02 2.56125046e+02] [-5.05091526e-02 9.98720936e-01 -2.30588121e-03 -1.89434783e+01] [-1.73692806e-02 1.43005247e-03 9.99848120e-01 -3.03529683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.15, Y:-18.95, Z:-3.04 [[ 9.98636398e-01 4.90101431e-02 1.79819736e-02 2.56153709e+02] [-4.89748212e-02 9.98797131e-01 -2.39970037e-03 -1.89460494e+01] [-1.80779533e-02 1.51576419e-03 9.99835431e-01 -3.03523506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.18, Y:-18.95, Z:-3.04 [[ 9.98695730e-01 4.76886675e-02 1.82381485e-02 2.56182002e+02] [-4.76521284e-02 9.98861029e-01 -2.43304963e-03 -1.89483969e+01] [-1.83334046e-02 1.56078968e-03 9.99830711e-01 -3.03570965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.21, Y:-18.95, Z:-3.04 [[ 9.98773672e-01 4.62373530e-02 1.76991562e-02 2.56209334e+02] [-4.62027282e-02 9.98929295e-01 -2.36044621e-03 -1.89507565e+01] [-1.77893464e-02 1.53980222e-03 9.99840571e-01 -3.03652715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.24, Y:-18.95, Z:-3.04 [[ 9.98932060e-01 4.34001652e-02 1.58481899e-02 2.56236315e+02] [-4.33720649e-02 9.99056755e-01 -2.11267885e-03 -1.89549612e+01] [-1.59249318e-02 1.42305391e-03 9.99872178e-01 -3.03801828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.26, Y:-18.96, Z:-3.04 [[ 9.99006159e-01 4.15563205e-02 1.61172794e-02 2.56264789e+02] [-4.15270356e-02 9.99135073e-01 -2.14756521e-03 -1.89598401e+01] [-1.61925841e-02 1.47612804e-03 9.99867802e-01 -3.03885964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.29, Y:-18.96, Z:-3.04 [[ 9.99064626e-01 3.96683471e-02 1.72132271e-02 2.56293312e+02] [-3.96346800e-02 9.99211607e-01 -2.29277634e-03 -1.89646279e+01] [-1.72906069e-02 1.60839099e-03 9.99849213e-01 -3.03920345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.32, Y:-18.97, Z:-3.04 [[ 9.99106573e-01 3.80623288e-02 1.83661212e-02 2.56321549e+02] [-3.80237487e-02 9.99273844e-01 -2.44538782e-03 -1.89695677e+01] [-1.84458616e-02 1.74485427e-03 9.99828338e-01 -3.03940532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.35, Y:-18.97, Z:-3.04 [[ 9.99146127e-01 3.68958656e-02 1.85933099e-02 2.56350612e+02] [-3.68561377e-02 9.99317517e-01 -2.47495445e-03 -1.89748567e+01] [-1.86719358e-02 1.78756356e-03 9.99824066e-01 -3.03956002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.38, Y:-18.98, Z:-3.04 [[ 9.99173490e-01 3.64081764e-02 1.80771253e-02 2.56379452e+02] [-3.63705531e-02 9.99335477e-01 -2.40579882e-03 -1.89804261e+01] [-1.81527034e-02 1.74633536e-03 9.99833701e-01 -3.03962141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.41, Y:-18.99, Z:-3.04 [[ 9.99109070e-01 3.72097941e-02 1.99122578e-02 2.56408356e+02] [-3.72547998e-02 9.99304004e-01 1.89391120e-03 -1.89892718e+01] [-1.98279269e-02 -2.63405103e-03 9.99799938e-01 -3.04107831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.44, Y:-18.99, Z:-3.04 [[ 9.99069364e-01 3.90864836e-02 1.82387821e-02 2.56437844e+02] [-3.89655960e-02 9.99216472e-01 -6.93714343e-03 -1.89903599e+01] [-1.84956400e-02 6.22000246e-03 9.99809593e-01 -3.03831506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.47, Y:-19.00, Z:-3.04 [[ 9.98968424e-01 4.08692902e-02 1.97936550e-02 2.56466736e+02] [-4.08250718e-02 9.99162840e-01 -2.63308814e-03 -1.89961904e+01] [-1.98846970e-02 1.82229452e-03 9.99800619e-01 -3.03936199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.50, Y:-19.00, Z:-3.04 [[ 9.98883128e-01 4.28878884e-02 1.98274016e-02 2.56495982e+02] [-4.28439224e-02 9.99078297e-01 -2.63712079e-03 -1.90001832e+01] [-1.99222272e-02 1.78469181e-03 9.99799940e-01 -3.03957214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.52, Y:-19.00, Z:-3.04 [[ 9.98765248e-01 4.59367685e-02 1.89154108e-02 2.56524592e+02] [-4.58973041e-02 9.98942996e-01 -2.51545395e-03 -1.90049478e+01] [-1.90109689e-02 1.64418162e-03 9.99817923e-01 -3.04125832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.55, Y:-19.01, Z:-3.04 [[ 9.98735418e-01 4.66938072e-02 1.86347162e-02 2.56552967e+02] [-4.66556472e-02 9.98907960e-01 -2.47754571e-03 -1.90095888e+01] [-1.87300524e-02 1.60499790e-03 9.99823289e-01 -3.04207222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.58, Y:-19.01, Z:-3.04 [[ 9.98709326e-01 4.71522131e-02 1.88772411e-02 2.56579981e+02] [-4.71131504e-02 9.98886408e-01 -2.50895399e-03 -1.90142787e+01] [-1.89745223e-02 1.61634945e-03 9.99818661e-01 -3.04276785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.61, Y:-19.02, Z:-3.05 [[ 9.98649279e-01 4.72453419e-02 2.16216152e-02 2.56608233e+02] [-4.73530066e-02 9.98868105e-01 4.49461423e-03 -1.90221133e+01] [-2.13847922e-02 -5.51239175e-03 9.99756122e-01 -3.04555016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.64, Y:-19.02, Z:-3.04 [[ 9.98656967e-01 4.87387834e-02 1.75725233e-02 2.56637949e+02] [-4.85800110e-02 9.98775512e-01 -9.35192839e-03 -1.90209870e+01] [-1.80068076e-02 8.48569506e-03 9.99801854e-01 -3.04264257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.66, Y:-19.03, Z:-3.04 [[ 9.98596079e-01 4.99456442e-02 1.76437936e-02 2.56664969e+02] [-4.99120005e-02 9.98750873e-01 -2.34234208e-03 -1.90281327e+01] [-1.77387441e-02 1.45841658e-03 9.99841592e-01 -3.04488876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:-19.03, Z:-3.04 [[ 9.98394792e-01 5.40605782e-02 1.68906140e-02 2.56693328e+02] [-5.40303480e-02 9.98536778e-01 -2.24133609e-03 -1.90314857e+01] [-1.69870672e-02 1.32513253e-03 9.99854831e-01 -3.04493620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.72, Y:-19.03, Z:-3.05 [[ 9.98229554e-01 5.67506319e-02 1.78079752e-02 2.56721571e+02] [-5.67174689e-02 9.98387474e-01 -2.36222425e-03 -1.90345877e+01] [-1.79133171e-02 1.34801878e-03 9.99838635e-01 -3.04531590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:256.75, Y:-19.04, Z:-3.05 [[ 9.98081006e-01 5.91955098e-02 1.81713364e-02 2.56748953e+02] [-5.91613970e-02 9.98245522e-01 -2.40962122e-03 -1.90373464e+01] [-1.82820939e-02 1.32995553e-03 9.99831984e-01 -3.04537542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.78, Y:-19.04, Z:-3.05 [[ 9.97954380e-01 6.13765112e-02 1.78879687e-02 2.56777224e+02] [-6.13438216e-02 9.98113878e-01 -2.37098605e-03 -1.90413854e+01] [-1.79997527e-02 1.26881955e-03 9.99837186e-01 -3.04604069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.81, Y:-19.05, Z:-3.05 [[ 9.97833168e-01 6.33874035e-02 1.76353710e-02 2.56805532e+02] [-6.33559569e-02 9.97988258e-01 -2.33673751e-03 -1.90464895e+01] [-1.77480129e-02 1.21436839e-03 9.99841754e-01 -3.04712479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.83, Y:-19.05, Z:-3.05 [[ 9.97800225e-01 6.37111657e-02 1.83193418e-02 2.56833708e+02] [-6.36773027e-02 9.97967591e-01 -2.42648576e-03 -1.90501668e+01] [-1.84367036e-02 1.25462176e-03 9.99829242e-01 -3.04779664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.86, Y:-19.05, Z:-3.05 [[ 9.97777222e-01 6.39912660e-02 1.85939200e-02 2.56860939e+02] [-6.39564437e-02 9.97949654e-01 -2.46204706e-03 -1.90538706e+01] [-1.87133455e-02 1.26737348e-03 9.99824087e-01 -3.04774953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:-19.06, Z:-3.05 [[ 9.97707141e-01 6.50699454e-02 1.86108344e-02 2.56889785e+02] [-6.50352695e-02 9.97879926e-01 -2.46306064e-03 -1.90580471e+01] [-1.87316493e-02 1.24705256e-03 9.99823770e-01 -3.04747358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.92, Y:-19.06, Z:-3.05 [[ 9.97593108e-01 6.68588323e-02 1.83817001e-02 2.56918165e+02] [-6.68253229e-02 9.97761726e-01 -2.43189525e-03 -1.90612866e+01] [-1.85031505e-02 1.19767889e-03 9.99828085e-01 -3.04753307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.95, Y:-19.07, Z:-3.05 [[ 9.97380399e-01 6.88563458e-02 2.21617546e-02 2.56946107e+02] [-6.89952823e-02 9.97601459e-01 5.56594701e-03 -1.90682693e+01] [-2.17253480e-02 -7.08042297e-03 9.99738904e-01 -3.05100377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.97, Y:-19.06, Z:-3.05 [[ 9.97276690e-01 7.14147094e-02 1.84158439e-02 2.56974545e+02] [-7.12221809e-02 9.97400836e-01 -1.09074613e-02 -1.90647776e+01] [-1.91469313e-02 9.56614030e-03 9.99770916e-01 -3.04683271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.00, Y:-19.07, Z:-3.05 [[ 9.97112986e-01 7.31538737e-02 2.03519801e-02 2.57002522e+02] [-7.31141635e-02 9.97319952e-01 -2.68946351e-03 -1.90720372e+01] [-2.04941805e-02 1.19368099e-03 9.99789260e-01 -3.04965699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.03, Y:-19.08, Z:-3.05 [[ 9.96841393e-01 7.63495708e-02 2.18627640e-02 2.57029710e+02] [-7.63045348e-02 9.97080377e-01 -2.88801569e-03 -1.90764428e+01] [-2.20194317e-02 1.21066555e-03 9.99756810e-01 -3.05081409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.06, Y:-19.08, Z:-3.05 [[ 9.96731169e-01 7.76818869e-02 2.21923902e-02 2.57056082e+02] [-7.76358407e-02 9.96977477e-01 -2.93025419e-03 -1.90806647e+01] [-2.23529409e-02 1.19775081e-03 9.99749424e-01 -3.05110305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.08, Y:-19.09, Z:-3.05 [[ 9.96601241e-01 7.92231588e-02 2.25756085e-02 2.57084072e+02] [-7.91759450e-02 9.96856206e-01 -2.97898814e-03 -1.90855794e+01] [-2.27406403e-02 1.18141814e-03 9.99740700e-01 -3.05222092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.11, Y:-19.09, Z:-3.05 [[ 9.96436394e-01 8.12136756e-02 2.27783145e-02 2.57112046e+02] [-8.11661650e-02 9.96696056e-01 -3.00414752e-03 -1.90904030e+01] [-2.29470341e-02 1.14461348e-03 9.99736027e-01 -3.05309299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.14, Y:-19.09, Z:-3.05 [[ 9.96200818e-01 8.41222347e-02 2.25250877e-02 2.57138957e+02] [-8.40765511e-02 9.96454875e-01 -2.96921326e-03 -1.90948750e+01] [-2.26950103e-02 1.06410100e-03 9.99741869e-01 -3.05327886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.17, Y:-19.10, Z:-3.05 [[ 9.95527926e-01 9.18875313e-02 2.19278397e-02 2.57166654e+02] [-9.18461660e-02 9.95769019e-01 -2.88828180e-03 -1.91001891e+01] [-2.21004605e-02 8.61377183e-04 9.99755384e-01 -3.05439306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.19, Y:-19.10, Z:-3.06 [[ 9.95146142e-01 9.59945871e-02 2.16609162e-02 2.57193229e+02] [-9.59552264e-02 9.95381566e-01 -2.85163927e-03 -1.91044340e+01] [-2.18346187e-02 7.59319702e-04 9.99761308e-01 -3.05504956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.22, Y:-19.11, Z:-3.06 [[ 9.94773198e-01 9.98909693e-02 2.11678684e-02 2.57219862e+02] [-9.98542971e-02 9.94998172e-01 -2.78504427e-03 -1.91084143e+01] [-2.13401911e-02 6.56784773e-04 9.99772056e-01 -3.05560556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.25, Y:-19.11, Z:-3.06 [[ 9.94414814e-01 1.03519115e-01 2.05662393e-02 2.57247786e+02] [-1.03485306e-01 9.94627306e-01 -2.70426958e-03 -1.91123879e+01] [-2.07356867e-02 5.60862160e-04 9.99784835e-01 -3.05613874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.28, Y:-19.12, Z:-3.06 [[ 9.93828628e-01 1.09168646e-01 1.96688826e-02 2.57275172e+02] [-1.09138854e-01 9.94023153e-01 -2.58498468e-03 -1.91164063e+01] [-1.98335240e-02 4.22392460e-04 9.99803207e-01 -3.05764862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.30, Y:-19.12, Z:-3.06 [[ 9.93638752e-01 1.10904172e-01 1.95523847e-02 2.57302043e+02] [-1.10875095e-01 9.93831030e-01 -2.56834371e-03 -1.91201267e+01] [-1.97166066e-02 3.84133339e-04 9.99805535e-01 -3.05904766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.33, Y:-19.12, Z:-3.06 [[ 9.93488290e-01 1.12173129e-01 1.99551214e-02 2.57330043e+02] [-1.12143131e-01 9.93688611e-01 -2.61953528e-03 -1.91240993e+01] [-2.01230183e-02 3.64647828e-04 9.99797445e-01 -3.05961147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.36, Y:-19.13, Z:-3.06 [[ 9.93464753e-01 1.12422670e-01 1.97212371e-02 2.57357991e+02] [-1.12393447e-01 9.93660414e-01 -2.58752454e-03 -1.91277760e+01] [-1.98871091e-02 3.54076617e-04 9.99802169e-01 -3.06030361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.38, Y:-19.13, Z:-3.06 [[ 9.93665612e-01 1.10882939e-01 1.82654309e-02 2.57384272e+02] [-1.10857632e-01 9.93833410e-01 -2.39538823e-03 -1.91326338e+01] [-1.84184032e-02 3.55352498e-04 9.99830304e-01 -3.06151458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.41, Y:-19.14, Z:-3.06 [[ 9.93827184e-01 1.09584820e-01 1.72827985e-02 2.57412012e+02] [-1.09561991e-01 9.93977384e-01 -2.26513434e-03 -1.91379919e+01] [-1.74269352e-02 3.57614266e-04 9.99848075e-01 -3.06276952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.44, Y:-19.14, Z:-3.06 [[ 9.94016938e-01 1.07950732e-01 1.66423372e-02 2.57438082e+02] [-1.07929352e-01 9.94156176e-01 -2.18014523e-03 -1.91431491e+01] [-1.67804306e-02 3.70904606e-04 9.99859130e-01 -3.06324585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.47, Y:-19.15, Z:-3.06 [[ 9.94199677e-01 1.06272252e-01 1.65290842e-02 2.57465881e+02] [-1.06250954e-01 9.94336991e-01 -2.16387260e-03 -1.91480361e+01] [-1.66654395e-02 3.95090459e-04 9.99861044e-01 -3.06378164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.49, Y:-19.15, Z:-3.06 [[ 9.94357287e-01 1.04783520e-01 1.65529111e-02 2.57493943e+02] [-1.04761973e-01 9.94494966e-01 -2.16587456e-03 -1.91525308e+01] [-1.66887347e-02 4.19537526e-04 9.99860645e-01 -3.06377432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.52, Y:-19.16, Z:-3.06 [[ 9.94449431e-01 1.03828089e-01 1.70310740e-02 2.57520679e+02] [-1.03805159e-01 9.94595158e-01 -2.22726885e-03 -1.91569084e+01] [-1.71702768e-02 4.46992893e-04 9.99852480e-01 -3.06401834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.645898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:257.55, Y:-19.16, Z:-3.07 [[ 9.94536155e-01 1.02757125e-01 1.84068020e-02 2.57548737e+02] [-1.02730189e-01 9.94706350e-01 -2.40548838e-03 -1.91611785e+01] [-1.85565439e-02 5.01410906e-04 9.99827687e-01 -3.06508484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.58, Y:-19.17, Z:-3.06 [[ 9.94442268e-01 1.03505992e-01 1.92635531e-02 2.57575855e+02] [-1.03476658e-01 9.94628700e-01 -2.51606630e-03 -1.91655724e+01] [-1.94205108e-02 5.08754585e-04 9.99811275e-01 -3.06481256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.60, Y:-19.17, Z:-3.06 [[ 9.94373984e-01 1.04023838e-01 1.99855371e-02 2.57603233e+02] [-1.03992402e-01 9.94574671e-01 -2.60863612e-03 -1.91688012e+01] [-2.01484693e-02 5.15615882e-04 9.99796866e-01 -3.06445636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:-19.17, Z:-3.06 [[ 9.94321003e-01 1.04359302e-01 2.08537367e-02 2.57630686e+02] [-1.04325182e-01 9.94539519e-01 -2.72041326e-03 -1.91718038e+01] [-2.10237657e-02 5.29394169e-04 9.99778836e-01 -3.06451568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.66, Y:-19.18, Z:-3.07 [[ 9.94427475e-01 1.03163625e-01 2.17086275e-02 2.57657611e+02] [-1.03126399e-01 9.94664232e-01 -2.83034529e-03 -1.91750690e+01] [-2.18847840e-02 5.75840534e-04 9.99760334e-01 -3.06548772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:-19.18, Z:-3.07 [[ 9.94621514e-01 1.01208829e-01 2.20185740e-02 2.57684590e+02] [-1.01170095e-01 9.94865007e-01 -2.86892619e-03 -1.91780132e+01] [-2.21958695e-02 6.25874480e-04 9.99753445e-01 -3.06698827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.71, Y:-19.18, Z:-3.07 [[ 9.94877356e-01 9.85733460e-02 2.24129797e-02 2.57712556e+02] [-9.85325849e-02 9.95129545e-01 -2.91846353e-03 -1.91805144e+01] [-2.25915010e-02 6.95104462e-04 9.99744538e-01 -3.06813266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.74, Y:-19.18, Z:-3.07 [[ 9.95127055e-01 9.58189006e-02 2.32568937e-02 2.57740446e+02] [-9.57742995e-02 9.95398474e-01 -3.02667098e-03 -1.91825664e+01] [-2.34398888e-02 7.84509479e-04 9.99724940e-01 -3.06899936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.77, Y:-19.18, Z:-3.07 [[ 9.95344908e-01 9.32137329e-02 2.44890812e-02 2.57767797e+02] [-9.31635370e-02 9.95645725e-01 -3.18519790e-03 -1.91843956e+01] [-2.46793532e-02 8.88881089e-04 9.99695023e-01 -3.06918756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.79, Y:-19.19, Z:-3.07 [[ 9.95534865e-01 9.09013216e-02 2.54417554e-02 2.57794234e+02] [-9.08464444e-02 9.95859422e-01 -3.30696016e-03 -1.91865696e+01] [-2.56370188e-02 9.80901119e-04 9.99670836e-01 -3.06992183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.82, Y:-19.19, Z:-3.07 [[ 9.95934376e-01 8.64108242e-02 2.54536600e-02 2.57822159e+02] [-8.63544827e-02 9.96258988e-01 -3.30649477e-03 -1.91887177e+01] [-2.56441545e-02 1.09501416e-03 9.99670535e-01 -3.07163817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.85, Y:-19.19, Z:-3.07 [[ 9.96149576e-01 8.40550401e-02 2.49152989e-02 2.57848734e+02] [-8.40003655e-02 9.96460473e-01 -3.23482146e-03 -1.91918020e+01] [-2.50990136e-02 1.12947181e-03 9.99684332e-01 -3.07296210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.005898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:257.88, Y:-19.20, Z:-3.07 [[ 9.96398489e-01 8.14122120e-02 2.37086984e-02 2.57876633e+02] [-8.13620113e-02 9.96679869e-01 -3.07598796e-03 -1.91952456e+01] [-2.38804054e-02 1.13592237e-03 9.99714177e-01 -3.07450913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:257.90, Y:-19.20, Z:-3.08 [[ 9.96402907e-01 8.13580710e-02 2.37088659e-02 2.57904888e+02] [-8.13078856e-02 9.96684290e-01 -3.07469623e-03 -1.91987873e+01] [-2.38804056e-02 1.13591851e-03 9.99714177e-01 -3.07516355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.93, Y:-19.20, Z:-3.08 [[ 9.96621453e-01 7.90072136e-02 2.24396742e-02 2.57933234e+02] [-7.89616906e-02 9.96873407e-01 -2.90892546e-03 -1.92042621e+01] [-2.25993406e-02 1.12722291e-03 9.99743967e-01 -3.07695513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.96, Y:-19.21, Z:-3.08 [[ 9.96858462e-01 7.62429674e-02 2.14526385e-02 2.57961891e+02] [-7.62007439e-02 9.97088621e-01 -2.78002215e-03 -1.92093511e+01] [-2.16021389e-02 1.13658159e-03 9.99766001e-01 -3.07815503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:-19.22, Z:-3.08 [[ 9.97116771e-01 7.28761797e-02 2.11472607e-02 2.57988962e+02] [-7.28344155e-02 9.97340285e-01 -2.73948094e-03 -1.92154340e+01] [-2.12906579e-02 1.19133401e-03 9.99772618e-01 -3.07870714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.02, Y:-19.22, Z:-3.08 [[ 9.97127511e-01 7.26194043e-02 2.15208729e-02 2.58017317e+02] [-7.25761198e-02 9.97358983e-01 -2.78657292e-03 -1.92200233e+01] [-2.16663952e-02 1.21666707e-03 9.99764516e-01 -3.07912658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.05, Y:-19.22, Z:-3.08 [[ 9.97099086e-01 7.31015430e-02 2.12032175e-02 2.58046143e+02] [-7.30596568e-02 9.97323796e-01 -2.74445513e-03 -1.92247180e+01] [-2.13470972e-02 1.18739391e-03 9.99771420e-01 -3.07996113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.07, Y:-19.23, Z:-3.08 [[ 9.97054144e-01 7.38652840e-02 2.06628809e-02 2.58073241e+02] [-7.38256830e-02 9.97267576e-01 -2.67386072e-03 -1.92287729e+01] [-2.08039266e-02 1.14053262e-03 9.99782924e-01 -3.08129838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.10, Y:-19.23, Z:-3.08 [[ 9.96998845e-01 7.47907170e-02 1.99912887e-02 2.58101459e+02] [-7.47538577e-02 9.97198663e-01 -2.58579252e-03 -1.92327090e+01] [-2.01286796e-02 1.08360621e-03 9.99796810e-01 -3.08210541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.13, Y:-19.24, Z:-3.08 [[ 9.96907777e-01 7.61473935e-02 1.94025258e-02 2.58129703e+02] [-7.61129466e-02 9.97096046e-01 -2.50877632e-03 -1.92361355e+01] [-1.95372185e-02 1.02423522e-03 9.99808606e-01 -3.08347349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.16, Y:-19.24, Z:-3.08 [[ 9.96927910e-01 7.58838274e-02 1.94006947e-02 2.58157199e+02] [-7.58493541e-02 9.97116135e-01 -2.50767423e-03 -1.92395064e+01] [-1.95350376e-02 1.02844027e-03 9.99808644e-01 -3.08493021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.19, Y:-19.24, Z:-3.09 [[ 9.97008031e-01 7.50013856e-02 1.87023797e-02 2.58185092e+02] [-7.49692145e-02 9.97182921e-01 -2.41636953e-03 -1.92429707e+01] [-1.88309247e-02 1.00703711e-03 9.99822175e-01 -3.08565609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.21, Y:-19.25, Z:-3.09 [[ 9.97131504e-01 7.35369273e-02 1.79187928e-02 2.58213038e+02] [-7.35071772e-02 9.97292003e-01 -2.31418376e-03 -1.92463654e+01] [-1.80404467e-02 9.90385660e-04 9.99836767e-01 -3.08662056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.24, Y:-19.25, Z:-3.09 [[ 9.97264161e-01 7.18863514e-02 1.72204828e-02 2.58241602e+02] [-7.18586482e-02 9.97412349e-01 -2.22293809e-03 -1.92502114e+01] [-1.73357211e-02 9.79415881e-04 9.99849245e-01 -3.08747276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.27, Y:-19.25, Z:-3.09 [[ 9.97581624e-01 6.74419889e-02 1.68072119e-02 2.58270262e+02] [-6.74149833e-02 9.97722665e-01 -2.16885188e-03 -1.92540685e+01] [-1.69152079e-02 1.03054887e-03 9.99856397e-01 -3.08799415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.30, Y:-19.26, Z:-3.09 [[ 9.97707311e-01 6.54529097e-02 1.72057619e-02 2.58298831e+02] [-6.54243278e-02 9.97855065e-01 -2.21945036e-03 -1.92579434e+01] [-1.73141261e-02 1.08868645e-03 9.99849507e-01 -3.08824079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.33, Y:-19.26, Z:-3.09 [[ 9.97816665e-01 6.35343984e-02 1.80356374e-02 2.58326476e+02] [-6.35026955e-02 9.97978957e-01 -2.32566406e-03 -1.92618863e+01] [-1.81469463e-02 1.17527477e-03 9.99834640e-01 -3.08872904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.35, Y:-19.27, Z:-3.09 [[ 9.97924690e-01 6.17177121e-02 1.83640119e-02 2.58354535e+02] [-6.16845590e-02 9.98092888e-01 -2.36685913e-03 -1.92657741e+01] [-1.84750668e-02 1.22917118e-03 9.99828566e-01 -3.08907482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:-19.27, Z:-3.09 [[ 9.98026221e-01 5.99469140e-02 1.87090895e-02 2.58383060e+02] [-5.99122095e-02 9.98200740e-01 -2.41048092e-03 -1.92702377e+01] [-1.88199278e-02 1.28482028e-03 9.99822064e-01 -3.08967584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:-19.27, Z:-3.09 [[ 9.98111628e-01 5.82568944e-02 1.94759617e-02 2.58410295e+02] [-5.82189836e-02 9.98300685e-01 -2.50837910e-03 -1.92747392e+01] [-1.95889963e-02 1.36977164e-03 9.99807179e-01 -3.09010916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.44, Y:-19.28, Z:-3.09 [[ 9.98190037e-01 5.57030583e-02 2.26676033e-02 2.58438688e+02] [-5.56510804e-02 9.98446014e-01 -2.91793157e-03 -1.92803203e+01] [-2.27949158e-02 1.65117360e-03 9.99738799e-01 -3.08926848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.47, Y:-19.28, Z:-3.09 [[ 9.98183032e-01 5.53300868e-02 2.38582703e-02 2.58467472e+02] [-5.52724251e-02 9.98466591e-01 -3.07006018e-03 -1.92848401e+01] [-2.39915525e-02 1.74577752e-03 9.99710637e-01 -3.08885735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.50, Y:-19.29, Z:-3.09 [[ 9.98201206e-01 5.50984557e-02 2.36328770e-02 2.58496387e+02] [-5.50418277e-02 9.98479420e-01 -3.04047951e-03 -1.92895801e+01] [-2.37644670e-02 1.73421357e-03 9.99716081e-01 -3.08976254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.52, Y:-19.29, Z:-3.09 [[ 9.98215294e-01 5.54236784e-02 2.22360679e-02 2.58524646e+02] [-5.53736390e-02 9.98461606e-01 -2.86029094e-03 -1.92948370e+01] [-2.23603879e-02 1.62389416e-03 9.99748656e-01 -3.09120621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:258.55, Y:-19.30, Z:-3.09 [[ 9.98232892e-01 5.59876351e-02 1.99117367e-02 2.58552425e+02] [-5.59476315e-02 9.98430420e-01 -2.56090374e-03 -1.93014168e+01] [-2.00238626e-02 1.44236384e-03 9.99798462e-01 -3.09388807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.58, Y:-19.31, Z:-3.09 [[ 9.98213793e-01 5.63650836e-02 1.98040640e-02 2.58581093e+02] [-5.63255981e-02 9.98409206e-01 -2.54642054e-03 -1.93067397e+01] [-1.99160891e-02 1.42639635e-03 9.99800638e-01 -3.09389953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.61, Y:-19.31, Z:-3.09 [[ 9.98189482e-01 5.66786725e-02 2.01317366e-02 2.58609919e+02] [-5.66379519e-02 9.98391430e-01 -2.58760591e-03 -1.93110991e+01] [-2.02460154e-02 1.44270067e-03 9.99793988e-01 -3.09421964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.64, Y:-19.32, Z:-3.09 [[ 9.98145068e-01 5.73405113e-02 2.04569922e-02 2.58637171e+02] [-5.72986215e-02 9.98353624e-01 -2.62847771e-03 -1.93151203e+01] [-2.05740305e-02 1.45144461e-03 9.99787279e-01 -3.09438109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.66, Y:-19.32, Z:-3.10 [[ 9.98076509e-01 5.83757593e-02 2.08699175e-02 2.58664418e+02] [-5.83324119e-02 9.98293617e-01 -2.68031160e-03 -1.93188660e+01] [-2.09907707e-02 1.45776342e-03 9.99778607e-01 -3.09523597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.69, Y:-19.32, Z:-3.10 [[ 9.97954246e-01 6.08368063e-02 1.96521432e-02 2.58693339e+02] [-6.07988653e-02 9.98146849e-01 -2.52292306e-03 -1.93213440e+01] [-1.97692114e-02 1.32293377e-03 9.99803695e-01 -3.09607510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.72, Y:-19.32, Z:-3.10 [[ 9.97890682e-01 6.20587512e-02 1.90498818e-02 2.58722086e+02] [-6.20233486e-02 9.98071706e-01 -2.44421447e-03 -1.93244187e+01] [-1.91648329e-02 1.25752139e-03 9.99815547e-01 -3.09724588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.75, Y:-19.33, Z:-3.10 [[ 9.97856999e-01 6.25015721e-02 1.93639759e-02 2.58749615e+02] [-6.24650929e-02 9.98044059e-01 -2.48361374e-03 -1.93278781e+01] [-1.94813309e-02 1.26871880e-03 9.99809416e-01 -3.09898090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.78, Y:-19.33, Z:-3.10 [[ 9.97846021e-01 6.23582439e-02 2.03658408e-02 2.58778067e+02] [-6.23178885e-02 9.98052937e-01 -2.61081150e-03 -1.93312599e+01] [-2.04889928e-02 1.33603167e-03 9.99789186e-01 -3.09996622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.81, Y:-19.33, Z:-3.10 [[ 9.97855623e-01 6.19808917e-02 2.10362605e-02 2.58805933e+02] [-6.19377728e-02 9.98076372e-01 -2.69575907e-03 -1.93340732e+01] [-2.11628801e-02 1.38703923e-03 9.99775079e-01 -3.10038015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.83, Y:-19.34, Z:-3.10 [[ 9.97970694e-01 6.03622891e-02 2.02703478e-02 2.58834612e+02] [-6.03219447e-02 9.98175597e-01 -2.59644899e-03 -1.93358997e+01] [-2.03900941e-02 1.36843320e-03 9.99791164e-01 -3.10121335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.86, Y:-19.34, Z:-3.10 [[ 9.98058533e-01 5.93287626e-02 1.89542042e-02 2.58862798e+02] [-5.92933177e-02 9.98237653e-01 -2.42705969e-03 -1.93390400e+01] [-1.90647947e-02 1.29848998e-03 9.99817407e-01 -3.10171528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.89, Y:-19.34, Z:-3.10 [[ 9.98132258e-01 5.84983847e-02 1.76049524e-02 2.58890412e+02] [-5.84676909e-02 9.98286758e-01 -2.25359677e-03 -1.93424805e+01] [-1.77066226e-02 1.22006672e-03 9.99842481e-01 -3.10261834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.92, Y:-19.35, Z:-3.10 [[ 9.98163257e-01 5.81810047e-02 1.68844271e-02 2.58919050e+02] [-5.81527441e-02 9.98305360e-01 -2.16035857e-03 -1.93460452e+01] [-1.69815059e-02 1.17451478e-03 9.99855114e-01 -3.10356257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.95, Y:-19.35, Z:-3.10 [[ 9.98158474e-01 5.83343466e-02 1.66362250e-02 2.58947720e+02] [-5.83069444e-02 9.98296435e-01 -2.12786129e-03 -1.93493252e+01] [-1.67320116e-02 1.15393533e-03 9.99859344e-01 -3.10394556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.98, Y:-19.35, Z:-3.10 [[ 9.97981571e-01 6.10479277e-02 1.74909657e-02 2.58975899e+02] [-6.10180658e-02 9.98134156e-01 -2.23638904e-03 -1.93513866e+01] [-1.75948572e-02 1.16461016e-03 9.99844520e-01 -3.10345217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.00, Y:-19.35, Z:-3.10 [[ 9.97844974e-01 6.32205740e-02 1.75660809e-02 2.59003717e+02] [-6.31908082e-02 9.97998939e-01 -2.24497750e-03 -1.93543174e+01] [-1.76728589e-02 1.13012467e-03 9.99843184e-01 -3.10377313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.03, Y:-19.36, Z:-3.10 [[ 9.97677856e-01 6.58675813e-02 1.73308462e-02 2.59032344e+02] [-6.58390228e-02 9.97827802e-01 -2.21389923e-03 -1.93575163e+01] [-1.74390244e-02 1.06771225e-03 9.99847359e-01 -3.10492728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.06, Y:-19.36, Z:-3.11 [[ 9.97510249e-01 6.85199602e-02 1.66828467e-02 2.59061226e+02] [-6.84938789e-02 9.97649262e-01 -2.13042033e-03 -1.93606753e+01] [-1.67896060e-02 9.82443229e-04 9.99858562e-01 -3.10564895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:259.09, Y:-19.36, Z:-3.11 [[ 9.97328457e-01 7.11672633e-02 1.64672250e-02 2.59089231e+02] [-7.11422228e-02 9.97463967e-01 -2.10220366e-03 -1.93635974e+01] [-1.65750717e-02 9.25072547e-04 9.99862196e-01 -3.10633920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:-19.37, Z:-3.11 [[ 9.97110789e-01 7.41293079e-02 1.65806924e-02 2.59118246e+02] [-7.41043467e-02 9.97248249e-01 -2.11564675e-03 -1.93672605e+01] [-1.66918979e-02 8.80832815e-04 9.99860293e-01 -3.10628481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.15, Y:-19.37, Z:-3.11 [[ 9.96655051e-01 8.00037464e-02 1.66766319e-02 2.59146156e+02] [-7.99793265e-02 9.96794253e-01 -2.12722055e-03 -1.93705256e+01] [-1.67933565e-02 7.86319317e-04 9.99858672e-01 -3.10631434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.385898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:259.17, Y:-19.37, Z:-3.11 [[ 9.96399879e-01 8.31274987e-02 1.66463080e-02 2.59174361e+02] [-8.31036200e-02 9.96538652e-01 -2.12230419e-03 -1.93741412e+01] [-1.67651112e-02 7.31295180e-04 9.99859188e-01 -3.10726901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41589822699996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:259.20, Y:-19.38, Z:-3.11 [[ 9.96074492e-01 8.68564488e-02 1.70752393e-02 2.59201184e+02] [-8.68318903e-02 9.96220602e-01 -2.17582603e-03 -1.93778718e+01] [-1.71996897e-02 6.84609502e-04 9.99851840e-01 -3.10736609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:-19.38, Z:-3.11 [[ 9.95706293e-01 9.07555614e-02 1.82320219e-02 2.59229023e+02] [-9.07282450e-02 9.95872982e-01 -2.32157832e-03 -1.93815074e+01] [-1.83674742e-02 6.57450792e-04 9.99831088e-01 -3.10726261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:-19.38, Z:-3.11 [[ 9.95310016e-01 9.46531564e-02 1.99687776e-02 2.59257008e+02] [-9.46212005e-02 9.95510106e-01 -2.54122103e-03 -1.93845863e+01] [-2.01196545e-02 6.39833037e-04 9.99797375e-01 -3.10795166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.28, Y:-19.39, Z:-3.11 [[ 9.94574235e-01 1.01581768e-01 2.24328987e-02 2.59283604e+02] [-1.01543235e-01 9.94827036e-01 -2.85309386e-03 -1.93864398e+01] [-2.26066765e-02 5.59704531e-04 9.99744280e-01 -3.10866445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:-19.39, Z:-3.11 [[ 9.94271164e-01 1.04307339e-01 2.33416077e-02 2.59310375e+02] [-1.04266417e-01 9.94544978e-01 -2.96675017e-03 -1.93888170e+01] [-2.35237326e-02 5.16008346e-04 9.99723146e-01 -3.10981857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.34, Y:-19.39, Z:-3.11 [[ 9.94036428e-01 1.06369450e-01 2.40233099e-02 2.59338450e+02] [-1.06326751e-01 9.94326561e-01 -3.05146911e-03 -1.93915482e+01] [-2.42115982e-02 4.78950977e-04 9.99706742e-01 -3.11104104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.37, Y:-19.40, Z:-3.11 [[ 9.93835784e-01 1.08230017e-01 2.40145526e-02 2.59366155e+02] [-1.08187930e-01 9.94125785e-01 -3.04873587e-03 -1.93950476e+01] [-2.42034507e-02 4.31858057e-04 9.99706960e-01 -3.11229246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.625898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.39, Y:-19.40, Z:-3.11 [[ 9.93866069e-01 1.08059882e-01 2.35222851e-02 2.59393282e+02] [-1.08019495e-01 9.94144296e-01 -2.98460513e-03 -1.93985781e+01] [-2.37070616e-02 4.25432420e-04 9.99718858e-01 -3.11366936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65589822699997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:259.42, Y:-19.40, Z:-3.11 [[ 9.93939822e-01 1.07465341e-01 2.31263887e-02 2.59420247e+02] [-1.07426185e-01 9.94208738e-01 -2.93250614e-03 -1.94013114e+01] [-2.33076005e-02 4.30354928e-04 9.99728248e-01 -3.11446563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.45, Y:-19.40, Z:-3.11 [[ 9.93998861e-01 1.07023196e-01 2.26340426e-02 2.59447827e+02] [-1.06985616e-01 9.94256431e-01 -2.86828766e-03 -1.94045482e+01] [-2.28110158e-02 4.29557681e-04 9.99739703e-01 -3.11408395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.47, Y:-19.41, Z:-3.11 [[ 9.94038925e-01 1.06594478e-01 2.28961188e-02 2.59474647e+02] [-1.06555946e-01 9.94302480e-01 -2.89986970e-03 -1.94075467e+01] [-2.30747778e-02 4.42865756e-04 9.99733644e-01 -3.11478756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.50, Y:-19.41, Z:-3.12 [[ 9.94095274e-01 1.06034262e-01 2.30504208e-02 2.59501026e+02] [-1.05995103e-01 9.94362372e-01 -2.91751316e-03 -1.94105654e+01] [-2.32298274e-02 4.57054328e-04 9.99730047e-01 -3.11547888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.53, Y:-19.41, Z:-3.12 [[ 9.94022670e-01 1.06364890e-01 2.46057312e-02 2.59527319e+02] [-1.06320437e-01 9.94327050e-01 -3.11157508e-03 -1.94139913e+01] [-2.47971064e-02 4.76884071e-04 9.99692391e-01 -3.11682778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80589822699994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:259.55, Y:-19.42, Z:-3.12 [[ 9.93981607e-01 1.06670597e-01 2.49389163e-02 2.59554692e+02] [-1.06625075e-01 9.94294302e-01 -3.15181168e-03 -1.94165072e+01] [-2.51328280e-02 4.73729002e-04 9.99684008e-01 -3.11867145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.58, Y:-19.42, Z:-3.12 [[ 9.93976341e-01 1.06831580e-01 2.44549895e-02 2.59582287e+02] [-1.06787896e-01 9.94277025e-01 -3.08908388e-03 -1.94197410e+01] [-2.46450459e-02 4.58979418e-04 9.99696159e-01 -3.11819340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:-19.42, Z:-3.12 [[ 9.93978803e-01 1.06803616e-01 2.44770764e-02 2.59610340e+02] [-1.06759887e-01 9.94280030e-01 -3.09014688e-03 -1.94221080e+01] [-2.46671071e-02 4.58370580e-04 9.99695616e-01 -3.11902261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.64, Y:-19.42, Z:-3.12 [[ 9.93971232e-01 1.06922685e-01 2.42637403e-02 2.59636923e+02] [-1.06879792e-01 9.94267236e-01 -3.06150181e-03 -1.94237738e+01] [-2.44519860e-02 4.49741198e-04 9.99700904e-01 -3.11895740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:-19.43, Z:-3.12 [[ 9.93983505e-01 1.06808479e-01 2.42639938e-02 2.59665176e+02] [-1.06765602e-01 9.94279511e-01 -3.05949157e-03 -1.94271899e+01] [-2.44519715e-02 4.50524251e-04 9.99700904e-01 -3.11961154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.69, Y:-19.43, Z:-3.12 [[ 9.93748268e-01 1.09206168e-01 2.32032753e-02 2.59692332e+02] [-1.09167672e-01 9.94019051e-01 -2.92314947e-03 -1.94280168e+01] [-2.33837237e-02 3.71827173e-04 9.99726494e-01 -3.12057060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.72, Y:-19.43, Z:-3.12 [[ 9.93609503e-01 1.10605660e-01 2.25065159e-02 2.59720304e+02] [-1.10569862e-01 9.93864317e-01 -2.83268061e-03 -1.94310560e+01] [-2.26817336e-02 3.26036012e-04 9.99742683e-01 -3.12195952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.75, Y:-19.43, Z:-3.12 [[ 9.93554751e-01 1.11239046e-01 2.17906117e-02 2.59746998e+02] [-1.11205672e-01 9.93793633e-01 -2.74116243e-03 -1.94338248e+01] [-2.19602955e-02 3.00255329e-04 9.99758799e-01 -3.12338394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.77, Y:-19.44, Z:-3.12 [[ 9.93579457e-01 1.11062573e-01 2.15630898e-02 2.59774036e+02] [-1.11029908e-01 9.93813371e-01 -2.70990740e-03 -1.94368001e+01] [-2.17306562e-02 2.98360452e-04 9.99763817e-01 -3.12397024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.80, Y:-19.44, Z:-3.12 [[ 9.93667330e-01 1.10262628e-01 2.16192265e-02 2.59801717e+02] [-1.10229642e-01 9.93902437e-01 -2.71520112e-03 -1.94404282e+01] [-2.17867872e-02 3.14927046e-04 9.99762590e-01 -3.12450717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.83, Y:-19.44, Z:-3.12 [[ 9.93794235e-01 1.09064042e-01 2.18644296e-02 2.59829338e+02] [-1.09030047e-01 9.94034666e-01 -2.74447761e-03 -1.94441532e+01] [-2.20333248e-02 3.43566233e-04 9.99757178e-01 -3.12479125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.86, Y:-19.45, Z:-3.12 [[ 9.93992954e-01 1.07226894e-01 2.19180492e-02 2.59856039e+02] [-1.07192318e-01 9.94234503e-01 -2.74971743e-03 -1.94483764e+01] [-2.20865244e-02 3.83753253e-04 9.99755989e-01 -3.12486079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.88, Y:-19.45, Z:-3.12 [[ 9.94014539e-01 1.07070119e-01 2.17045288e-02 2.59883343e+02] [-1.07036214e-01 9.94251399e-01 -2.72121384e-03 -1.94518372e+01] [-2.18711188e-02 3.81755517e-04 9.99760726e-01 -3.12470503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.91, Y:-19.46, Z:-3.13 [[ 9.94008962e-01 1.07123699e-01 2.16955346e-02 2.59911118e+02] [-1.07089866e-01 9.94245628e-01 -2.71863073e-03 -1.94556656e+01] [-2.18619202e-02 3.78971410e-04 9.99760928e-01 -3.12563899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:-19.46, Z:-3.13 [[ 9.93980445e-01 1.07359612e-01 2.18354756e-02 2.59937730e+02] [-1.07325430e-01 9.94220184e-01 -2.73474289e-03 -1.94595213e+01] [-2.20028715e-02 3.74779145e-04 9.99757837e-01 -3.12671676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:-19.46, Z:-3.13 [[ 9.94009906e-01 1.07035642e-01 2.20834184e-02 2.59964472e+02] [-1.07000658e-01 9.94255110e-01 -2.76317393e-03 -1.94631075e+01] [-2.22523097e-02 3.83681958e-04 9.99752313e-01 -3.12769504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.99, Y:-19.47, Z:-3.13 [[ 9.94052311e-01 1.06595130e-01 2.23042930e-02 2.59992349e+02] [-1.06559371e-01 9.94302430e-01 -2.78906711e-03 -1.94675708e+01] [-2.24745137e-02 3.95747185e-04 9.99747338e-01 -3.12812507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.02, Y:-19.47, Z:-3.13 [[ 9.94116407e-01 1.05885796e-01 2.28203389e-02 2.60019703e+02] [-1.05848211e-01 9.94378209e-01 -2.85206121e-03 -1.94719051e+01] [-2.29940405e-02 4.19788797e-04 9.99735514e-01 -3.12958822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:-19.48, Z:-3.13 [[ 9.94250397e-01 1.04599527e-01 2.29147872e-02 2.60047665e+02] [-1.04561324e-01 9.94514322e-01 -2.86236149e-03 -1.94765710e+01] [-2.30884857e-02 4.49903569e-04 9.99733324e-01 -3.13035879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.375898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:260.08, Y:-19.48, Z:-3.13 [[ 9.94592102e-01 1.01463469e-01 2.21746717e-02 2.60075329e+02] [-1.01426945e-01 9.94839138e-01 -2.76851463e-03 -1.94810426e+01] [-2.23411343e-02 5.04433570e-04 9.99750278e-01 -3.13239363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.10, Y:-19.48, Z:-3.13 [[ 9.94747816e-01 1.00011291e-01 2.17835981e-02 2.60103288e+02] [-9.99757281e-02 9.94986163e-01 -2.71824386e-03 -1.94840752e+01] [-2.19462338e-02 5.26136056e-04 9.99759014e-01 -3.13268951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.13, Y:-19.49, Z:-3.13 [[ 9.94843001e-01 9.89945637e-02 2.20789332e-02 2.60130897e+02] [-9.89578147e-02 9.95087820e-01 -2.75353692e-03 -1.94870406e+01] [-2.22430627e-02 5.54453954e-04 9.99752439e-01 -3.13323284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46589822699997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:260.16, Y:-19.49, Z:-3.13 [[ 9.94919239e-01 9.81298940e-02 2.24995969e-02 2.60157355e+02] [-9.80915469e-02 9.95173444e-01 -2.80437969e-03 -1.94897978e+01] [-2.26661948e-02 5.83111042e-04 9.99742919e-01 -3.13477032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:-19.49, Z:-3.13 [[ 9.94998022e-01 9.71951930e-02 2.30657973e-02 2.60184076e+02] [-9.71546852e-02 9.95265147e-01 -2.87301838e-03 -1.94932224e+01] [-2.32358277e-02 6.17697328e-04 9.99729821e-01 -3.13468989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.21, Y:-19.50, Z:-3.13 [[ 9.95117189e-01 9.57901028e-02 2.37915154e-02 2.60210729e+02] [-9.57466525e-02 9.95401330e-01 -2.96139323e-03 -1.94961056e+01] [-2.39657782e-02 6.68975346e-04 9.99712556e-01 -3.13499857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55589822699994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:260.24, Y:-19.50, Z:-3.14 [[ 9.95442985e-01 9.19201452e-02 2.53761907e-02 2.60238647e+02] [-9.18695241e-02 9.95766052e-01 -3.15598453e-03 -1.94969410e+01] [-2.55588478e-02 8.10304096e-04 9.99672991e-01 -3.13604366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:-19.50, Z:-3.14 [[ 9.95625039e-01 8.99684025e-02 2.52283261e-02 2.60265276e+02] [-8.99177905e-02 9.95944254e-01 -3.13575797e-03 -1.94990736e+01] [-2.54081255e-02 8.53563812e-04 9.99676797e-01 -3.13694091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.29, Y:-19.50, Z:-3.14 [[ 9.95831991e-01 8.78377204e-02 2.45597303e-02 2.60292894e+02] [-8.77891664e-02 9.96134407e-01 -3.05032591e-03 -1.95013716e+01] [-2.47327260e-02 8.81533872e-04 9.99693711e-01 -3.13747385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:-19.50, Z:-3.14 [[ 9.96018949e-01 8.58335411e-02 2.40594391e-02 2.60321007e+02] [-8.57863939e-02 9.96309075e-01 -2.98685529e-03 -1.95031607e+01] [-2.42270098e-02 9.10991955e-04 9.99706068e-01 -3.13853794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:-19.51, Z:-3.14 [[ 9.95997018e-01 8.39902213e-02 3.05872905e-02 2.60348218e+02] [-8.44428472e-02 9.96332518e-01 1.38173503e-02 -1.95114952e+01] [-2.93145898e-02 -1.63449176e-02 9.99436591e-01 -3.14416058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:-19.50, Z:-3.13 [[ 9.96279470e-01 8.33032345e-02 2.20859619e-02 2.60378439e+02] [-8.28592797e-02 9.96354303e-01 -2.03086905e-02 -1.94965679e+01] [-2.36972228e-02 1.84031045e-02 9.99549782e-01 -3.13445209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.41, Y:-19.50, Z:-3.14 [[ 9.96410489e-01 8.09851980e-02 2.46482227e-02 2.60405865e+02] [-8.09342956e-02 9.96714750e-01 -3.05743051e-03 -1.95007697e+01] [-2.48148537e-02 1.05156929e-03 9.99691511e-01 -3.13902399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.43, Y:-19.51, Z:-3.15 [[ 9.96305844e-01 7.95764478e-02 3.22839503e-02 2.60433651e+02] [-8.01570033e-02 9.96635497e-01 1.71038019e-02 -1.95111020e+01] [-3.08142711e-02 -1.96284026e-02 9.99332380e-01 -3.14674874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.46, Y:-19.50, Z:-3.14 [[ 9.96521481e-01 7.94479787e-02 2.51586465e-02 2.60464478e+02] [-7.91154421e-02 9.96767854e-01 -1.39496244e-02 -1.94989161e+01] [-2.61855995e-02 1.19106630e-02 9.99586140e-01 -3.14071705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.49, Y:-19.50, Z:-3.14 [[ 9.96670018e-01 7.83751936e-02 2.24989732e-02 2.60492797e+02] [-7.81077269e-02 9.96866160e-01 -1.25316275e-02 -1.95005920e+01] [-2.34106337e-02 1.07325538e-02 9.99668322e-01 -3.14111324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.52, Y:-19.51, Z:-3.14 [[ 9.96777489e-01 7.67655514e-02 2.32741726e-02 2.60520498e+02] [-7.67191854e-02 9.97048581e-01 -2.87989021e-03 -1.95057953e+01] [-2.34265571e-02 1.08503417e-03 9.99724972e-01 -3.14400667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.55, Y:-19.51, Z:-3.14 [[ 9.96912492e-01 7.51234127e-02 2.28463604e-02 2.60548495e+02] [-7.50783358e-02 9.97173635e-01 -2.82564550e-03 -1.95073520e+01] [-2.29940604e-02 1.10165458e-03 9.99734995e-01 -3.14476294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.58, Y:-19.51, Z:-3.15 [[ 9.97217047e-01 7.13485177e-02 2.16229192e-02 2.60577366e+02] [-7.13072807e-02 9.97450814e-01 -2.67314455e-03 -1.95072651e+01] [-2.17585232e-02 1.12383375e-03 9.99762624e-01 -3.14556519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.61, Y:-19.51, Z:-3.15 [[ 9.97379188e-01 6.91006576e-02 2.14442198e-02 2.60606570e+02] [-6.90596024e-02 9.97609016e-01 -2.65007504e-03 -1.95095880e+01] [-2.15760689e-02 1.16220040e-03 9.99766534e-01 -3.14635099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.63, Y:-19.51, Z:-3.15 [[ 9.97542996e-01 6.66767264e-02 2.14985038e-02 2.60634313e+02] [-6.66349230e-02 9.97773889e-01 -2.65580829e-03 -1.95122126e+01] [-2.16277264e-02 1.21673181e-03 9.99765353e-01 -3.14663258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.66, Y:-19.52, Z:-3.15 [[ 9.97833709e-01 6.20552722e-02 2.18410844e-02 2.60663416e+02] [-6.20110507e-02 9.98071819e-01 -2.69682955e-03 -1.95154419e+01] [-2.19663234e-02 1.33659884e-03 9.99757818e-01 -3.14762092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.69, Y:-19.52, Z:-3.15 [[ 9.97961101e-01 5.99310622e-02 2.19524355e-02 2.60690539e+02] [-5.98858981e-02 9.98201551e-01 -2.70960322e-03 -1.95190159e+01] [-2.20753446e-02 1.38943729e-03 9.99755344e-01 -3.14842280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.72, Y:-19.52, Z:-3.15 [[ 9.98078463e-01 5.81281041e-02 2.14593864e-02 2.60719367e+02] [-5.80845571e-02 9.98308156e-01 -2.64755988e-03 -1.95230712e+01] [-2.15769781e-02 1.39601354e-03 9.99766215e-01 -3.14915055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.75, Y:-19.53, Z:-3.15 [[ 9.98167424e-01 5.67144250e-02 2.11013544e-02 2.60748291e+02] [-5.66720241e-02 9.98389458e-01 -2.60247065e-03 -1.95275795e+01] [-2.12149674e-02 1.40184496e-03 9.99773954e-01 -3.15007581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.78, Y:-19.53, Z:-3.15 [[ 9.98216875e-01 5.58611788e-02 2.10380503e-02 2.60776714e+02] [-5.58188637e-02 9.98437543e-01 -2.59370085e-03 -1.95322739e+01] [-2.11500665e-02 1.41475589e-03 9.99775311e-01 -3.15060334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.80, Y:-19.54, Z:-3.15 [[ 9.98161689e-01 5.59718059e-02 2.32465152e-02 2.60804168e+02] [-5.59201959e-02 9.98431132e-01 -2.86479026e-03 -1.95371808e+01] [-2.33703919e-02 1.55957421e-03 9.99725659e-01 -3.14990195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.83, Y:-19.54, Z:-3.15 [[ 9.98108843e-01 5.66336324e-02 2.39033456e-02 2.60832855e+02] [-5.65792865e-02 9.98393768e-01 -2.94433521e-03 -1.95412190e+01] [-2.40316997e-02 1.58633277e-03 9.99709938e-01 -3.15026352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.86, Y:-19.55, Z:-3.15 [[ 9.98092811e-01 5.69983066e-02 2.37051213e-02 2.60861776e+02] [-5.69449866e-02 9.98373051e-01 -2.91884416e-03 -1.95453604e+01] [-2.38329235e-02 1.56338956e-03 9.99714733e-01 -3.15060767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.89, Y:-19.55, Z:-3.15 [[ 9.98097899e-01 5.72107199e-02 2.29677493e-02 2.60890633e+02] [-5.71607458e-02 9.98360985e-01 -2.82702652e-03 -1.95503139e+01] [-2.30918410e-02 1.50879555e-03 9.99732209e-01 -3.15188528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.92, Y:-19.56, Z:-3.15 [[ 9.98128223e-01 5.70510390e-02 2.20279123e-02 2.60917999e+02] [-5.70050545e-02 9.98370211e-01 -2.71038298e-03 -1.95557663e+01] [-2.21466416e-02 1.44960741e-03 9.99753682e-01 -3.15282693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.95, Y:-19.56, Z:-3.15 [[ 9.98195065e-01 5.60669170e-02 2.15200668e-02 2.60945031e+02] [-5.60228274e-02 9.98425980e-01 -2.64668169e-03 -1.95616009e+01] [-2.16345851e-02 1.43628961e-03 9.99764913e-01 -3.15394803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.97, Y:-19.57, Z:-3.15 [[ 9.98384240e-01 5.23525166e-02 2.20935014e-02 2.60973014e+02] [-5.23051694e-02 9.98627455e-01 -2.71589633e-03 -1.95702896e+01] [-2.22053610e-02 1.55590376e-03 9.99752220e-01 -3.15467005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.00, Y:-19.58, Z:-3.16 [[ 9.98482481e-01 5.05155619e-02 2.19297445e-02 2.61000771e+02] [-5.04684963e-02 9.98722018e-01 -2.69472493e-03 -1.95759987e+01] [-2.20378442e-02 1.58387441e-03 9.99755883e-01 -3.15538153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.03, Y:-19.58, Z:-3.16 [[ 9.98564056e-01 4.90815869e-02 2.14668041e-02 2.61029301e+02] [-4.90361740e-02 9.98793522e-01 -2.63710448e-03 -1.95819557e+01] [-2.15703381e-02 1.58066780e-03 9.99766084e-01 -3.15630929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.06, Y:-19.59, Z:-3.16 [[ 9.98607800e-01 4.83609904e-02 2.10636103e-02 2.61058723e+02] [-4.83171238e-02 9.98828696e-01 -2.58684425e-03 -1.95880386e+01] [-2.11640408e-02 1.56550978e-03 9.99774791e-01 -3.15734271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.09, Y:-19.59, Z:-3.16 [[ 9.98602177e-01 4.84637229e-02 2.10940765e-02 2.61087865e+02] [-4.84197620e-02 9.98823717e-01 -2.59011684e-03 -1.95942213e+01] [-2.11947906e-02 1.56512615e-03 9.99774140e-01 -3.15872705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.12, Y:-19.60, Z:-3.16 [[ 9.98547046e-01 4.96493833e-02 2.09460281e-02 2.61116451e+02] [-4.96063067e-02 9.98765539e-01 -2.57146781e-03 -1.96001149e+01] [-2.10478428e-02 1.52867649e-03 9.99777301e-01 -3.15887234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.14, Y:-19.60, Z:-3.16 [[ 9.98367274e-01 5.31335492e-02 2.09669309e-02 2.61144637e+02] [-5.30911611e-02 9.98586354e-01 -2.57354552e-03 -1.96046483e+01] [-2.10740327e-02 1.45618491e-03 9.99776857e-01 -3.15848724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.17, Y:-19.61, Z:-3.16 [[ 9.98290952e-01 5.43077026e-02 2.15835105e-02 2.61172423e+02] [-5.42630726e-02 9.98523162e-01 -2.64852799e-03 -1.96073318e+01] [-2.16954706e-02 1.47281393e-03 9.99763541e-01 -3.15880452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.575898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:261.20, Y:-19.61, Z:-3.16 [[ 9.98245229e-01 5.50072434e-02 2.19240879e-02 2.61201547e+02] [-5.49613889e-02 9.98484859e-01 -2.68907119e-03 -1.96104754e+01] [-2.20387883e-02 1.47937416e-03 9.99756022e-01 -3.15970048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.23, Y:-19.61, Z:-3.16 [[ 9.98221872e-01 5.53377585e-02 2.21546100e-02 2.61228922e+02] [-5.52910380e-02 9.98466586e-01 -2.71633719e-03 -1.96144554e+01] [-2.22709538e-02 1.48655581e-03 9.99750866e-01 -3.16027680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.26, Y:-19.62, Z:-3.16 [[ 9.98226922e-01 5.53346950e-02 2.19336432e-02 2.61257088e+02] [-5.52889289e-02 9.98466779e-01 -2.68798997e-03 -1.96179679e+01] [-2.20487532e-02 1.47053631e-03 9.99755815e-01 -3.16109015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.29, Y:-19.62, Z:-3.16 [[ 9.98213495e-01 5.56869799e-02 2.16512764e-02 2.61285949e+02] [-5.56424879e-02 9.98447234e-01 -2.65244229e-03 -1.96206942e+01] [-2.17653635e-02 1.44297280e-03 9.99762065e-01 -3.16174101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.31, Y:-19.62, Z:-3.16 [[ 9.98132134e-01 5.72386495e-02 2.13536745e-02 2.61314041e+02] [-5.71957452e-02 9.98359559e-01 -2.61508068e-03 -1.96203026e+01] [-2.14683287e-02 1.38885674e-03 9.99768564e-01 -3.16261430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.34, Y:-19.62, Z:-3.16 [[ 9.98062034e-01 5.84021065e-02 2.14795431e-02 2.61342747e+02] [-5.83589892e-02 9.98292199e-01 -2.62928802e-03 -1.96216062e+01] [-2.15964163e-02 1.37066812e-03 9.99765831e-01 -3.16348397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.755898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:261.37, Y:-19.62, Z:-3.16 [[ 9.97976905e-01 5.96449307e-02 2.20131424e-02 2.61371840e+02] [-5.95999673e-02 9.98218708e-01 -2.69360783e-03 -1.96222328e+01] [-2.21345906e-02 1.37617584e-03 9.99754053e-01 -3.16442329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.40, Y:-19.62, Z:-3.16 [[ 9.97888351e-01 6.11201621e-02 2.19809981e-02 2.61400940e+02] [-6.10757080e-02 9.98129515e-01 -2.68869636e-03 -1.96228968e+01] [-2.21042166e-02 1.34051375e-03 9.99754773e-01 -3.16482881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.43, Y:-19.62, Z:-3.17 [[ 9.97830309e-01 6.22192754e-02 2.15275684e-02 2.61430068e+02] [-6.21769119e-02 9.98061673e-01 -2.63229348e-03 -1.96226106e+01] [-2.16496203e-02 1.28806449e-03 9.99764790e-01 -3.16555320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.46, Y:-19.63, Z:-3.17 [[ 9.97834671e-01 6.21492485e-02 2.15276779e-02 2.61459166e+02] [-6.21068880e-02 9.98066035e-01 -2.63139760e-03 -1.96260743e+01] [-2.16495835e-02 1.28868268e-03 9.99764790e-01 -3.16624589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.49, Y:-19.62, Z:-3.17 [[ 9.97793079e-01 6.31876265e-02 2.04033268e-02 2.61487182e+02] [-6.31498211e-02 9.98000946e-01 -2.49256416e-03 -1.96216456e+01] [-2.05200387e-02 1.19859683e-03 9.99788723e-01 -3.16888754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:261.52, Y:-19.62, Z:-3.17 [[ 9.97839318e-01 6.24317230e-02 2.04688766e-02 2.61516053e+02] [-6.23935421e-02 9.98048496e-01 -2.49929387e-03 -1.96212456e+01] [-2.05849667e-02 1.21676798e-03 9.99787367e-01 -3.17039502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.54, Y:-19.62, Z:-3.17 [[ 9.97881414e-01 6.14080347e-02 2.14880549e-02 2.61544004e+02] [-6.13657409e-02 9.98111901e-01 -2.62275642e-03 -1.96212205e+01] [-2.16085417e-02 1.29856947e-03 9.99765665e-01 -3.17093602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.57, Y:-19.62, Z:-3.17 [[ 9.97941550e-01 6.00543024e-02 2.24976434e-02 2.61573339e+02] [-6.00076270e-02 9.98194145e-01 -2.74467599e-03 -1.96213655e+01] [-2.26218455e-02 1.38899602e-03 9.99743128e-01 -3.17153568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.60, Y:-19.62, Z:-3.17 [[ 9.97998596e-01 5.90343252e-02 2.26660709e-02 2.61601882e+02] [-5.89867090e-02 9.98254941e-01 -2.76422058e-03 -1.96218564e+01] [-2.27897011e-02 1.42169133e-03 9.99739270e-01 -3.17173493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02589822699997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:261.63, Y:-19.62, Z:-3.17 [[ 9.98057471e-01 5.81285326e-02 2.24133325e-02 2.61631199e+02] [-5.80817676e-02 9.98308090e-01 -2.73240404e-03 -1.96220153e+01] [-2.25342418e-02 1.42529030e-03 9.99745056e-01 -3.17221567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05589822699994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:261.66, Y:-19.62, Z:-3.17 [[ 9.98062190e-01 5.80726552e-02 2.23479637e-02 2.61660515e+02] [-5.80261716e-02 9.98311347e-01 -2.72341134e-03 -1.96197300e+01] [-2.24683815e-02 1.42136711e-03 9.99746544e-01 -3.17286530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.69, Y:-19.62, Z:-3.17 [[ 9.98020954e-01 5.86241802e-02 2.27460169e-02 2.61688337e+02] [-5.85761925e-02 9.98279095e-01 -2.77086208e-03 -1.96214402e+01] [-2.28693126e-02 1.43300336e-03 9.99737436e-01 -3.17362827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.72, Y:-19.62, Z:-3.17 [[ 9.98006107e-01 5.87748907e-02 2.30070268e-02 2.61717459e+02] [-5.87258659e-02 9.98270217e-01 -2.80131986e-03 -1.96228016e+01] [-2.31318769e-02 1.44462675e-03 9.99731379e-01 -3.17469359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.75, Y:-19.62, Z:-3.18 [[ 9.97968759e-01 5.94287359e-02 2.29473597e-02 2.61746246e+02] [-5.93801599e-02 9.98231534e-01 -2.79307261e-03 -1.96244750e+01] [-2.30727668e-02 1.42478132e-03 9.99732773e-01 -3.17532876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.78, Y:-19.63, Z:-3.18 [[ 9.97902410e-01 6.07669223e-02 2.23195233e-02 2.61775411e+02] [-6.07213227e-02 9.98151064e-01 -2.71573083e-03 -1.96260113e+01] [-2.24432825e-02 1.35476336e-03 9.99747200e-01 -3.17565672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.80, Y:-19.63, Z:-3.18 [[ 9.97671353e-01 6.54673495e-02 1.91284712e-02 2.61803298e+02] [-6.54347324e-02 9.97854139e-01 -2.32677549e-03 -1.96256215e+01] [-1.92397519e-02 1.06969085e-03 9.99814327e-01 -3.17697742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.83, Y:-19.63, Z:-3.18 [[ 9.97482393e-01 6.85236934e-02 1.82586500e-02 2.61831595e+02] [-6.84945031e-02 9.97649024e-01 -2.22003669e-03 -1.96267792e+01] [-1.83678495e-02 9.63830352e-04 9.99830832e-01 -3.17778363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.265898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:261.86, Y:-19.63, Z:-3.18 [[ 9.97232541e-01 7.20693954e-02 1.82554737e-02 2.61858315e+02] [-7.20408295e-02 9.97399217e-01 -2.21846282e-03 -1.96271740e+01] [-1.83678784e-02 8.97183843e-04 9.99830894e-01 -3.17777611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.89, Y:-19.62, Z:-3.18 [[ 9.96726686e-01 7.83147211e-02 2.00678216e-02 2.61887104e+02] [-7.82815000e-02 9.96928317e-01 -2.43688580e-03 -1.96243394e+01] [-2.01970237e-02 8.57969933e-04 9.99795651e-01 -3.17848603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.91, Y:-19.62, Z:-3.18 [[ 9.96641483e-01 7.93747309e-02 2.01346938e-02 2.61913836e+02] [-7.93415314e-02 9.96844496e-01 -2.44364549e-03 -1.96245209e+01] [-2.02651224e-02 8.37921028e-04 9.99794290e-01 -3.17914922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.94, Y:-19.63, Z:-3.18 [[ 9.96673807e-01 7.88246575e-02 2.06880519e-02 2.61942054e+02] [-7.88327457e-02 9.96887766e-01 -4.25557535e-04 -1.96263722e+01] [-2.06572103e-02 -1.20675389e-03 9.99785889e-01 -3.18134124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.97, Y:-19.63, Z:-3.18 [[ 9.96793627e-01 7.71659215e-02 2.11633330e-02 2.61970288e+02] [-7.71745127e-02 9.97017515e-01 -4.11700806e-04 -1.96285140e+01] [-2.11319829e-02 -1.22288917e-03 9.99775947e-01 -3.18239193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.00, Y:-19.63, Z:-3.18 [[ 9.96975587e-01 7.51183661e-02 1.99226119e-02 2.61998011e+02] [-7.50001731e-02 9.97161573e-01 -6.61592872e-03 -1.96285953e+01] [-2.03630408e-02 5.10172007e-03 9.99779635e-01 -3.18077819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.03, Y:-19.63, Z:-3.18 [[ 9.97134888e-01 7.25188729e-02 2.15180744e-02 2.62025653e+02] [-7.24795346e-02 9.97366502e-01 -2.60348311e-03 -1.96343534e+01] [-2.16502083e-02 1.03640382e-03 9.99765070e-01 -3.18247241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.05, Y:-19.64, Z:-3.18 [[ 9.97519664e-01 6.62202685e-02 2.38620037e-02 2.62052985e+02] [-6.61942160e-02 9.97804985e-01 -1.88089256e-03 -1.96398904e+01] [-2.39341794e-02 2.96700686e-04 9.99713492e-01 -3.18309524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.08, Y:-19.64, Z:-3.18 [[ 9.97750828e-01 6.27156145e-02 2.36651121e-02 2.62080992e+02] [-6.26415496e-02 9.98028630e-01 -3.85888113e-03 -1.96437283e+01] [-2.38604715e-02 2.36778255e-03 9.99712494e-01 -3.18280585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.11, Y:-19.65, Z:-3.18 [[ 9.97939563e-01 5.96800151e-02 2.35568501e-02 2.62108309e+02] [-5.96293462e-02 9.98216524e-01 -2.84815173e-03 -1.96488638e+01] [-2.36848147e-02 1.43760372e-03 9.99718442e-01 -3.18397006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.14, Y:-19.65, Z:-3.18 [[ 9.98112158e-01 5.71351552e-02 2.25320484e-02 2.62137069e+02] [-5.70881820e-02 9.98365426e-01 -2.72301330e-03 -1.96535023e+01] [-2.26507979e-02 1.43155901e-03 9.99742413e-01 -3.18451262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.17, Y:-19.66, Z:-3.19 [[ 9.98204863e-01 5.57157653e-02 2.19728330e-02 2.62165654e+02] [-5.56707736e-02 9.98445651e-01 -2.65449027e-03 -1.96588447e+01] [-2.20865765e-02 1.42648049e-03 9.99755044e-01 -3.18575750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.19, Y:-19.66, Z:-3.19 [[ 9.98259167e-01 5.48064701e-02 2.17918677e-02 2.62192654e+02] [-5.47620215e-02 9.98495967e-01 -2.63168398e-03 -1.96637220e+01] [-2.19033253e-02 1.43373594e-03 9.99759065e-01 -3.18670616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:262.22, Y:-19.67, Z:-3.19 [[ 9.98231728e-01 5.48599681e-02 2.28867104e-02 2.62221050e+02] [-5.48109847e-02 9.98492926e-01 -2.76256760e-03 -1.96706670e+01] [-2.30037728e-02 1.50323950e-03 9.99734248e-01 -3.18708664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.25, Y:-19.68, Z:-3.19 [[ 9.98197089e-01 5.53407267e-02 2.32373523e-02 2.62249366e+02] [-5.52903854e-02 9.98466380e-01 -2.80381653e-03 -1.96760169e+01] [-2.33568803e-02 1.51395933e-03 9.99726045e-01 -3.18791932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.28, Y:-19.68, Z:-3.19 [[ 9.98181507e-01 5.56604434e-02 2.31429274e-02 2.62276453e+02] [-5.56106206e-02 9.98448630e-01 -2.79136732e-03 -1.96804313e+01] [-2.32623929e-02 1.49929868e-03 9.99728270e-01 -3.18815639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.30, Y:-19.69, Z:-3.19 [[ 9.98176966e-01 5.56954580e-02 2.32542371e-02 2.62304566e+02] [-5.56451955e-02 9.98446670e-01 -2.80345314e-03 -1.96862441e+01] [-2.33742552e-02 1.50435578e-03 9.99725653e-01 -3.18925341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.33, Y:-19.69, Z:-3.19 [[ 9.98215752e-01 5.47794572e-02 2.37597139e-02 2.62331545e+02] [-5.47267535e-02 9.98497263e-01 -2.86327744e-03 -1.96910215e+01] [-2.38808580e-02 1.55787664e-03 9.99713598e-01 -3.19058882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.36, Y:-19.70, Z:-3.19 [[ 9.98277301e-01 5.36770163e-02 2.36898476e-02 2.62358948e+02] [-5.36243452e-02 9.98557103e-01 -2.85351053e-03 -1.96960109e+01] [-2.38088335e-02 1.57824223e-03 9.99715284e-01 -3.19139461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.39, Y:-19.70, Z:-3.19 [[ 9.98366795e-01 5.23837478e-02 2.27966036e-02 2.62387673e+02] [-5.23346671e-02 9.98625830e-01 -2.74469750e-03 -1.97011725e+01] [-2.29090548e-02 1.54716219e-03 9.99736356e-01 -3.19147391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.42, Y:-19.71, Z:-3.19 [[ 9.98475900e-01 5.09572060e-02 2.11952667e-02 2.62415135e+02] [-5.09144785e-02 9.98699759e-01 -2.55102030e-03 -1.97073640e+01] [-2.12977006e-02 1.46798634e-03 9.99772101e-01 -3.19232713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.44, Y:-19.71, Z:-3.19 [[ 9.98451549e-01 5.14115212e-02 2.12452259e-02 2.62443174e+02] [-5.13687209e-02 9.98676485e-01 -2.55578745e-03 -1.97119651e+01] [-2.13485045e-02 1.46048985e-03 9.99771028e-01 -3.19313084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.47, Y:-19.72, Z:-3.20 [[ 9.98232672e-01 5.20169920e-02 2.87361389e-02 2.62469826e+02] [-5.25380276e-02 9.98462335e-01 1.76839483e-02 -1.97249954e+01] [-2.77720865e-02 -1.91624350e-02 9.99430594e-01 -3.19997672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.50, Y:-19.71, Z:-3.19 [[ 9.98313955e-01 5.48429817e-02 1.90129930e-02 2.62501465e+02] [-5.43933962e-02 9.98245173e-01 -2.34079543e-02 -1.97108722e+01] [-2.02633905e-02 2.23343061e-02 9.99545183e-01 -3.18895268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.53, Y:-19.72, Z:-3.20 [[ 9.98088188e-01 5.80396734e-02 2.12453722e-02 2.62529368e+02] [-5.79983979e-02 9.98313408e-01 -2.55435782e-03 -1.97229987e+01] [-2.13577940e-02 1.31727682e-03 9.99771028e-01 -3.19502245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.56, Y:-19.73, Z:-3.20 [[ 9.98011949e-01 5.94985995e-02 2.07862025e-02 2.62556776e+02] [-5.94594230e-02 9.98227597e-01 -2.49826291e-03 -1.97265016e+01] [-2.08980041e-02 1.25736063e-03 9.99780822e-01 -3.19542764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:-19.73, Z:-3.20 [[ 9.97979896e-01 6.01260487e-02 2.05179115e-02 2.62585264e+02] [-6.00880335e-02 9.98190038e-01 -2.46484151e-03 -1.97299394e+01] [-2.06289760e-02 1.22698132e-03 9.99786447e-01 -3.19661578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.61, Y:-19.73, Z:-3.20 [[ 9.97989010e-01 5.98977864e-02 2.07410427e-02 2.62612466e+02] [-5.98589102e-02 9.98203740e-01 -2.49070905e-03 -1.97333320e+01] [-2.08529743e-02 1.24416405e-03 9.99781779e-01 -3.19730440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.64, Y:-19.74, Z:-3.20 [[ 9.98040583e-01 5.87168049e-02 2.16178450e-02 2.62640262e+02] [-5.86743238e-02 9.98273806e-01 -2.59470656e-03 -1.97369255e+01] [-2.17328813e-02 1.32121001e-03 9.99762940e-01 -3.19793767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.67, Y:-19.74, Z:-3.20 [[ 9.98275410e-01 5.40328450e-02 2.29490388e-02 2.62668773e+02] [-5.39837689e-02 9.98538018e-01 -2.75309988e-03 -1.97436161e+01] [-2.30642455e-02 1.50947630e-03 9.99732845e-01 -3.19869377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.70, Y:-19.75, Z:-3.20 [[ 9.98444482e-01 5.08967606e-02 2.27625881e-02 2.62697180e+02] [-5.08476913e-02 9.98702689e-01 -2.72969595e-03 -1.97498585e+01] [-2.28719906e-02 1.56802481e-03 9.99737172e-01 -3.19927717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.72, Y:-19.76, Z:-3.20 [[ 9.98604203e-01 4.79015045e-02 2.22506421e-02 2.62724526e+02] [-4.78539001e-02 9.98850784e-01 -2.66732262e-03 -1.97559792e+01] [-2.23528401e-02 1.59881958e-03 9.99748866e-01 -3.20042293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.75, Y:-19.76, Z:-3.20 [[ 9.98772910e-01 4.51613120e-02 2.03256112e-02 2.62753945e+02] [-4.51210509e-02 9.98978558e-01 -2.43530165e-03 -1.97634348e+01] [-2.04148312e-02 1.51520037e-03 9.99790447e-01 -3.20045651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.255898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:262.78, Y:-19.77, Z:-3.20 [[ 9.98736436e-01 4.59474127e-02 2.03559795e-02 2.62783520e+02] [-4.59072028e-02 9.98942732e-01 -2.43849290e-03 -1.97683228e+01] [-2.04465002e-02 1.50092563e-03 9.99789822e-01 -3.20060845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.81, Y:-19.77, Z:-3.20 [[ 9.98643551e-01 4.78332129e-02 2.05679630e-02 2.62811614e+02] [-4.77925668e-02 9.98854244e-01 -2.46349934e-03 -1.97725794e+01] [-2.06622342e-02 1.47716198e-03 9.99785422e-01 -3.20051115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.84, Y:-19.78, Z:-3.20 [[ 9.98469665e-01 5.01442113e-02 2.33213486e-02 2.62840039e+02] [-5.02139379e-02 9.98735568e-01 2.41351286e-03 -1.97783351e+01] [-2.31708367e-02 -3.58087613e-03 9.99725107e-01 -3.20203722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.87, Y:-19.78, Z:-3.20 [[ 9.98195188e-01 5.57327145e-02 2.23658546e-02 2.62868829e+02] [-5.55686443e-02 9.98423680e-01 -7.89187449e-03 -1.97757323e+01] [-2.27704344e-02 6.63479092e-03 9.99718704e-01 -3.20047240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.90, Y:-19.78, Z:-3.20 [[ 9.98123234e-01 5.67867456e-02 2.29189022e-02 2.62897172e+02] [-5.67386999e-02 9.98385298e-01 -2.74172149e-03 -1.97806171e+01] [-2.30375884e-02 1.43618721e-03 9.99733568e-01 -3.20240239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:-19.78, Z:-3.20 [[ 9.98113259e-01 5.68780988e-02 2.31258173e-02 2.62925612e+02] [-5.68292304e-02 9.98380083e-01 -2.76542333e-03 -1.97839472e+01] [-2.32456474e-02 1.44598330e-03 9.99728738e-01 -3.20369011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.95, Y:-19.79, Z:-3.21 [[ 9.98286368e-01 5.39977892e-02 2.25513939e-02 2.62952540e+02] [-5.39506091e-02 9.98539967e-01 -2.69575324e-03 -1.97900178e+01] [-2.26640328e-02 1.47447227e-03 9.99742051e-01 -3.20552513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46589822699997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:262.98, Y:-19.79, Z:-3.21 [[ 9.98438437e-01 5.12052191e-02 2.23318864e-02 2.62979561e+02] [-5.11582856e-02 9.98686993e-01 -2.66827335e-03 -1.97945463e+01] [-2.24391940e-02 1.52164565e-03 9.99747052e-01 -3.20655251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.01, Y:-19.80, Z:-3.21 [[ 9.98586460e-01 4.84465930e-02 2.18634213e-02 2.63007693e+02] [-4.84009769e-02 9.98824573e-01 -2.61109145e-03 -1.97992831e+01] [-2.19642210e-02 1.54918962e-03 9.99757557e-01 -3.20729671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.04, Y:-19.80, Z:-3.21 [[ 9.98721107e-01 4.57520234e-02 2.15151680e-02 2.63036653e+02] [-4.57072484e-02 9.98951575e-01 -2.56851953e-03 -1.98039646e+01] [-2.16101259e-02 1.58183554e-03 9.99765223e-01 -3.20746863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.07, Y:-19.81, Z:-3.21 [[ 9.98877122e-01 4.25547186e-02 2.08228710e-02 2.63066091e+02] [-4.25120976e-02 9.99092861e-01 -2.48543150e-03 -1.98095088e+01] [-2.09097486e-02 1.59741674e-03 9.99780091e-01 -3.20682035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.585898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:263.10, Y:-19.81, Z:-3.21 [[ 9.98872147e-01 4.24919882e-02 2.11864211e-02 2.63095783e+02] [-4.24478622e-02 9.99095484e-01 -2.52833317e-03 -1.98131973e+01] [-2.12746915e-02 1.62616330e-03 9.99772346e-01 -3.20730957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.12, Y:-19.82, Z:-3.21 [[ 9.98808239e-01 4.36485708e-02 2.18381189e-02 2.63124776e+02] [-4.36019738e-02 9.99045584e-01 -2.60559164e-03 -1.98170046e+01] [-2.19310066e-02 1.65030132e-03 9.99758124e-01 -3.20739470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.15, Y:-19.82, Z:-3.21 [[ 9.98624000e-01 4.70335924e-02 2.31936819e-02 2.63153085e+02] [-4.69819504e-02 9.98891907e-01 -2.76676849e-03 -1.98191347e+01] [-2.32981122e-02 1.67327700e-03 9.99727162e-01 -3.20821730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67589822699995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:263.18, Y:-19.82, Z:-3.21 [[ 9.98566692e-01 4.82759486e-02 2.31083009e-02 2.63183019e+02] [-4.82250355e-02 9.98832694e-01 -2.75578916e-03 -1.98217112e+01] [-2.32143648e-02 1.63744064e-03 9.99729169e-01 -3.20982948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.705898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:263.21, Y:-19.82, Z:-3.21 [[ 9.98554557e-01 4.89393519e-02 2.22201860e-02 2.63211631e+02] [-4.88924519e-02 9.98800535e-01 -2.64940135e-03 -1.98244680e+01] [-2.23231936e-02 1.55917241e-03 9.99749591e-01 -3.21126831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:263.24, Y:-19.83, Z:-3.21 [[ 9.98556208e-01 4.89056146e-02 2.22202758e-02 2.63240748e+02] [-4.88587231e-02 9.98802188e-01 -2.64864728e-03 -1.98278624e+01] [-2.23231938e-02 1.55916888e-03 9.99749591e-01 -3.21196287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.27, Y:-19.83, Z:-3.21 [[ 9.98591454e-01 4.88402971e-02 2.07299939e-02 2.63268937e+02] [-4.87994853e-02 9.98805540e-01 -2.47034973e-03 -1.98305833e+01] [-2.08258854e-02 1.45525710e-03 9.99782059e-01 -3.21308366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.30, Y:-19.83, Z:-3.22 [[ 9.98778262e-01 4.58188630e-02 1.85098596e-02 2.63297822e+02] [-4.57858189e-02 9.98948845e-01 -2.20529174e-03 -1.98332617e+01] [-1.85914468e-02 1.35510838e-03 9.99826246e-01 -3.21515124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.33, Y:-19.84, Z:-3.22 [[ 9.98858170e-01 4.40483456e-02 1.84959069e-02 2.63326844e+02] [-4.40150648e-02 9.99028439e-01 -2.20280028e-03 -1.98366637e+01] [-1.85749667e-02 1.38618651e-03 9.99826510e-01 -3.21611923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.36, Y:-19.84, Z:-3.22 [[ 9.98913872e-01 4.23738141e-02 1.93787359e-02 2.63355474e+02] [-4.23369863e-02 9.99100724e-01 -2.30693430e-03 -1.98403956e+01] [-1.94590627e-02 1.48399139e-03 9.99809553e-01 -3.21623381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.39, Y:-19.84, Z:-3.22 [[ 9.98952401e-01 4.08725578e-02 2.05799648e-02 2.63385202e+02] [-4.08307219e-02 9.99163077e-01 -2.44912750e-03 -1.98443946e+01] [-2.06628431e-02 1.60626697e-03 9.99785210e-01 -3.21657226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.41, Y:-19.85, Z:-3.22 [[ 9.98978892e-01 3.94383801e-02 2.20405921e-02 2.63414388e+02] [-3.93900597e-02 9.99220469e-01 -2.62236636e-03 -1.98474039e+01] [-2.21268326e-02 1.75150841e-03 9.99753637e-01 -3.21691526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.45, Y:-19.85, Z:-3.22 [[ 9.98954871e-01 4.01437508e-02 2.18551093e-02 2.63445234e+02] [-4.00964017e-02 9.99192432e-01 -2.60058971e-03 -1.98499509e+01] [-2.19418572e-02 1.72156051e-03 9.99757766e-01 -3.21751065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.48, Y:-19.85, Z:-3.22 [[ 9.98908458e-01 4.13606960e-02 2.17068005e-02 2.63476009e+02] [-4.13142730e-02 9.99142862e-01 -2.58294209e-03 -1.98525770e+01] [-2.17950270e-02 1.68332202e-03 9.99761043e-01 -3.21821718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.51, Y:-19.86, Z:-3.22 [[ 9.98845380e-01 4.28755684e-02 2.16700675e-02 2.63505641e+02] [-4.28296564e-02 9.99079062e-01 -2.57859208e-03 -1.98555585e+01] [-2.17606693e-02 1.64749324e-03 9.99761851e-01 -3.21973150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.53, Y:-19.86, Z:-3.22 [[ 9.98737255e-01 4.52873018e-02 2.17475689e-02 2.63533407e+02] [-4.53072814e-02 9.98973007e-01 4.26610953e-04 -1.98595845e+01] [-2.17059142e-02 -1.41139548e-03 9.99763403e-01 -3.22199134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.56, Y:-19.86, Z:-3.22 [[ 9.98738975e-01 4.59987257e-02 2.01140926e-02 2.63563024e+02] [-4.58995542e-02 9.98931654e-01 -5.36486723e-03 -1.98597311e+01] [-2.03393809e-02 4.43487411e-03 9.99783297e-01 -3.22102408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.59, Y:-19.86, Z:-3.22 [[ 9.98695043e-01 4.66940975e-02 2.06850776e-02 2.63591725e+02] [-4.66530729e-02 9.98908119e-01 -2.46170244e-03 -1.98638541e+01] [-2.07774389e-02 1.49346760e-03 9.99783010e-01 -3.22211138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.62, Y:-19.87, Z:-3.22 [[ 9.98649733e-01 4.79785904e-02 1.99189592e-02 2.63620818e+02] [-4.79408152e-02 9.98847367e-01 -2.36992419e-03 -1.98669562e+01] [-2.00097055e-02 1.41179302e-03 9.99798789e-01 -3.22285323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.65, Y:-19.87, Z:-3.22 [[ 9.98626688e-01 4.85473849e-02 1.96948844e-02 2.63647930e+02] [-4.85084853e-02 9.98819770e-01 -2.44833969e-03 -1.98703273e+01] [-1.97905004e-02 1.48960835e-03 9.99803039e-01 -3.22381067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.68, Y:-19.87, Z:-3.22 [[ 9.98606922e-01 4.87127452e-02 2.02801094e-02 2.63677277e+02] [-4.86766177e-02 9.98812008e-01 -2.27155706e-03 -1.98740784e+01] [-2.03666706e-02 1.28122547e-03 9.99791757e-01 -3.22433121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.71, Y:-19.88, Z:-3.23 [[ 9.98570052e-01 4.91475214e-02 2.10326559e-02 2.63705377e+02] [-4.91057029e-02 9.98790457e-01 -2.50044788e-03 -1.98774414e+01] [-2.11301068e-02 1.46404902e-03 9.99775662e-01 -3.22515210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.245898227 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:263.73, Y:-19.88, Z:-3.23 [[ 9.98492283e-01 5.00491105e-02 2.25443251e-02 2.63733860e+02] [-5.00013225e-02 9.98745559e-01 -2.67881755e-03 -1.98812752e+01] [-2.26501170e-02 1.54753258e-03 9.99742255e-01 -3.22607145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.76, Y:-19.89, Z:-3.23 [[ 9.98470978e-01 5.02788445e-02 2.29726761e-02 2.63761899e+02] [-5.02293072e-02 9.98733984e-01 -2.72868151e-03 -1.98856049e+01] [-2.30807873e-02 1.57060769e-03 9.99732369e-01 -3.22700948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.79, Y:-19.89, Z:-3.23 [[ 9.98477524e-01 5.01667727e-02 2.29331479e-02 2.63790882e+02] [-5.01173935e-02 9.98739621e-01 -2.72324312e-03 -1.98897026e+01] [-2.30408598e-02 1.56974745e-03 9.99733292e-01 -3.22810028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.82, Y:-19.89, Z:-3.23 [[ 9.98521352e-01 4.95743435e-02 2.23045924e-02 2.63820654e+02] [-4.95275095e-02 9.98769251e-01 -2.64762594e-03 -1.98937902e+01] [-2.24083953e-02 1.53902012e-03 9.99747716e-01 -3.22930163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.85, Y:-19.90, Z:-3.23 [[ 9.98661118e-01 4.72685834e-02 2.10155166e-02 2.63849037e+02] [-4.72265084e-02 9.98881092e-01 -2.49418614e-03 -1.99005340e+01] [-2.11098989e-02 1.49835725e-03 9.99776038e-01 -3.23170004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.88, Y:-19.91, Z:-3.23 [[ 9.98747809e-01 4.55308481e-02 2.07305602e-02 2.63877200e+02] [-4.54895488e-02 9.98961787e-01 -2.45966164e-03 -1.99066120e+01] [-2.08210280e-02 1.51355784e-03 9.99782073e-01 -3.23333623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:263.91, Y:-19.91, Z:-3.23 [[ 9.98852638e-01 4.33895542e-02 2.02670931e-02 2.63905861e+02] [-4.33496567e-02 9.99057069e-01 -2.40399146e-03 -1.99130253e+01] [-2.03522908e-02 1.52266168e-03 9.99791711e-01 -3.23418487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.93, Y:-19.92, Z:-3.23 [[ 9.98938901e-01 4.17717132e-02 1.93957911e-02 2.63934868e+02] [-4.17348790e-02 9.99126073e-01 -2.30017087e-03 -1.99207300e+01] [-1.94749227e-02 1.48824917e-03 9.99809238e-01 -3.23461692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.96, Y:-19.93, Z:-3.24 [[ 9.99053259e-01 3.89602392e-02 1.93568076e-02 2.63962709e+02] [-3.89230327e-02 9.99239575e-01 -2.29532607e-03 -1.99321361e+01] [-1.94315147e-02 1.53972734e-03 9.99810005e-01 -3.23596281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.99, Y:-19.94, Z:-3.24 [[ 9.99080696e-01 3.78483475e-02 2.01312124e-02 2.63992668e+02] [-3.78078852e-02 9.99282176e-01 -2.38688257e-03 -1.99394368e+01] [-2.02071013e-02 1.62356974e-03 9.99794497e-01 -3.23647946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.02, Y:-19.95, Z:-3.24 [[ 9.99082886e-01 3.73203467e-02 2.09899849e-02 2.64022221e+02] [-3.72762427e-02 9.99301900e-01 -2.48867494e-03 -1.99463955e+01] [-2.10682100e-02 1.70396477e-03 9.99776589e-01 -3.23660101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.05, Y:-19.96, Z:-3.24 [[ 9.99091574e-01 3.68640929e-02 2.13790965e-02 2.64052095e+02] [-3.68182296e-02 9.99318764e-01 -2.53503635e-03 -1.99573800e+01] [-2.14579841e-02 1.74559298e-03 9.99768227e-01 -3.23713503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.08, Y:-19.96, Z:-3.24 [[ 9.99078181e-01 3.72245603e-02 2.13803968e-02 2.64082824e+02] [-3.71787630e-02 9.99305414e-01 -2.53567422e-03 -1.99649265e+01] [-2.14599356e-02 1.73844009e-03 9.99768198e-01 -3.23754958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.11, Y:-19.97, Z:-3.24 [[ 9.99034182e-01 3.82167318e-02 2.16837616e-02 2.64113617e+02] [-3.81698515e-02 9.99267956e-01 -2.57192912e-03 -1.99722332e+01] [-2.17661789e-02 1.74177914e-03 9.99761571e-01 -3.23876155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.14, Y:-19.98, Z:-3.24 [[ 9.98978987e-01 3.95147011e-02 2.18991283e-02 2.64144064e+02] [-3.94671172e-02 9.99217485e-01 -2.60099425e-03 -1.99796660e+01] [-2.19847694e-02 1.73404313e-03 9.99756802e-01 -3.24009179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.17, Y:-19.99, Z:-3.24 [[ 9.98863105e-01 4.17299176e-02 2.30458553e-02 2.64174196e+02] [-4.16777924e-02 9.99127353e-01 -2.73771395e-03 -1.99907619e+01] [-2.31399890e-02 1.77410109e-03 9.99730660e-01 -3.24089299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.20, Y:-20.00, Z:-3.24 [[ 9.98837561e-01 4.19721707e-02 2.37036450e-02 2.64204875e+02] [-4.19170427e-02 9.99117120e-01 -2.81803019e-03 -1.99981658e+01] [-2.38009964e-02 1.82116770e-03 9.99715057e-01 -3.24183340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.24, Y:-20.01, Z:-3.24 [[ 9.98861864e-01 4.15269360e-02 2.34625470e-02 2.64236593e+02] [-4.14727229e-02 9.99135734e-01 -2.79272275e-03 -2.00056729e+01] [-2.35582423e-02 1.81648854e-03 9.99720816e-01 -3.24211158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.27, Y:-20.01, Z:-3.24 [[ 9.98905437e-01 4.09537547e-02 2.25990597e-02 2.64267847e+02] [-4.09032343e-02 9.99159482e-01 -2.69343725e-03 -2.00130739e+01] [-2.26903712e-02 1.76611448e-03 9.99740980e-01 -3.24256367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.30, Y:-20.03, Z:-3.25 [[ 9.99054403e-01 3.93646327e-02 1.84587275e-02 2.64298847e+02] [-3.93306148e-02 9.99223825e-01 -2.20248249e-03 -2.00254037e+01] [-1.85311002e-02 1.47440673e-03 9.99827197e-01 -3.24504914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.33, Y:-20.03, Z:-3.25 [[ 9.99108457e-01 3.86882983e-02 1.68969183e-02 2.64329731e+02] [-3.86596437e-02 9.99250396e-01 -2.01932851e-03 -2.00340688e+01] [-1.69623767e-02 1.36429935e-03 9.99855198e-01 -3.24649325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.36, Y:-20.04, Z:-3.25 [[ 9.99125899e-01 3.83267134e-02 1.66883613e-02 2.64359453e+02] [-3.82987090e-02 9.99264345e-01 -1.99456781e-03 -2.00422450e+01] [-1.67525296e-02 1.35368166e-03 9.99858750e-01 -3.24713891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.39, Y:-20.05, Z:-3.25 [[ 9.99133101e-01 3.78942907e-02 1.72356788e-02 2.64389769e+02] [-3.78643359e-02 9.99280763e-01 -2.06109570e-03 -2.00496760e+01] [-1.73013860e-02 1.40669141e-03 9.99849330e-01 -3.24757832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.42, Y:-20.06, Z:-3.25 [[ 9.99100231e-01 3.84346853e-02 1.79305040e-02 2.64420231e+02] [-3.84023454e-02 9.99260057e-01 -2.14459251e-03 -2.00612422e+01] [-1.79996632e-02 1.45408946e-03 9.99836936e-01 -3.24718436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.45, Y:-20.07, Z:-3.25 [[ 9.99029074e-01 4.00725131e-02 1.83058024e-02 2.64450242e+02] [-4.00390824e-02 9.99195716e-01 -2.18925353e-03 -2.00689306e+01] [-1.83788083e-02 1.45418040e-03 9.99830038e-01 -3.24754774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.48, Y:-20.08, Z:-3.25 [[ 9.98933502e-01 4.22872633e-02 1.85376793e-02 2.64481034e+02] [-4.22533060e-02 9.99104464e-01 -2.21984052e-03 -2.00762769e+01] [-1.86149492e-02 1.43419482e-03 9.99825698e-01 -3.24798804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.51, Y:-20.08, Z:-3.25 [[ 9.98797356e-01 4.51300985e-02 1.91602489e-02 2.64511413e+02] [-4.50942755e-02 9.98980093e-01 -2.29782609e-03 -2.00824633e+01] [-1.92444084e-02 1.43104508e-03 9.99813785e-01 -3.24834026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.54, Y:-20.09, Z:-3.25 [[ 9.98460707e-01 5.15980794e-02 2.03433977e-02 2.64540885e+02] [-5.15590192e-02 9.98666968e-01 -2.44023656e-03 -2.00877279e+01] [-2.04421908e-02 1.38759469e-03 9.99790074e-01 -3.24738296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.57, Y:-20.09, Z:-3.25 [[ 9.98291007e-01 5.44369839e-02 2.12527704e-02 2.64571333e+02] [-5.43949943e-02 9.98516242e-01 -2.54926482e-03 -2.00921241e+01] [-2.13600107e-02 1.38886382e-03 9.99770884e-01 -3.24844918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.60, Y:-20.10, Z:-3.25 [[ 9.98156652e-01 5.63501317e-02 2.25379888e-02 2.64602276e+02] [-5.63033166e-02 9.98410041e-01 -2.70686195e-03 -2.00963709e+01] [-2.26546863e-02 1.43290875e-03 9.99742323e-01 -3.24929975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.63, Y:-20.10, Z:-3.25 [[ 9.98037190e-01 5.74102375e-02 2.50166281e-02 2.64634377e+02] [-5.73527882e-02 9.98349441e-01 -3.00851753e-03 -2.01009328e+01] [-2.51480564e-02 1.56783901e-03 9.99682508e-01 -3.24954126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.67, Y:-20.11, Z:-3.25 [[ 9.98095616e-01 5.64526594e-02 2.48643947e-02 2.64665336e+02] [-5.63955083e-02 9.98404017e-01 -2.99433092e-03 -2.01050091e+01] [-2.49937495e-02 1.58638839e-03 9.99686349e-01 -3.25118040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.70, Y:-20.11, Z:-3.25 [[ 9.98211805e-01 5.46676038e-02 2.41794333e-02 2.64696467e+02] [-5.46129492e-02 9.98503343e-01 -2.91547535e-03 -2.01091488e+01] [-2.43026270e-02 1.58975175e-03 9.99703384e-01 -3.25201150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.73, Y:-20.11, Z:-3.25 [[ 9.98340844e-01 5.24827738e-02 2.36879204e-02 2.64729089e+02] [-5.24296226e-02 9.98620527e-01 -2.85975022e-03 -2.01140005e+01] [-2.38053312e-02 1.61305672e-03 9.99715312e-01 -3.25307385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.76, Y:-20.12, Z:-3.26 [[ 9.98642990e-01 4.62912755e-02 2.38599491e-02 2.64761752e+02] [-4.62354893e-02 9.98926403e-01 -2.88475315e-03 -2.01209224e+01] [-2.39678721e-02 1.77766209e-03 9.99711149e-01 -3.25504940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.79, Y:-20.13, Z:-3.26 [[ 9.98788477e-01 4.31056902e-02 2.37376902e-02 2.64792776e+02] [-4.30494746e-02 9.99068807e-01 -2.87438986e-03 -2.01270087e+01] [-2.38394884e-02 1.84901238e-03 9.99714089e-01 -3.25608028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.82, Y:-20.13, Z:-3.26 [[ 9.98886657e-01 4.06679699e-02 2.39073717e-02 2.64824838e+02] [-4.06101529e-02 9.99170862e-01 -2.89913614e-03 -2.01330989e+01] [-2.40054511e-02 1.92502639e-03 9.99709974e-01 -3.25672279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.86, Y:-20.14, Z:-3.26 [[ 9.98914334e-01 3.97718114e-02 2.42560668e-02 2.64856057e+02] [-3.97119223e-02 9.99206828e-01 -2.94594734e-03 -2.01384715e+01] [-2.43539932e-02 1.97949398e-03 9.99701438e-01 -3.25645318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.89, Y:-20.14, Z:-3.25 [[ 9.98793945e-01 4.27584735e-02 2.41323054e-02 2.64887834e+02] [-4.26999596e-02 9.99083630e-01 -2.93506165e-03 -2.01414353e+01] [-2.42356900e-02 1.90107334e-03 9.99704465e-01 -3.25496447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.92, Y:-20.14, Z:-3.26 [[ 9.98637251e-01 4.62612533e-02 2.41565165e-02 2.64921082e+02] [-4.62035398e-02 9.98927713e-01 -2.94214892e-03 -2.01437180e+01] [-2.42667213e-02 1.82202294e-03 9.99703859e-01 -3.25617422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.95, Y:-20.15, Z:-3.26 [[ 9.98477427e-01 4.96542292e-02 2.40267740e-02 2.64953299e+02] [-4.95980063e-02 9.98764962e-01 -2.93067180e-03 -2.01454974e+01] [-2.41426202e-02 1.73452955e-03 9.99707020e-01 -3.25787356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.99, Y:-20.15, Z:-3.26 [[ 9.98298648e-01 5.25365007e-02 2.52928027e-02 2.64985308e+02] [-5.24750013e-02 9.98617459e-01 -3.08957137e-03 -2.01451376e+01] [-2.54201496e-02 1.75707506e-03 9.99675312e-01 -3.25950960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.02, Y:-20.15, Z:-3.26 [[ 9.98265610e-01 5.26903254e-02 2.62583636e-02 2.65017591e+02] [-5.26239806e-02 9.98609234e-01 -3.21175179e-03 -2.01471990e+01] [-2.63910726e-02 1.82436174e-03 9.99650030e-01 -3.26085934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.05, Y:-20.15, Z:-3.26 [[ 9.98310097e-01 5.18807638e-02 2.61789320e-02 2.65049232e+02] [-5.18144336e-02 9.98651583e-01 -3.20619236e-03 -2.01495143e+01] [-2.63099716e-02 1.84432768e-03 9.99652131e-01 -3.26122968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.08, Y:-20.15, Z:-3.26 [[ 9.98561647e-01 4.75893309e-02 2.46959938e-02 2.65081669e+02] [-4.75289011e-02 9.98865272e-01 -3.02851447e-03 -2.01507693e+01] [-2.48120955e-02 1.85038495e-03 9.99690420e-01 -3.26337611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.11, Y:-20.15, Z:-3.26 [[ 9.98698417e-01 4.51195695e-02 2.37843828e-02 2.65114810e+02] [-4.50627322e-02 9.98979890e-01 -2.92053935e-03 -2.01537385e+01] [-2.38918936e-02 1.84494875e-03 9.99712846e-01 -3.26427989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.15, Y:-20.16, Z:-3.27 [[ 9.98783369e-01 4.34020778e-02 2.34102780e-02 2.65146678e+02] [-4.33464459e-02 9.99055953e-01 -2.87886086e-03 -2.01562722e+01] [-2.35131261e-02 1.86060600e-03 9.99721797e-01 -3.26542713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.18, Y:-20.16, Z:-3.27 [[ 9.98781019e-01 4.34563904e-02 2.34097860e-02 2.65179093e+02] [-4.34006803e-02 9.99053587e-01 -2.88285592e-03 -2.01603489e+01] [-2.35129092e-02 1.86334114e-03 9.99721797e-01 -3.26620069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.21, Y:-20.16, Z:-3.27 [[ 9.98820269e-01 4.26707853e-02 2.31791946e-02 2.65210726e+02] [-4.26159288e-02 9.99087447e-01 -2.85568791e-03 -2.01628025e+01] [-2.32798968e-02 1.86451606e-03 9.99727248e-01 -3.26662315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.24, Y:-20.16, Z:-3.27 [[ 9.98830376e-01 4.32704408e-02 2.15765844e-02 2.65242984e+02] [-4.32229747e-02 9.99061905e-01 -2.66163695e-03 -2.01642150e+01] [-2.16715137e-02 1.72591968e-03 9.99763655e-01 -3.26787183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.28, Y:-20.17, Z:-3.27 [[ 9.98842875e-01 4.35813998e-02 2.03364707e-02 2.65275200e+02] [-4.35392587e-02 9.99048562e-01 -2.51058551e-03 -2.01666207e+01] [-2.04265366e-02 1.62224559e-03 9.99790040e-01 -3.26907209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.31, Y:-20.17, Z:-3.27 [[ 9.98855529e-01 4.37229319e-02 1.93890932e-02 2.65306871e+02] [-4.36845970e-02 9.99042498e-01 -2.39649512e-03 -2.01684654e+01] [-1.94753099e-02 1.54674768e-03 9.99809142e-01 -3.26972561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.34, Y:-20.17, Z:-3.27 [[ 9.98853026e-01 4.35705024e-02 1.98555777e-02 2.65338602e+02] [-4.35302122e-02 9.99049090e-01 -2.45707324e-03 -2.01685012e+01] [-1.99437527e-02 1.58993753e-03 9.99799839e-01 -3.27028854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.37, Y:-20.17, Z:-3.27 [[ 9.98836391e-01 4.34219542e-02 2.09856530e-02 2.65369956e+02] [-4.33768418e-02 9.99055398e-01 -2.60032929e-03 -2.01714597e+01] [-2.10787412e-02 1.68701218e-03 9.99776395e-01 -3.27124384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.40, Y:-20.17, Z:-3.27 [[ 9.98829172e-01 4.31624307e-02 2.18469423e-02 2.65401136e+02] [-4.31134700e-02 9.99066514e-01 -2.70736158e-03 -2.01747716e+01] [-2.19434048e-02 1.76229424e-03 9.99757661e-01 -3.27230158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.43, Y:-20.18, Z:-3.27 [[ 9.98843061e-01 4.24617404e-02 2.25729973e-02 2.65432866e+02] [-4.24092161e-02 9.99096399e-01 -2.80072447e-03 -2.01777937e+01] [-2.26715240e-02 1.84018108e-03 9.99741274e-01 -3.27272889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.46, Y:-20.18, Z:-3.27 [[ 9.98846650e-01 4.17315738e-02 2.37454414e-02 2.65464732e+02] [-4.16731529e-02 9.99126942e-01 -2.95005988e-03 -2.01810678e+01] [-2.38478209e-02 1.95711002e-03 9.99713685e-01 -3.27382359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.50, Y:-20.19, Z:-3.28 [[ 9.98935299e-01 3.91714535e-02 2.43693467e-02 2.65496747e+02] [-3.91090652e-02 9.99230349e-01 -3.03165188e-03 -2.01859275e+01] [-2.44693450e-02 2.07536171e-03 9.99698427e-01 -3.27520609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:-20.19, Z:-3.28 [[ 9.99033201e-01 3.74949829e-02 2.29518949e-02 2.65529525e+02] [-3.74391502e-02 9.99294823e-01 -2.85764145e-03 -2.01921071e+01] [-2.30428570e-02 1.99557924e-03 9.99732486e-01 -3.27670688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.56, Y:-20.20, Z:-3.28 [[ 9.99143510e-01 3.55401056e-02 2.11931186e-02 2.65561602e+02] [-3.54919952e-02 9.99366468e-01 -2.64204443e-03 -2.01976691e+01] [-2.12735907e-02 1.88759547e-03 9.99771910e-01 -3.27863839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.59, Y:-20.20, Z:-3.28 [[ 9.99277742e-01 3.30776784e-02 1.87045670e-02 2.65594538e+02] [-3.30397252e-02 9.99451313e-01 -2.33456830e-03 -2.02042099e+01] [-1.87715261e-02 1.71488838e-03 9.99822329e-01 -3.27880167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.63, Y:-20.21, Z:-3.28 [[ 9.99241932e-01 3.37937086e-02 1.93273368e-02 2.65627281e+02] [-3.37532510e-02 9.99427277e-01 -2.41577272e-03 -2.02101288e+01] [-1.93979055e-02 1.76158095e-03 9.99810291e-01 -3.27872520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:-20.22, Z:-3.28 [[ 9.99149450e-01 3.54735595e-02 2.10238920e-02 2.65658605e+02] [-3.54259691e-02 9.99368838e-01 -2.63188223e-03 -2.02158618e+01] [-2.11039848e-02 1.88485193e-03 9.99775509e-01 -3.27957717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.69, Y:-20.22, Z:-3.28 [[ 9.98969375e-01 3.98464542e-02 2.17358558e-02 2.65691572e+02] [-3.97965324e-02 9.99204089e-01 -2.72466171e-03 -2.02220638e+01] [-2.18271241e-02 1.85684192e-03 9.99760036e-01 -3.28066609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.72, Y:-20.23, Z:-3.28 [[ 9.98905477e-01 4.18428991e-02 2.09050238e-02 2.65723773e+02] [-4.17970832e-02 9.99122674e-01 -2.62395938e-03 -2.02267443e+01] [-2.09964773e-02 1.74731838e-03 9.99778023e-01 -3.28174384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.75, Y:-20.23, Z:-3.28 [[ 9.98849234e-01 4.35573709e-02 2.00739570e-02 2.65754771e+02] [-4.35154012e-02 9.99049570e-01 -2.52304510e-03 -2.02309917e+01] [-2.01647753e-02 1.64661537e-03 9.99795314e-01 -3.28280445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:-20.24, Z:-3.28 [[ 9.98810685e-01 4.46181898e-02 1.96579040e-02 2.65785901e+02] [-4.45780891e-02 9.99002840e-01 -2.47364060e-03 -2.02353550e+01] [-1.97486713e-02 1.59438686e-03 9.99803705e-01 -3.28339978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:-20.24, Z:-3.28 [[ 9.98769617e-01 4.56996994e-02 1.92559141e-02 2.65817954e+02] [-4.56613975e-02 9.98954033e-01 -2.42432247e-03 -2.02403115e+01] [-1.93465638e-02 1.54208768e-03 9.99811648e-01 -3.28313787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28589822699996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:265.85, Y:-20.24, Z:-3.28 [[ 9.98709900e-01 4.69156962e-02 1.94281588e-02 2.65848504e+02] [-4.68768763e-02 9.98897673e-01 -2.44898919e-03 -2.02448965e+01] [-1.95216386e-02 1.53509835e-03 9.99808256e-01 -3.28326409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.88, Y:-20.25, Z:-3.28 [[ 9.98689138e-01 4.74514627e-02 1.91928007e-02 2.65879291e+02] [-4.74136160e-02 9.98872405e-01 -2.42243554e-03 -2.02493814e+01] [-1.92861071e-02 1.50925998e-03 9.99812867e-01 -3.28464486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.91, Y:-20.25, Z:-3.29 [[ 9.98709991e-01 4.76616581e-02 1.75134548e-02 2.65910687e+02] [-4.76301858e-02 9.98862594e-01 -2.21001692e-03 -2.02547640e+01] [-1.75988680e-02 1.37299687e-03 9.99844185e-01 -3.28593503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.375898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:265.94, Y:-20.26, Z:-3.29 [[ 9.98739873e-01 4.72539096e-02 1.69036849e-02 2.65941522e+02] [-4.72244753e-02 9.98882017e-01 -2.13646593e-03 -2.02598415e+01] [-1.69857432e-02 1.33550606e-03 9.99854840e-01 -3.28674022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.97, Y:-20.27, Z:-3.29 [[ 9.98758549e-01 4.67937115e-02 1.70794753e-02 2.65971400e+02] [-4.67635915e-02 9.98903652e-01 -2.15887459e-03 -2.02654023e+01] [-1.71617720e-02 1.35749685e-03 9.99851804e-01 -3.28819647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.00, Y:-20.27, Z:-3.29 [[ 9.98780671e-01 4.60982759e-02 1.76669343e-02 2.66002709e+02] [-4.60659178e-02 9.98935903e-01 -2.23437631e-03 -2.02702653e+01] [-1.77511359e-02 1.41780832e-03 9.99841431e-01 -3.28864425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.03, Y:-20.28, Z:-3.29 [[ 9.98816304e-01 4.44098837e-02 1.98432005e-02 2.66033082e+02] [-4.43687199e-02 9.99012070e-01 -2.51012931e-03 -2.02760372e+01] [-1.99350714e-02 1.62674067e-03 9.99799953e-01 -3.28928923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.06, Y:-20.28, Z:-3.29 [[ 9.98867230e-01 4.31274590e-02 2.01066763e-02 2.66064963e+02] [-4.30849373e-02 9.99068175e-01 -2.54342218e-03 -2.02816376e+01] [-2.01976317e-02 1.67424618e-03 9.99794605e-01 -3.29022700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.10, Y:-20.29, Z:-3.29 [[ 9.98940532e-01 4.17420800e-02 1.93755388e-02 2.66096953e+02] [-4.17022711e-02 9.99127068e-01 -2.45428592e-03 -2.02872677e+01] [-1.94610723e-02 1.64368171e-03 9.99809264e-01 -3.29105204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.13, Y:-20.29, Z:-3.29 [[ 9.98998043e-01 4.05844070e-02 1.88630738e-02 2.66128004e+02] [-4.05464117e-02 9.99174792e-01 -2.39252756e-03 -2.02930844e+01] [-1.89446071e-02 1.62530040e-03 9.99819214e-01 -3.29248996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.16, Y:-20.30, Z:-3.29 [[ 9.99137802e-01 3.77979852e-02 1.71745658e-02 2.66160313e+02] [-3.77660380e-02 9.99284229e-01 -2.18080366e-03 -2.03005270e+01] [-1.72447027e-02 1.53030807e-03 9.99850128e-01 -3.29397223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.19, Y:-20.31, Z:-3.29 [[ 9.99197234e-01 3.67965711e-02 1.58398398e-02 2.66191633e+02] [-3.67692297e-02 9.99321754e-01 -2.01399398e-03 -2.03062655e+01] [-1.59032046e-02 1.42995850e-03 9.99872514e-01 -3.29458517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.22, Y:-20.31, Z:-3.30 [[ 9.99220813e-01 3.65935033e-02 1.47879223e-02 2.66222700e+02] [-3.65696101e-02 9.99329334e-01 -1.88300562e-03 -2.03128246e+01] [-1.48469103e-02 1.34074986e-03 9.99888880e-01 -3.29567089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.25, Y:-20.32, Z:-3.30 [[ 9.99213632e-01 3.69899073e-02 1.42781209e-02 2.66253939e+02] [-3.69676643e-02 9.99314807e-01 -1.81872877e-03 -2.03219767e+01] [-1.43356122e-02 1.28946980e-03 9.99896408e-01 -3.29731669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.29, Y:-20.33, Z:-3.30 [[ 9.99181365e-01 3.76684935e-02 1.47541638e-02 2.66285001e+02] [-3.76447618e-02 9.99289411e-01 -1.88300321e-03 -2.03289325e+01] [-1.48146096e-02 1.32604473e-03 9.99889378e-01 -3.29755645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73589822699995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:266.32, Y:-20.34, Z:-3.30 [[ 9.99140226e-01 3.84260388e-02 1.55643064e-02 2.66316852e+02] [-3.83997313e-02 9.99260485e-01 -1.98569283e-03 -2.03355417e+01] [-1.56290987e-02 1.38632040e-03 9.99876897e-01 -3.29796383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.35, Y:-20.35, Z:-3.30 [[ 9.99023264e-01 4.09442171e-02 1.66159169e-02 2.66347650e+02] [-4.09145310e-02 9.99160395e-01 -2.12277408e-03 -2.03465135e+01] [-1.66888814e-02 1.44086824e-03 9.99859693e-01 -3.29754161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.38, Y:-20.35, Z:-3.30 [[ 9.98965683e-01 4.23082681e-02 1.66605573e-02 2.66379320e+02] [-4.22785605e-02 9.99103588e-01 -2.13146462e-03 -2.03538322e+01] [-1.67358012e-02 1.42487563e-03 9.99858931e-01 -3.29860310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.41, Y:-20.36, Z:-3.30 [[ 9.98912463e-01 4.38279912e-02 1.59059048e-02 2.66410443e+02] [-4.38010854e-02 9.99038197e-01 -2.03617484e-03 -2.03613413e+01] [-1.59798479e-02 1.33726453e-03 9.99871420e-01 -3.29900546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85589822699995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:266.44, Y:-20.37, Z:-3.30 [[ 9.98885783e-01 4.45000338e-02 1.57142854e-02 2.66442062e+02] [-4.44738128e-02 9.99008520e-01 -2.01431931e-03 -2.03688072e+01] [-1.57883422e-02 1.31320073e-03 9.99874494e-01 -3.30068125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.47, Y:-20.38, Z:-3.30 [[ 9.98757681e-01 4.63510365e-02 1.82941782e-02 2.66472162e+02] [-4.63157395e-02 9.98924089e-01 -2.34863669e-03 -2.03814605e+01] [-1.83833571e-02 1.49841054e-03 9.99829889e-01 -3.30016263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.50, Y:-20.39, Z:-3.30 [[ 9.98643633e-01 4.79429271e-02 2.03068812e-02 2.66504776e+02] [-4.78996943e-02 9.98848740e-01 -2.61032573e-03 -2.03885937e+01] [-2.04086493e-02 1.63409177e-03 9.99790386e-01 -3.30004436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.54, Y:-20.39, Z:-3.30 [[ 9.98509628e-01 5.01975632e-02 2.14179096e-02 2.66537110e+02] [-5.01498973e-02 9.98737896e-01 -2.75719489e-03 -2.03948235e+01] [-2.15292824e-02 1.67897968e-03 9.99766808e-01 -3.29996522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.57, Y:-20.40, Z:-3.30 [[ 9.98357681e-01 5.28376373e-02 2.21387458e-02 2.66568356e+02] [-5.27872589e-02 9.98601702e-01 -2.85423248e-03 -2.04004565e+01] [-2.22586001e-02 1.68090122e-03 9.99750834e-01 -3.30084274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.60, Y:-20.41, Z:-3.30 [[ 9.98106805e-01 5.69408921e-02 2.32495181e-02 2.66599760e+02] [-5.68863727e-02 9.98376151e-01 -3.00018884e-03 -2.04066287e+01] [-2.33825978e-02 1.67192815e-03 9.99725192e-01 -3.30182446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:-20.41, Z:-3.30 [[ 9.98099091e-01 5.70104376e-02 2.34097273e-02 2.66632127e+02] [-5.69550907e-02 9.98372159e-01 -3.02478740e-03 -2.04125238e+01] [-2.35440644e-02 1.68573441e-03 9.99721379e-01 -3.30301667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.66, Y:-20.42, Z:-3.30 [[ 9.98172506e-01 5.57927239e-02 2.32125174e-02 2.66664159e+02] [-5.57378838e-02 9.98440919e-01 -3.00335592e-03 -2.04190661e+01] [-2.33438926e-02 1.70405070e-03 9.99726042e-01 -3.30446988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.69, Y:-20.43, Z:-3.31 [[ 9.98451897e-01 5.12616503e-02 2.15882387e-02 2.66694864e+02] [-5.12130841e-02 9.98683833e-01 -2.79691110e-03 -2.04271931e+01] [-2.17031993e-02 1.68698091e-03 9.99763035e-01 -3.30623312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.73, Y:-20.43, Z:-3.31 [[ 9.98574017e-01 4.94125320e-02 2.02073011e-02 2.66727546e+02] [-4.93695675e-02 9.98777143e-01 -2.61985664e-03 -2.04334855e+01] [-2.03120443e-02 1.61849505e-03 9.99792379e-01 -3.30675193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.76, Y:-20.44, Z:-3.31 [[ 9.98667130e-01 4.78956803e-02 1.92345490e-02 2.66759104e+02] [-4.78564040e-02 9.98851104e-01 -2.49735525e-03 -2.04394027e+01] [-1.93320630e-02 1.57353025e-03 9.99811880e-01 -3.30804355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.79, Y:-20.45, Z:-3.31 [[ 9.98801130e-01 4.61268836e-02 1.63894030e-02 2.66790612e+02] [-4.60981135e-02 9.98934648e-01 -2.12907606e-03 -2.04479688e+01] [-1.64701502e-02 1.37100301e-03 9.99863418e-01 -3.30981888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.82, Y:-20.45, Z:-3.31 [[ 9.98813143e-01 4.60201690e-02 1.59514502e-02 2.66822540e+02] [-4.59928555e-02 9.98939613e-01 -2.07512861e-03 -2.04544106e+01] [-1.60300333e-02 1.33901299e-03 9.99870614e-01 -3.31066829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.86, Y:-20.46, Z:-3.31 [[ 9.98792972e-01 4.64106066e-02 1.60827211e-02 2.66855291e+02] [-4.63828709e-02 9.98921542e-01 -2.09350605e-03 -2.04604636e+01] [-1.61625375e-02 1.34501636e-03 9.99868473e-01 -3.31126214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.89, Y:-20.47, Z:-3.31 [[ 9.98698785e-01 4.81429414e-02 1.68224444e-02 2.66887639e+02] [-4.81127759e-02 9.98839501e-01 -2.19354690e-03 -2.04677144e+01] [-1.69085258e-02 1.38131813e-03 9.99856087e-01 -3.31157281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.92, Y:-20.47, Z:-3.31 [[ 9.98631468e-01 4.95035276e-02 1.68698663e-02 2.66920443e+02] [-4.94733744e-02 9.98773019e-01 -2.20032694e-03 -2.04745490e+01] [-1.69580913e-02 1.36270651e-03 9.99855273e-01 -3.31296609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.335898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.95, Y:-20.48, Z:-3.31 [[ 9.98603490e-01 5.02133622e-02 1.64221882e-02 2.66953352e+02] [-5.01848372e-02 9.98737644e-01 -2.14474791e-03 -2.04814069e+01] [-1.65091525e-02 1.31760791e-03 9.99862846e-01 -3.31324204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.99, Y:-20.49, Z:-3.31 [[ 9.98611240e-01 5.00248659e-02 1.65258714e-02 2.66985334e+02] [-4.99959029e-02 9.98747084e-01 -2.16135968e-03 -2.04907307e+01] [-1.66132876e-02 1.33213221e-03 9.99861102e-01 -3.31460087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.01, Y:-20.50, Z:-3.32 [[ 9.98540714e-01 4.96735911e-02 2.11890741e-02 2.67013977e+02] [-4.99084065e-02 9.98696475e-01 1.07005879e-02 -2.05037944e+01] [-2.06299170e-02 -1.17424856e-02 9.99718221e-01 -3.31720921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.05, Y:-20.50, Z:-3.32 [[ 9.98673222e-01 4.93741650e-02 1.46282964e-02 2.67048448e+02] [-4.91536892e-02 9.98677582e-01 -1.50665857e-02 -2.04998095e+01] [-1.53528518e-02 1.43275610e-02 9.99779481e-01 -3.31560319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.08, Y:-20.52, Z:-3.32 [[ 9.98690099e-01 4.83946866e-02 1.66144795e-02 2.67078304e+02] [-4.83650370e-02 9.98827343e-01 -2.18199747e-03 -2.05174262e+01] [-1.67005935e-02 1.37557935e-03 9.99859589e-01 -3.31624118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.11, Y:-20.53, Z:-3.32 [[ 9.98700319e-01 4.81163544e-02 1.68074211e-02 2.67111079e+02] [-4.80859246e-02 9.98840758e-01 -2.21019270e-03 -2.05252485e+01] [-1.68942836e-02 1.39911977e-03 9.99856303e-01 -3.31689404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.14, Y:-20.53, Z:-3.32 [[ 9.98672834e-01 4.85519710e-02 1.71836268e-02 2.67142941e+02] [-4.85201689e-02 9.98819639e-01 -2.26306407e-03 -2.05318532e+01] [-1.72732201e-02 1.42630814e-03 9.99849789e-01 -3.31691798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.18, Y:-20.54, Z:-3.32 [[ 9.98669005e-01 4.86308252e-02 1.71831571e-02 2.67176136e+02] [-4.85989738e-02 9.98815800e-01 -2.26662409e-03 -2.05363604e+01] [-1.72730366e-02 1.42852342e-03 9.99849789e-01 -3.31772294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.21, Y:-20.54, Z:-3.32 [[ 9.98534003e-01 5.08669142e-02 1.85041264e-02 2.67208165e+02] [-5.08303377e-02 9.98704317e-01 -2.44195569e-03 -2.05426891e+01] [-1.86043657e-02 1.49780480e-03 9.99825802e-01 -3.31741930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.24, Y:-20.55, Z:-3.32 [[ 9.98420203e-01 5.27997557e-02 1.92167868e-02 2.67239963e+02] [-5.27605913e-02 9.98603961e-01 -2.53970111e-03 -2.05473056e+01] [-1.93240550e-02 1.52179987e-03 9.99812115e-01 -3.31818635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.27, Y:-20.55, Z:-3.32 [[ 9.98302794e-01 5.48776993e-02 1.94928109e-02 2.67272889e+02] [-5.48377239e-02 9.98491947e-01 -2.57981566e-03 -2.05516421e+01] [-1.96049890e-02 1.50649580e-03 9.99806669e-01 -3.31871695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.30, Y:-20.56, Z:-3.32 [[ 9.98207568e-01 5.66910588e-02 1.91774669e-02 2.67304851e+02] [-5.66526304e-02 9.98390715e-01 -2.54164350e-03 -2.05556556e+01] [-1.92906934e-02 1.45063383e-03 9.99812865e-01 -3.31920587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.34, Y:-20.56, Z:-3.32 [[ 9.98133843e-01 5.82007212e-02 1.84799337e-02 2.67337590e+02] [-5.81652407e-02 9.98303958e-01 -2.45212241e-03 -2.05595421e+01] [-1.85913063e-02 1.37265657e-03 9.99826224e-01 -3.32064375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.37, Y:-20.56, Z:-3.32 [[ 9.98074470e-01 5.94513415e-02 1.76887004e-02 2.67369891e+02] [-5.94189713e-02 9.98230365e-01 -2.35042823e-03 -2.05626083e+01] [-1.77971340e-02 1.29485803e-03 9.99840780e-01 -3.32286044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.40, Y:-20.57, Z:-3.32 [[ 9.98120285e-01 5.86675073e-02 1.77206240e-02 2.67403004e+02] [-5.86348402e-02 9.98276713e-01 -2.35787065e-03 -2.05663416e+01] [-1.78284167e-02 1.31439257e-03 9.99840197e-01 -3.32396464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.44, Y:-20.57, Z:-3.33 [[ 9.98202835e-01 5.73355507e-02 1.74279811e-02 2.67435777e+02] [-5.73036983e-02 9.98354093e-01 -2.32199121e-03 -2.05702414e+01] [-1.75324289e-02 1.31913044e-03 9.99845425e-01 -3.32506685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:-20.57, Z:-3.33 [[ 9.98479272e-01 5.26878857e-02 1.62212860e-02 2.67467161e+02] [-5.26596350e-02 9.98610174e-01 -2.16411260e-03 -2.05738926e+01] [-1.63127638e-02 1.30661457e-03 9.99866084e-01 -3.32649117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.50, Y:-20.58, Z:-3.33 [[ 9.98582658e-01 5.07574333e-02 1.60111972e-02 2.67498372e+02] [-5.07296171e-02 9.98710134e-01 -2.13894797e-03 -2.05790025e+01] [-1.60991124e-02 1.32367445e-03 9.99869525e-01 -3.32751611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.53, Y:-20.58, Z:-3.33 [[ 9.98686218e-01 4.87324699e-02 1.58424661e-02 2.67531061e+02] [-4.87049435e-02 9.98810962e-01 -2.11894138e-03 -2.05849761e+01] [-1.59268901e-02 1.34455113e-03 9.99872255e-01 -3.32837638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.56, Y:-20.59, Z:-3.33 [[ 9.98803489e-01 4.59592000e-02 1.67135641e-02 2.67562140e+02] [-4.59281201e-02 9.98942238e-01 -2.23886886e-03 -2.05933334e+01] [-1.67987818e-02 1.46856744e-03 9.99857812e-01 -3.32913667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.59, Y:-20.60, Z:-3.33 [[ 9.98812133e-01 4.57290118e-02 1.68279592e-02 2.67594827e+02] [-4.56974251e-02 9.98952777e-01 -2.25700200e-03 -2.05998633e+01] [-1.69135470e-02 1.48532658e-03 9.99855852e-01 -3.33028378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.63, Y:-20.61, Z:-3.33 [[ 9.98805141e-01 4.61496252e-02 1.60780372e-02 2.67625808e+02] [-4.61207987e-02 9.98933536e-01 -2.15930736e-03 -2.06060568e+01] [-1.61605418e-02 1.41519538e-03 9.99868408e-01 -3.33091981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.66, Y:-20.61, Z:-3.33 [[ 9.98767205e-01 4.72773764e-02 1.51301240e-02 2.67658002e+02] [-4.72519427e-02 9.98880932e-01 -2.03428859e-03 -2.06122641e+01] [-1.52093681e-02 1.31685297e-03 9.99883464e-01 -3.33250371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.69, Y:-20.62, Z:-3.33 [[ 9.98635136e-01 5.01280388e-02 1.46644329e-02 2.67689363e+02] [-5.01044127e-02 9.98742034e-01 -1.97432941e-03 -2.06200840e+01] [-1.47449548e-02 1.23688192e-03 9.99890522e-01 -3.33373893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.72, Y:-20.63, Z:-3.33 [[ 9.98511937e-01 5.22231551e-02 1.57051829e-02 2.67720682e+02] [-5.21962665e-02 9.98634601e-01 -2.11742040e-03 -2.06258007e+01] [-1.57943174e-02 1.29451763e-03 9.99874424e-01 -3.33393635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.75, Y:-20.63, Z:-3.33 [[ 9.98367137e-01 5.47349115e-02 1.63447120e-02 2.67753654e+02] [-5.47060759e-02 9.98500063e-01 -2.20648014e-03 -2.06315425e+01] [-1.64409675e-02 1.30872220e-03 9.99863982e-01 -3.33367110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.78, Y:-20.64, Z:-3.34 [[ 9.98125697e-01 5.91939989e-02 1.55294361e-02 2.67784689e+02] [-5.91684625e-02 9.98245805e-01 -2.09912745e-03 -2.06383979e+01] [-1.56264502e-02 1.17634020e-03 9.99877208e-01 -3.33540529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.82, Y:-20.64, Z:-3.34 [[ 9.98076422e-01 6.02603540e-02 1.45651984e-02 2.67817310e+02] [-6.02379739e-02 9.98182099e-01 -1.97080810e-03 -2.06443095e+01] [-1.46574819e-02 1.08963905e-03 9.99891980e-01 -3.33608968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.85, Y:-20.65, Z:-3.34 [[ 9.98034682e-01 6.07024514e-02 1.55559282e-02 2.67847261e+02] [-6.07397627e-02 9.98151757e-01 1.93696088e-03 -2.06516320e+01] [-1.54095988e-02 -2.87801752e-03 9.99877123e-01 -3.33740514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.205898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:267.88, Y:-20.65, Z:-3.34 [[ 9.98071131e-01 6.06884087e-02 1.30741903e-02 2.67880421e+02] [-6.06143395e-02 9.98143291e-01 -5.98932676e-03 -2.06535358e+01] [-1.34133980e-02 5.18529072e-03 9.99896591e-01 -3.33715973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.91, Y:-20.66, Z:-3.34 [[ 9.98037150e-01 6.08238974e-02 1.49097221e-02 2.67912309e+02] [-6.08004159e-02 9.98147892e-01 -2.02359149e-03 -2.06635499e+01] [-1.50051904e-02 1.11310219e-03 9.99886796e-01 -3.33799168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.265898227 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:267.94, Y:-20.67, Z:-3.34 [[ 9.97980781e-01 6.15086901e-02 1.58442967e-02 2.67944166e+02] [-6.14822045e-02 9.98105856e-01 -2.15379118e-03 -2.06695024e+01] [-1.59467622e-02 1.17529992e-03 9.99872152e-01 -3.33810558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.98, Y:-20.68, Z:-3.34 [[ 9.97879469e-01 6.29422046e-02 1.65784162e-02 2.67976131e+02] [-6.29133538e-02 9.98016442e-01 -2.25660685e-03 -2.06757937e+01] [-1.66875678e-02 1.20881788e-03 9.99860022e-01 -3.33880330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.01, Y:-20.68, Z:-3.34 [[ 9.97754048e-01 6.48634702e-02 1.67209455e-02 2.68007842e+02] [-6.48343349e-02 9.97893438e-01 -2.27925146e-03 -2.06810586e+01] [-1.68335620e-02 1.19004099e-03 9.99857597e-01 -3.33932798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.04, Y:-20.68, Z:-3.34 [[ 9.97397457e-01 7.02289505e-02 1.63158511e-02 2.68039657e+02] [-7.02018795e-02 9.97530319e-01 -2.22675024e-03 -2.06844967e+01] [-1.64319385e-02 1.07555161e-03 9.99864408e-01 -3.33921743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.07, Y:-20.69, Z:-3.34 [[ 9.97154970e-01 7.35535908e-02 1.64874512e-02 2.68072507e+02] [-7.35263522e-02 9.97290730e-01 -2.25302968e-03 -2.06880852e+01] [-1.66085007e-02 1.03435760e-03 9.99861534e-01 -3.33953423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.11, Y:-20.69, Z:-3.34 [[ 9.96903655e-01 7.66777949e-02 1.74246597e-02 2.68105267e+02] [-7.66477850e-02 9.97055380e-01 -2.38460510e-03 -2.06917909e+01] [-1.75561970e-02 1.04165997e-03 9.99845335e-01 -3.34037708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.445898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:268.14, Y:-20.69, Z:-3.34 [[ 9.96588316e-01 8.03255550e-02 1.89613722e-02 2.68138683e+02] [-8.02906002e-02 9.96768110e-01 -2.59884331e-03 -2.06932567e+01] [-1.91088447e-02 1.06755693e-03 9.99816839e-01 -3.34040108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.17, Y:-20.70, Z:-3.34 [[ 9.96531607e-01 8.08808732e-02 1.95714045e-02 2.68170172e+02] [-8.08436637e-02 9.96723174e-01 -2.68629447e-03 -2.06964508e+01] [-1.97245423e-02 1.09475330e-03 9.99804853e-01 -3.34216713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.20, Y:-20.70, Z:-3.34 [[ 9.96525027e-01 8.09568086e-02 1.95924968e-02 2.68203326e+02] [-8.09194668e-02 9.96717006e-01 -2.69256591e-03 -2.06993330e+01] [-1.97461563e-02 1.09779493e-03 9.99804423e-01 -3.34300728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.24, Y:-20.70, Z:-3.34 [[ 9.96686589e-01 7.91322125e-02 1.88131837e-02 2.68236847e+02] [-7.90973965e-02 9.96863531e-01 -2.58874187e-03 -2.07011613e+01] [-1.89590296e-02 1.09209045e-03 9.99819665e-01 -3.34379530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.27, Y:-20.70, Z:-3.34 [[ 9.96792696e-01 7.78145445e-02 1.86873679e-02 2.68268611e+02] [-7.77798962e-02 9.96967230e-01 -2.57491719e-03 -2.07038302e+01] [-1.88310594e-02 1.11315711e-03 9.99822060e-01 -3.34455290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59589822699996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:268.30, Y:-20.71, Z:-3.34 [[ 9.96902912e-01 7.64312877e-02 1.85159823e-02 2.68302183e+02] [-7.63969766e-02 9.97074208e-01 -2.55440063e-03 -2.07055675e+01] [-1.86570445e-02 1.13192436e-03 9.99825301e-01 -3.34381947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.33, Y:-20.71, Z:-3.35 [[ 9.96925714e-01 7.59593807e-02 1.92170016e-02 2.68334718e+02] [-7.59222620e-02 9.97110205e-01 -2.65486023e-03 -2.07073811e+01] [-1.93631299e-02 1.18770021e-03 9.99811812e-01 -3.34513517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.37, Y:-20.71, Z:-3.35 [[ 9.96892908e-01 7.64786749e-02 1.88558504e-02 2.68367989e+02] [-7.64429727e-02 9.97070544e-01 -2.60803299e-03 -2.07054400e+01] [-1.90000720e-02 1.15853233e-03 9.99818811e-01 -3.34595185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.40, Y:-20.71, Z:-3.35 [[ 9.96876508e-01 7.69234292e-02 1.78889474e-02 2.68399619e+02] [-7.68913088e-02 9.97036403e-01 -2.47749389e-03 -2.07066470e+01] [-1.80265091e-02 1.09425088e-03 9.99836910e-01 -3.34740740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:-20.71, Z:-3.35 [[ 9.96882316e-01 7.70379015e-02 1.70531452e-02 2.68432906e+02] [-7.70086837e-02 9.97027619e-01 -2.36440792e-03 -2.07077854e+01] [-1.71846058e-02 1.04379618e-03 9.99851789e-01 -3.34858284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.47, Y:-20.71, Z:-3.35 [[ 9.96893711e-01 7.69784233e-02 1.66508548e-02 2.68465174e+02] [-7.69505053e-02 9.97032234e-01 -2.31186633e-03 -2.07089856e+01] [-1.67794028e-02 1.02339332e-03 9.99858692e-01 -3.34992052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.50, Y:-20.71, Z:-3.35 [[ 9.96930856e-01 7.64056964e-02 1.70598165e-02 2.68497704e+02] [-7.63762496e-02 9.97076247e-01 -2.37195757e-03 -2.07079377e+01] [-1.71911689e-02 1.06171289e-03 9.99851657e-01 -3.35084441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80589822699994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:268.53, Y:-20.71, Z:-3.35 [[ 9.97023427e-01 7.52788725e-02 1.66546256e-02 2.68528743e+02] [-7.52506047e-02 9.97161959e-01 -2.31840199e-03 -2.07094185e+01] [-1.67818857e-02 1.05823046e-03 9.99858614e-01 -3.35110696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.56, Y:-20.71, Z:-3.35 [[ 9.97165135e-01 7.34246906e-02 1.64471219e-02 2.68560114e+02] [-7.33968306e-02 9.97300181e-01 -2.29200039e-03 -2.07116544e+01] [-1.65710071e-02 1.07833626e-03 9.99862110e-01 -3.35240168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.59, Y:-20.71, Z:-3.35 [[ 9.97493005e-01 6.88858477e-02 1.62001453e-02 2.68592837e+02] [-6.88581845e-02 9.97623899e-01 -2.25988953e-03 -2.07120610e+01] [-1.63173265e-02 1.13871140e-03 9.99866215e-01 -3.35274835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:-20.72, Z:-3.35 [[ 9.97610346e-01 6.70815831e-02 1.65426495e-02 2.68625094e+02] [-6.70524456e-02 9.97746777e-01 -2.31038978e-03 -2.07158360e+01] [-1.66603598e-02 1.19564364e-03 9.99860492e-01 -3.35376687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.66, Y:-20.72, Z:-3.35 [[ 9.97715791e-01 6.53468369e-02 1.71169885e-02 2.68656584e+02] [-6.53153312e-02 9.97861803e-01 -2.39382994e-03 -2.07203411e+01] [-1.72368182e-02 1.27036016e-03 9.99850628e-01 -3.35411059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.69, Y:-20.73, Z:-3.36 [[ 9.97829848e-01 6.33870783e-02 1.78233538e-02 2.68688648e+02] [-6.33525484e-02 9.97988089e-01 -2.49590150e-03 -2.07255879e+01] [-1.79457027e-02 1.36133013e-03 9.99838036e-01 -3.35509410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.72, Y:-20.73, Z:-3.36 [[ 9.98051516e-01 6.00103266e-02 1.70860033e-02 2.68721417e+02] [-5.99780783e-02 9.98196824e-01 -2.39408901e-03 -2.07321363e+01] [-1.71988643e-02 1.36463852e-03 9.99851157e-01 -3.35573986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.015898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:268.75, Y:-20.74, Z:-3.36 [[ 9.98137333e-01 5.88535024e-02 1.60664049e-02 2.68754234e+02] [-5.88247993e-02 9.98265778e-01 -2.25371491e-03 -2.07379338e+01] [-1.61711812e-02 1.30441395e-03 9.99868387e-01 -3.35701346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.79, Y:-20.74, Z:-3.36 [[ 9.98212595e-01 5.77684609e-02 1.53107822e-02 2.68786590e+02] [-5.77422273e-02 9.98329210e-01 -2.15033949e-03 -2.07449952e+01] [-1.54094229e-02 1.26241730e-03 9.99880471e-01 -3.35809504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.82, Y:-20.75, Z:-3.36 [[ 9.98243600e-01 5.72159261e-02 1.53639822e-02 2.68817483e+02] [-5.71893992e-02 9.98361009e-01 -2.16076268e-03 -2.07520521e+01] [-1.54624308e-02 1.27831060e-03 9.99879632e-01 -3.35880831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:-20.76, Z:-3.36 [[ 9.98235281e-01 5.68235014e-02 1.72456809e-02 2.68849727e+02] [-5.67899612e-02 9.98383194e-01 -2.42877675e-03 -2.07625931e+01] [-1.73558096e-02 1.44510909e-03 9.99848332e-01 -3.35845204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:268.88, Y:-20.77, Z:-3.36 [[ 9.98192400e-01 5.73645568e-02 1.79231938e-02 2.68880685e+02] [-5.73283533e-02 9.98352178e-01 -2.52765129e-03 -2.07703221e+01] [-1.80386572e-02 1.49557512e-03 9.99836172e-01 -3.35809081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.91, Y:-20.78, Z:-3.36 [[ 9.98006200e-01 6.06510969e-02 1.74662031e-02 2.68912845e+02] [-6.06171624e-02 9.98158042e-01 -2.46626114e-03 -2.07811182e+01] [-1.75836126e-02 1.40259223e-03 9.99844413e-01 -3.35914601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.94, Y:-20.79, Z:-3.36 [[ 9.97802579e-01 6.39918216e-02 1.71773131e-02 2.68943980e+02] [-6.39594372e-02 9.97949544e-01 -2.42865204e-03 -2.07880122e+01] [-1.72975056e-02 1.32466399e-03 9.99849509e-01 -3.35976666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.98, Y:-20.80, Z:-3.36 [[ 9.97524188e-01 6.80653940e-02 1.76803998e-02 2.68975842e+02] [-6.80316599e-02 9.97680022e-01 -2.50319802e-03 -2.07950744e+01] [-1.78097628e-02 1.29417363e-03 9.99840556e-01 -3.36064335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:-20.80, Z:-3.36 [[ 9.97227245e-01 7.21750157e-02 1.81270194e-02 2.69007381e+02] [-7.21401857e-02 9.97391194e-01 -2.56889519e-03 -2.08015740e+01] [-1.82651396e-02 1.25408573e-03 9.99832392e-01 -3.36185413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.04, Y:-20.81, Z:-3.36 [[ 9.96905415e-01 7.66163468e-02 1.75934272e-02 2.69038575e+02] [-7.65841972e-02 9.97059996e-01 -2.49488126e-03 -2.08069795e+01] [-1.77328512e-02 1.13978214e-03 9.99842111e-01 -3.36183620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:-20.81, Z:-3.36 [[ 9.96280107e-01 8.43575892e-02 1.75995805e-02 2.69070283e+02] [-8.43265597e-02 9.96435038e-01 -2.49913334e-03 -2.08112528e+01] [-1.77476595e-02 1.00572476e-03 9.99841992e-01 -3.36301097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.10, Y:-20.82, Z:-3.36 [[ 9.96019789e-01 8.72904300e-02 1.80266585e-02 2.69102227e+02] [-8.72583210e-02 9.96182425e-01 -2.56163729e-03 -2.08159383e+01] [-1.81814468e-02 9.78465477e-04 9.99834225e-01 -3.36381895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.13, Y:-20.82, Z:-3.36 [[ 9.95871618e-01 8.88148098e-02 1.87523258e-02 2.69133990e+02] [-8.87802725e-02 9.96047662e-01 -2.66793771e-03 -2.08208295e+01] [-1.89151626e-02 9.92086850e-04 9.99820600e-01 -3.36484586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.17, Y:-20.83, Z:-3.37 [[ 9.95875685e-01 8.85206789e-02 1.98924607e-02 2.69166670e+02] [-8.84816877e-02 9.96073773e-01 -2.83350305e-03 -2.08271896e+01] [-2.00651820e-02 1.06169829e-03 9.99798110e-01 -3.36581953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.20, Y:-20.83, Z:-3.37 [[ 9.95966154e-01 8.75189376e-02 1.97953487e-02 2.69197855e+02] [-8.74800546e-02 9.96162270e-01 -2.82339536e-03 -2.08324821e+01] [-1.99664801e-02 1.08030803e-03 9.99800066e-01 -3.36682975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:-20.84, Z:-3.37 [[ 9.95961362e-01 8.75735747e-02 1.97948031e-02 2.69230177e+02] [-8.75346267e-02 9.96157465e-01 -2.82721562e-03 -2.08371907e+01] [-1.99663302e-02 1.08306682e-03 9.99800066e-01 -3.36760948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:-20.84, Z:-3.37 [[ 9.96078169e-01 8.63929009e-02 1.90931394e-02 2.69263053e+02] [-8.63564405e-02 9.96260571e-01 -2.72745880e-03 -2.08423784e+01] [-1.92573750e-02 1.06794662e-03 9.99813989e-01 -3.36843557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.30, Y:-20.85, Z:-3.37 [[ 9.96197675e-01 8.49988002e-02 1.91153386e-02 2.69295031e+02] [-8.49619268e-02 9.96380447e-01 -2.73437723e-03 -2.08470691e+01] [-1.92785683e-02 1.09990425e-03 9.99813546e-01 -3.36976574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.33, Y:-20.85, Z:-3.37 [[ 9.96388442e-01 8.25093986e-02 2.00567295e-02 2.69327469e+02] [-8.24682574e-02 9.96589556e-01 -2.87117867e-03 -2.08524099e+01] [-2.02252264e-02 1.20676571e-03 9.99794721e-01 -3.36992068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.36, Y:-20.86, Z:-3.37 [[ 9.96458015e-01 8.17075531e-02 1.98821390e-02 2.69358783e+02] [-8.16668951e-02 9.96655606e-01 -2.84972312e-03 -2.08572037e+01] [-2.00484892e-02 1.21591689e-03 9.99798269e-01 -3.37046599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.39, Y:-20.86, Z:-3.37 [[ 9.96517348e-01 8.12471913e-02 1.87634796e-02 2.69391402e+02] [-8.12108473e-02 9.96693308e-01 -2.69212494e-03 -2.08614675e+01] [-1.89201621e-02 1.15895114e-03 9.99820326e-01 -3.37135859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:-20.86, Z:-3.37 [[ 9.96572076e-01 8.11492766e-02 1.60901194e-02 2.69423700e+02] [-8.11224904e-02 9.96701459e-01 -2.31159023e-03 -2.08646715e+01] [-1.62246293e-02 9.98395722e-04 9.99867874e-01 -3.37304966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.46, Y:-20.87, Z:-3.37 [[ 9.96594908e-01 8.08602089e-02 1.61312159e-02 2.69456003e+02] [-8.08332201e-02 9.96724943e-01 -2.31920336e-03 -2.08691937e+01] [-1.62659165e-02 1.00736813e-03 9.99867194e-01 -3.37344752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.49, Y:-20.87, Z:-3.37 [[ 9.96598003e-01 8.05237318e-02 1.75598617e-02 2.69489183e+02] [-8.04916483e-02 9.96752079e-01 -2.52741643e-03 -2.08735476e+01] [-1.77063457e-02 1.10539595e-03 9.99842619e-01 -3.37388811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73589822699995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:269.52, Y:-20.88, Z:-3.37 [[ 9.96675680e-01 7.91418606e-02 1.93430993e-02 2.69520918e+02] [-7.91025894e-02 9.96862581e-01 -2.78820367e-03 -2.08755840e+01] [-1.95030755e-02 1.24884555e-03 9.99809017e-01 -3.37471086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.55, Y:-20.88, Z:-3.38 [[ 9.96738418e-01 7.86339838e-02 1.81445069e-02 2.69553287e+02] [-7.85992929e-02 9.96902852e-01 -2.61830206e-03 -2.08790891e+01] [-1.82941982e-02 1.18361684e-03 9.99831947e-01 -3.37576998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79589822699995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:269.59, Y:-20.88, Z:-3.38 [[ 9.96804880e-01 7.79824805e-02 1.72848088e-02 2.69586243e+02] [-7.79508501e-02 9.96954076e-01 -2.49721891e-03 -2.08827720e+01] [-1.74268999e-02 1.14187446e-03 9.99847488e-01 -3.37702802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.62, Y:-20.89, Z:-3.38 [[ 9.96836198e-01 7.76296248e-02 1.70656303e-02 2.69619285e+02] [-7.75986869e-02 9.96981619e-01 -2.46864617e-03 -2.08864354e+01] [-1.72057598e-02 1.13656537e-03 9.99851324e-01 -3.37812533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.65, Y:-20.89, Z:-3.38 [[ 9.96840709e-01 7.77865327e-02 1.60578793e-02 2.69651587e+02] [-7.77591078e-02 9.96969463e-01 -2.32618268e-03 -2.08866370e+01] [-1.61901610e-02 1.07018722e-03 9.99868358e-01 -3.37693354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.68, Y:-20.89, Z:-3.38 [[ 9.96784119e-01 7.86070746e-02 1.55675441e-02 2.69683408e+02] [-7.85813770e-02 9.96905149e-01 -2.25653667e-03 -2.08885685e+01] [-1.56967446e-02 1.02596086e-03 9.99876272e-01 -3.37764059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.71, Y:-20.89, Z:-3.38 [[ 9.96714406e-01 7.95860177e-02 1.50485468e-02 2.69714710e+02] [-7.95620799e-02 9.96827521e-01 -2.18370591e-03 -2.08907336e+01] [-1.51745981e-02 9.79237457e-04 9.99884380e-01 -3.37827229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.74, Y:-20.89, Z:-3.38 [[ 9.96608402e-01 8.07655561e-02 1.57676019e-02 2.69744956e+02] [-8.07393652e-02 9.96732614e-01 -2.29166730e-03 -2.08904551e+01] [-1.59011708e-02 1.01082872e-03 9.99873057e-01 -3.37819624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.78, Y:-20.89, Z:-3.38 [[ 9.96559636e-01 8.12872191e-02 1.61641586e-02 2.69776836e+02] [-8.12597622e-02 9.96690188e-01 -2.34931446e-03 -2.08922444e+01] [-1.63016275e-02 1.02773628e-03 9.99866591e-01 -3.37837291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.81, Y:-20.89, Z:-3.38 [[ 9.96499085e-01 8.17695844e-02 1.74157802e-02 2.69807127e+02] [-8.17377696e-02 9.96650654e-01 -2.53202827e-03 -2.08931806e+01] [-1.75644916e-02 1.09963683e-03 9.99845128e-01 -3.37850184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.84, Y:-20.89, Z:-3.38 [[ 9.96554669e-01 8.07972309e-02 1.87242992e-02 2.69837688e+02] [-8.07602834e-02 9.96729836e-01 -2.72230564e-03 -2.08920679e+01] [-1.88830225e-02 1.20074669e-03 9.99820979e-01 -3.37908937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.87, Y:-20.89, Z:-3.38 [[ 9.96684258e-01 7.92039751e-02 1.86338657e-02 2.69868932e+02] [-7.91670855e-02 9.96857676e-01 -2.71027088e-03 -2.08945148e+01] [-1.87899763e-02 1.22609548e-03 9.99822701e-01 -3.37979075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.90, Y:-20.90, Z:-3.38 [[ 9.96814376e-01 7.76862832e-02 1.80538250e-02 2.69900075e+02] [-7.76514000e-02 9.96977112e-01 -2.62627992e-03 -2.08975359e+01] [-1.82032762e-02 1.21600880e-03 9.99833567e-01 -3.38041395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.93, Y:-20.90, Z:-3.38 [[ 9.97073366e-01 7.41816450e-02 1.84874508e-02 2.69931703e+02] [-7.41444701e-02 9.97243885e-01 -2.68914895e-03 -2.08988638e+01] [-1.86359828e-02 1.31053655e-03 9.99825476e-01 -3.38110658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.96, Y:-20.90, Z:-3.38 [[ 9.97181089e-01 7.27047032e-02 1.85445816e-02 2.69963584e+02] [-7.26669915e-02 9.97352604e-01 -2.70026936e-03 -2.09021626e+01] [-1.86918090e-02 1.34507859e-03 9.99824388e-01 -3.38179673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.99, Y:-20.91, Z:-3.38 [[ 9.97280487e-01 7.12368253e-02 1.88930121e-02 2.69994401e+02] [-7.11973593e-02 9.97458445e-01 -2.75423894e-03 -2.09056710e+01] [-1.90411978e-02 1.40161617e-03 9.99817718e-01 -3.38287562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.03, Y:-20.91, Z:-3.38 [[ 9.97399418e-01 6.95129946e-02 1.90353427e-02 2.70025054e+02] [-6.94725629e-02 9.97579995e-01 -2.77793813e-03 -2.09096863e+01] [-1.91823799e-02 1.44827983e-03 9.99814952e-01 -3.38417643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.245898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.06, Y:-20.91, Z:-3.38 [[ 9.97397960e-01 6.95522483e-02 1.89682407e-02 2.70057298e+02] [-6.95120579e-02 9.97577263e-01 -2.77077963e-03 -2.09142526e+01] [-1.91149996e-02 1.44504850e-03 9.99816247e-01 -3.38445931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.09, Y:-20.92, Z:-3.38 [[ 9.97375473e-01 6.98897490e-02 1.89100115e-02 2.70088865e+02] [-6.98498075e-02 9.97553687e-01 -2.76530633e-03 -2.09184913e+01] [-1.90570182e-02 1.43718805e-03 9.99817366e-01 -3.38458461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.12, Y:-20.92, Z:-3.38 [[ 9.97247205e-01 7.14724101e-02 1.97409866e-02 2.70119695e+02] [-7.14291213e-02 9.97441491e-01 -2.89021341e-03 -2.09210867e+01] [-1.98970496e-02 1.47217592e-03 9.99800950e-01 -3.38470134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.15, Y:-20.92, Z:-3.39 [[ 9.97210837e-01 7.17248775e-02 2.06419040e-02 2.70151284e+02] [-7.16775253e-02 9.97423269e-01 -3.02572703e-03 -2.09244421e+01] [-2.08057353e-02 1.53772718e-03 9.99782355e-01 -3.38552532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.18, Y:-20.93, Z:-3.39 [[ 9.97195193e-01 7.17797707e-02 2.11993110e-02 2.70181817e+02] [-7.17298344e-02 9.97419257e-01 -3.10762568e-03 -2.09280025e+01] [-2.13676656e-02 1.57828633e-03 9.99770440e-01 -3.38603270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.395898227 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:270.21, Y:-20.93, Z:-3.39 [[ 9.97200301e-01 7.17130515e-02 2.11848329e-02 2.70213842e+02] [-7.16631040e-02 9.97424051e-01 -3.10851626e-03 -2.09320707e+01] [-2.13531831e-02 1.58164246e-03 9.99770744e-01 -3.38710443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.25, Y:-20.94, Z:-3.39 [[ 9.97309169e-01 7.05833240e-02 1.98094679e-02 2.70245501e+02] [-7.05393721e-02 9.97504752e-01 -2.90964250e-03 -2.09379544e+01] [-1.99654106e-02 1.50446572e-03 9.99799539e-01 -3.38973530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.28, Y:-20.94, Z:-3.39 [[ 9.97412857e-01 6.93489763e-02 1.89291446e-02 2.70276859e+02] [-6.93085691e-02 9.97591387e-01 -2.78319816e-03 -2.09436556e+01] [-1.90765635e-02 1.46404570e-03 9.99816954e-01 -3.39016966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48589822699995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:270.31, Y:-20.95, Z:-3.39 [[ 9.97500979e-01 6.80999306e-02 1.88200993e-02 2.70308382e+02] [-6.80597103e-02 9.97677404e-01 -2.77014159e-03 -2.09490514e+01] [-1.89650342e-02 1.48232845e-03 9.99819049e-01 -3.39173810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.34, Y:-20.95, Z:-3.39 [[ 9.97557908e-01 6.73448393e-02 1.85173760e-02 2.70340067e+02] [-6.73057201e-02 9.97728668e-01 -2.72843910e-03 -2.09542881e+01] [-1.86590632e-02 1.47545068e-03 9.99824816e-01 -3.39205633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.37, Y:-20.96, Z:-3.39 [[ 9.97542547e-01 6.77276331e-02 1.79397624e-02 2.70371690e+02] [-6.76909241e-02 9.97702829e-01 -2.64632322e-03 -2.09591864e+01] [-1.80777809e-02 1.42546092e-03 9.99835567e-01 -3.39242105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.575898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:270.40, Y:-20.96, Z:-3.39 [[ 9.97519812e-01 6.82607247e-02 1.71667713e-02 2.70402288e+02] [-6.82271434e-02 9.97666593e-01 -2.53497854e-03 -2.09632552e+01] [-1.72997537e-02 1.35745155e-03 9.99849427e-01 -3.39395184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:-20.97, Z:-3.39 [[ 9.97502553e-01 6.87728971e-02 1.60917782e-02 2.70433302e+02] [-6.87434062e-02 9.97631537e-01 -2.37934315e-03 -2.09672036e+01] [-1.62172997e-02 1.26719722e-03 9.99867688e-01 -3.39448014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.46, Y:-20.97, Z:-3.40 [[ 9.97477632e-01 6.88731109e-02 1.71717192e-02 2.70464174e+02] [-6.88395387e-02 9.97624514e-01 -2.53926903e-03 -2.09684090e+01] [-1.73058154e-02 1.35077083e-03 9.99849331e-01 -3.39551036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.50, Y:-20.97, Z:-3.40 [[ 9.97469370e-01 6.88672336e-02 1.76680707e-02 2.70495715e+02] [-6.88316699e-02 9.97624864e-01 -2.61387841e-03 -2.09712437e+01] [-1.78061172e-02 1.39114084e-03 9.99840491e-01 -3.39598449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.53, Y:-20.97, Z:-3.40 [[ 9.97474390e-01 6.88649426e-02 1.73913997e-02 2.70526129e+02] [-6.88304758e-02 9.97625051e-01 -2.57340382e-03 -2.09739352e+01] [-1.75273133e-02 1.36984609e-03 9.99845446e-01 -3.39673815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.56, Y:-20.98, Z:-3.40 [[ 9.97522358e-01 6.86399829e-02 1.54174867e-02 2.70557869e+02] [-6.86128693e-02 9.97640752e-01 -2.28137101e-03 -2.09753278e+01] [-1.55377063e-02 1.21788059e-03 9.99878541e-01 -3.39941178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.59, Y:-20.98, Z:-3.40 [[ 9.97556066e-01 6.80975613e-02 1.56402782e-02 2.70588547e+02] [-6.80695833e-02 9.97677890e-01 -2.31489120e-03 -2.09789486e+01] [-1.57615982e-02 1.24460654e-03 9.99875004e-01 -3.40065890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.62, Y:-20.98, Z:-3.40 [[ 9.97588144e-01 6.74707606e-02 1.62969808e-02 2.70618761e+02] [-6.74403005e-02 9.97720396e-01 -2.41208865e-03 -2.09828255e+01] [-1.64225756e-02 1.30719776e-03 9.99864286e-01 -3.40109236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.65, Y:-20.99, Z:-3.40 [[ 9.97650390e-01 6.61802779e-02 1.77163602e-02 2.70649210e+02] [-6.61440805e-02 9.97806637e-01 -2.62203001e-03 -2.09878317e+01] [-1.78510285e-02 1.44403691e-03 9.99839615e-01 -3.40111261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.68, Y:-20.99, Z:-3.40 [[ 9.97684807e-01 6.57033334e-02 1.75527131e-02 2.70679794e+02] [-6.56677284e-02 9.97838164e-01 -2.59780531e-03 -2.09930814e+01] [-1.76854515e-02 1.43914409e-03 9.99842564e-01 -3.40196542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:-21.00, Z:-3.40 [[ 9.97706828e-01 6.54007059e-02 1.74308203e-02 2.70710978e+02] [-6.54006331e-02 9.97858921e-01 -5.74823050e-04 -2.09990184e+01] [-1.74310934e-02 -5.66481804e-04 9.99847906e-01 -3.40243625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.74, Y:-21.00, Z:-3.40 [[ 9.97744760e-01 6.46375040e-02 1.80938218e-02 2.70740708e+02] [-6.46856202e-02 9.97903512e-01 2.08614830e-03 -2.10036329e+01] [-1.79210448e-02 -3.25185362e-03 9.99834117e-01 -3.40337533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.77, Y:-21.00, Z:-3.40 [[ 9.97762948e-01 6.51189119e-02 1.51204078e-02 2.70772531e+02] [-6.49901042e-02 9.97846576e-01 -8.85989799e-03 -2.10030976e+01] [-1.56647941e-02 7.85740106e-03 9.99846426e-01 -3.40265925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.80, Y:-21.01, Z:-3.40 [[ 9.97729355e-01 6.50384767e-02 1.74966019e-02 2.70801846e+02] [-6.50216102e-02 9.97882680e-01 -1.53174111e-03 -2.10113267e+01] [-1.75591781e-02 3.90605843e-04 9.99845749e-01 -3.40465296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.995898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.83, Y:-21.02, Z:-3.41 [[ 9.97805369e-01 6.33546236e-02 1.92519293e-02 2.70832547e+02] [-6.32907186e-02 9.97987468e-01 -3.91137645e-03 -2.10155264e+01] [-1.94609879e-02 2.68432398e-03 9.99807014e-01 -3.40514759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.86, Y:-21.02, Z:-3.41 [[ 9.97820307e-01 6.28265985e-02 2.01854769e-02 2.70864455e+02] [-6.27787439e-02 9.98022971e-01 -2.99635892e-03 -2.10200947e+01] [-2.03338207e-02 1.72260890e-03 9.99791762e-01 -3.40562353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.90, Y:-21.02, Z:-3.41 [[ 9.97841123e-01 6.25231880e-02 2.00983677e-02 2.70897500e+02] [-6.24756220e-02 9.98042022e-01 -2.98651678e-03 -2.10245093e+01] [-2.02457421e-02 1.72441123e-03 9.99793547e-01 -3.40717178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.93, Y:-21.03, Z:-3.41 [[ 9.97904999e-01 6.19229138e-02 1.87394070e-02 2.70929028e+02] [-6.18813877e-02 9.98079616e-01 -2.78833867e-03 -2.10297925e+01] [-1.88760822e-02 1.62287659e-03 9.99820514e-01 -3.40837543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.96, Y:-21.04, Z:-3.41 [[ 9.98093732e-01 5.93323676e-02 1.69874361e-02 2.70960537e+02] [-5.92978705e-02 9.98237133e-01 -2.52772723e-03 -2.10386222e+01] [-1.71074655e-02 1.51558992e-03 9.99852508e-01 -3.41024075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.99, Y:-21.05, Z:-3.41 [[ 9.98205416e-01 5.73961956e-02 1.70770237e-02 2.70992424e+02] [-5.73609994e-02 9.98350261e-01 -2.54415747e-03 -2.10464052e+01] [-1.71948760e-02 1.56003662e-03 9.99850940e-01 -3.41077225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:-21.05, Z:-3.41 [[ 9.98325839e-01 5.49867031e-02 1.79438356e-02 2.71023686e+02] [-5.49474031e-02 9.98485664e-01 -2.67626291e-03 -2.10547136e+01] [-1.80638214e-02 1.68581525e-03 9.99835415e-01 -3.41180191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:-21.07, Z:-3.41 [[ 9.98529597e-01 5.07725752e-02 1.89944417e-02 2.71054820e+02] [-5.07277176e-02 9.98708493e-01 -2.83633374e-03 -2.10682612e+01] [-1.91139182e-02 1.86861851e-03 9.99815566e-01 -3.41266394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.09, Y:-21.08, Z:-3.41 [[ 9.98567248e-01 4.99414887e-02 1.92171483e-02 2.71085542e+02] [-4.98953498e-02 9.98750318e-01 -2.87324707e-03 -2.10770602e+01] [-1.93366272e-02 1.91028408e-03 9.99811205e-01 -3.41323782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.12, Y:-21.08, Z:-3.41 [[ 9.98558698e-01 5.01973682e-02 1.89934465e-02 2.71116974e+02] [-5.01522811e-02 9.98737536e-01 -2.84304918e-03 -2.10847179e+01] [-1.91121815e-02 1.88638682e-03 9.99815566e-01 -3.41283775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29589822699995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:271.15, Y:-21.09, Z:-3.41 [[ 9.98492308e-01 5.16945270e-02 1.84604061e-02 2.71149856e+02] [-5.16521366e-02 9.98661307e-01 -2.76607148e-03 -2.10913280e+01] [-1.85786840e-02 1.80838168e-03 9.99825766e-01 -3.41251123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.18, Y:-21.10, Z:-3.41 [[ 9.98214511e-01 5.72002973e-02 1.72021831e-02 2.71181015e+02] [-5.71642502e-02 9.98361453e-01 -2.58036007e-03 -2.10975880e+01] [-1.73215939e-02 1.59240297e-03 9.99848702e-01 -3.41405004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:-21.10, Z:-3.41 [[ 9.98211350e-01 5.72556174e-02 1.72016067e-02 2.71213304e+02] [-5.72195129e-02 9.98358277e-01 -2.58419611e-03 -2.11025259e+01] [-1.73213262e-02 1.59530633e-03 9.99848702e-01 -3.41483386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.25, Y:-21.11, Z:-3.42 [[ 9.98033809e-01 6.03567700e-02 1.68990256e-02 2.71245485e+02] [-6.03223639e-02 9.98175719e-01 -2.53882702e-03 -2.11084479e+01] [-1.70214324e-02 1.51444603e-03 9.99853978e-01 -3.41604225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.28, Y:-21.11, Z:-3.42 [[ 9.97852996e-01 6.33634841e-02 1.65670482e-02 2.71277510e+02] [-6.33307771e-02 9.97989480e-01 -2.49198900e-03 -2.11138926e+01] [-1.66916409e-02 1.43743466e-03 9.99859652e-01 -3.41629023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.31, Y:-21.12, Z:-3.42 [[ 9.97473046e-01 6.85606690e-02 1.86268001e-02 2.71309198e+02] [-6.85201550e-02 9.97645788e-01 -2.80536408e-03 -2.11159489e+01] [-1.87752863e-02 1.52196383e-03 9.99822570e-01 -3.41558043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.34, Y:-21.12, Z:-3.42 [[ 9.97284416e-01 7.11049760e-02 1.91800745e-02 2.71340125e+02] [-7.10624294e-02 9.97467678e-01 -2.89163890e-03 -2.11187748e+01] [-1.93371143e-02 1.52080373e-03 9.99811864e-01 -3.41581098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.37, Y:-21.12, Z:-3.42 [[ 9.97138157e-01 7.32175707e-02 1.88330337e-02 2.71372155e+02] [-7.31768689e-02 9.97314929e-01 -2.84224701e-03 -2.11216857e+01] [-1.89905681e-02 1.45597051e-03 9.99818603e-01 -3.41773977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:-21.13, Z:-3.42 [[ 9.97210875e-01 7.22792638e-02 1.86058826e-02 2.71402892e+02] [-7.22393139e-02 9.97383366e-01 -2.81125684e-03 -2.11259683e+01] [-1.87603934e-02 1.45933970e-03 9.99822943e-01 -3.41914220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.44, Y:-21.13, Z:-3.42 [[ 9.97348199e-01 7.03157617e-02 1.87687120e-02 2.71435190e+02] [-7.02747386e-02 9.97523640e-01 -2.83719777e-03 -2.11308211e+01] [-1.89217336e-02 1.51070775e-03 9.99819827e-01 -3.42034544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:-21.14, Z:-3.42 [[ 9.97732721e-01 6.49778491e-02 1.75298623e-02 2.71466847e+02] [-6.49412012e-02 9.97885567e-01 -2.65240978e-03 -2.11384618e+01] [-1.76651445e-02 1.50798572e-03 9.99842822e-01 -3.42220287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.50, Y:-21.15, Z:-3.42 [[ 9.97882668e-01 6.28801229e-02 1.66214103e-02 2.71497796e+02] [-6.28468357e-02 9.98020007e-01 -2.51799398e-03 -2.11457179e+01] [-1.67468318e-02 1.46805951e-03 9.99858684e-01 -3.42316907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:-21.15, Z:-3.42 [[ 9.97987815e-01 6.12934393e-02 1.62307180e-02 2.71528942e+02] [-6.12614690e-02 9.98118720e-01 -2.46012922e-03 -2.11527782e+01] [-1.63509733e-02 1.46086135e-03 9.99865247e-01 -3.42353598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.56, Y:-21.16, Z:-3.42 [[ 9.97950836e-01 6.18561191e-02 1.63691829e-02 2.71560801e+02] [-6.18236327e-02 9.98083999e-01 -2.48374164e-03 -2.11614882e+01] [-1.64914541e-02 1.46664970e-03 9.99862931e-01 -3.42317183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:-21.17, Z:-3.42 [[ 9.97820084e-01 6.36987700e-02 1.72495339e-02 2.71592059e+02] [-6.36629088e-02 9.97968018e-01 -2.62072266e-03 -2.11677459e+01] [-1.73814200e-02 1.51685420e-03 9.99847781e-01 -3.42358625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.745898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.62, Y:-21.17, Z:-3.42 [[ 9.97641800e-01 6.63772649e-02 1.74613387e-02 2.71622995e+02] [-6.63408759e-02 9.97793483e-01 -2.65566822e-03 -2.11744276e+01] [-1.75990860e-02 1.49100512e-03 9.99844012e-01 -3.42380354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.65, Y:-21.18, Z:-3.42 [[ 9.97448366e-01 6.92243604e-02 1.74569523e-02 2.71654926e+02] [-6.91883709e-02 9.97600073e-01 -2.65793388e-03 -2.11808469e+01] [-1.75990506e-02 1.44333372e-03 9.99844083e-01 -3.42458914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.69, Y:-21.19, Z:-3.43 [[ 9.97246305e-01 7.21790467e-02 1.70291824e-02 2.71687749e+02] [-7.21451778e-02 9.97390764e-01 -2.59569556e-03 -2.11868953e+01] [-1.71721041e-02 1.35997442e-03 9.99851624e-01 -3.42520049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.72, Y:-21.20, Z:-3.43 [[ 9.96759747e-01 7.71620568e-02 2.27161697e-02 2.71716987e+02] [-7.74616437e-02 9.96915502e-01 1.26164648e-02 -2.11983218e+01] [-2.16725893e-02 -1.43352161e-02 9.99662343e-01 -3.42738465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:-21.19, Z:-3.43 [[ 9.96722078e-01 7.96920599e-02 1.39382598e-02 2.71751625e+02] [-7.94336191e-02 9.96673897e-01 -1.82055779e-02 -2.11898455e+01] [-1.53427398e-02 1.70387350e-02 9.99737106e-01 -3.42606272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.78, Y:-21.20, Z:-3.43 [[ 9.96637870e-01 8.03789937e-02 1.58799482e-02 2.71781421e+02] [-8.03504669e-02 9.96763718e-01 -2.42736972e-03 -2.12016610e+01] [-1.60236658e-02 1.14324734e-03 9.99870959e-01 -3.42761992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.81, Y:-21.21, Z:-3.43 [[ 9.96614816e-01 8.07932626e-02 1.52104101e-02 2.71810956e+02] [-8.07671336e-02 9.96730286e-01 -2.32535715e-03 -2.12069696e+01] [-1.53485496e-02 1.08898416e-03 9.99881611e-01 -3.42882455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.84, Y:-21.21, Z:-3.43 [[ 9.96657147e-01 8.01801267e-02 1.56741465e-02 2.71841809e+02] [-8.01522986e-02 9.96779748e-01 -2.39663418e-03 -2.12118948e+01] [-1.58158342e-02 1.13230371e-03 9.99874281e-01 -3.42974410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.87, Y:-21.22, Z:-3.43 [[ 9.96851394e-01 7.75205248e-02 1.66693341e-02 2.71872349e+02] [-7.74886884e-02 9.96989974e-01 -2.54833537e-03 -2.12176604e+01] [-1.68167073e-02 1.24862683e-03 9.99857810e-01 -3.43000211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.90, Y:-21.22, Z:-3.43 [[ 9.96974940e-01 7.57668196e-02 1.73308635e-02 2.71904434e+02] [-7.57320962e-02 9.97124674e-01 -2.65210495e-03 -2.12239424e+01] [-1.74819732e-02 1.33157955e-03 9.99846292e-01 -3.43088557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.94, Y:-21.23, Z:-3.43 [[ 9.97125519e-01 7.37244486e-02 1.74758186e-02 2.71937278e+02] [-7.36887852e-02 9.97277693e-01 -2.67683076e-03 -2.12307732e+01] [-1.76255919e-02 1.38136442e-03 9.99843703e-01 -3.43199876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.97, Y:-21.24, Z:-3.43 [[ 9.97464115e-01 6.89023168e-02 1.78272048e-02 2.71968196e+02] [-6.88643759e-02 9.97622284e-01 -2.73418455e-03 -2.12387860e+01] [-1.79732084e-02 1.49959164e-03 9.99837344e-01 -3.43292032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.00, Y:-21.25, Z:-3.43 [[ 9.97585257e-01 6.70048864e-02 1.82756965e-02 2.72000771e+02] [-6.69646351e-02 9.97751403e-01 -2.80627706e-03 -2.12458272e+01] [-1.84226361e-02 1.57567528e-03 9.99829047e-01 -3.43400964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.03, Y:-21.25, Z:-3.43 [[ 9.97660023e-01 6.58952224e-02 1.82290602e-02 2.72031595e+02] [-6.58549324e-02 9.97825273e-01 -2.80239080e-03 -2.12530664e+01] [-1.83740811e-02 1.59535974e-03 9.99829910e-01 -3.43439021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:-21.26, Z:-3.44 [[ 9.97723174e-01 6.51375362e-02 1.74805218e-02 2.72062921e+02] [-6.51003241e-02 9.97875098e-01 -2.69003964e-03 -2.12619692e+01] [-1.76186000e-02 1.54592725e-03 9.99843585e-01 -3.43530969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.09, Y:-21.27, Z:-3.44 [[ 9.97716909e-01 6.52189791e-02 1.75343850e-02 2.72094908e+02] [-6.51815012e-02 9.97869769e-01 -2.70107556e-03 -2.12687415e+01] [-1.76731941e-02 1.55199121e-03 9.99842612e-01 -3.43612951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.13, Y:-21.28, Z:-3.44 [[ 9.97667800e-01 6.58313125e-02 1.80332979e-02 2.72126340e+02] [-6.57917003e-02 9.97829501e-01 -2.78178880e-03 -2.12756436e+01] [-1.81772854e-02 1.58885978e-03 9.99833517e-01 -3.43655064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.16, Y:-21.28, Z:-3.44 [[ 9.97578263e-01 6.70374386e-02 1.85361830e-02 2.72158577e+02] [-6.69957579e-02 9.97749158e-01 -2.86122095e-03 -2.12827012e+01] [-1.86862699e-02 1.61244620e-03 9.99824096e-01 -3.43702414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.19, Y:-21.29, Z:-3.44 [[ 9.97254701e-01 7.14904233e-02 1.92919886e-02 2.72190180e+02] [-7.14460286e-02 9.97440011e-01 -2.98158509e-03 -2.12921905e+01] [-1.94557560e-02 1.59506378e-03 9.99809447e-01 -3.43745074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.22, Y:-21.30, Z:-3.44 [[ 9.97061378e-01 7.41925132e-02 1.90808828e-02 2.72220962e+02] [-7.41495090e-02 9.97242766e-01 -2.95245521e-03 -2.13002918e+01] [-1.92473224e-02 1.52894097e-03 9.99813584e-01 -3.43882956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.25, Y:-21.31, Z:-3.44 [[ 9.96902288e-01 7.65119595e-02 1.82139783e-02 2.72252146e+02] [-7.64731052e-02 9.97067653e-01 -2.82125849e-03 -2.13083795e+01] [-1.83764286e-02 1.41963957e-03 9.99830131e-01 -3.44057410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.28, Y:-21.32, Z:-3.44 [[ 9.96641025e-01 8.02776752e-02 1.61914514e-02 2.72283807e+02] [-8.02474169e-02 9.96771813e-01 -2.51096191e-03 -2.13188278e+01] [-1.63407565e-02 1.20320550e-03 9.99865757e-01 -3.44239229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.32, Y:-21.33, Z:-3.44 [[ 9.96495790e-01 8.21436192e-02 1.57660183e-02 2.72316262e+02] [-8.21151564e-02 9.96619848e-01 -2.44536901e-03 -2.13269092e+01] [-1.59135983e-02 1.14217086e-03 9.99872718e-01 -3.44302019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.35, Y:-21.34, Z:-3.44 [[ 9.96350935e-01 8.38071190e-02 1.61610714e-02 2.72348882e+02] [-8.37773799e-02 9.96481336e-01 -2.50967637e-03 -2.13351605e+01] [-1.63145348e-02 1.14658618e-03 9.99866252e-01 -3.44388643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.38, Y:-21.35, Z:-3.44 [[ 9.96086534e-01 8.67301122e-02 1.70148594e-02 2.72380171e+02] [-8.66975136e-02 9.96231169e-01 -2.64564172e-03 -2.13459902e+01] [-1.71801901e-02 1.16014209e-03 9.99851737e-01 -3.44358939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.495898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.41, Y:-21.35, Z:-3.44 [[ 9.95941491e-01 8.83873499e-02 1.69771213e-02 2.72411213e+02] [-8.83550796e-02 9.96085536e-01 -2.64303169e-03 -2.13530832e+01] [-1.71442755e-02 1.13229002e-03 9.99852385e-01 -3.44399678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.44, Y:-21.36, Z:-3.44 [[ 9.95413423e-01 9.41291242e-02 1.70829098e-02 2.72443874e+02] [-9.40972413e-02 9.95559451e-01 -2.66243610e-03 -2.13594244e+01] [-1.72576651e-02 1.04276995e-03 9.99850532e-01 -3.44387048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.48, Y:-21.36, Z:-3.44 [[ 9.95019611e-01 9.81870311e-02 1.71837274e-02 2.72475229e+02] [-9.81553158e-02 9.95167495e-01 -2.68147255e-03 -2.13637804e+01] [-1.73639727e-02 9.81443589e-04 9.99848753e-01 -3.44386293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.51, Y:-21.37, Z:-3.44 [[ 9.94623079e-01 1.02056244e-01 1.75913051e-02 2.72507183e+02] [-1.02023553e-01 9.94778187e-01 -2.74826201e-03 -2.13677837e+01] [-1.77799239e-02 9.38757380e-04 9.99841484e-01 -3.44444653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.54, Y:-21.37, Z:-3.44 [[ 9.94091593e-01 1.06907312e-01 1.87811227e-02 2.72539708e+02] [-1.06870843e-01 9.94268572e-01 -2.93774063e-03 -2.13694612e+01] [-1.89875460e-02 9.13228852e-04 9.99819303e-01 -3.44486929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.57, Y:-21.37, Z:-3.45 [[ 9.93987888e-01 1.07702227e-01 1.97055695e-02 2.72571832e+02] [-1.07662162e-01 9.94182748e-01 -3.08596221e-03 -2.13720952e+01] [-1.99233022e-02 9.45864843e-04 9.99801064e-01 -3.44584516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.60, Y:-21.37, Z:-3.45 [[ 9.93921571e-01 1.08211562e-01 2.02525973e-02 2.72604706e+02] [-1.08169302e-01 9.94127421e-01 -3.17383814e-03 -2.13743121e+01] [-2.04771083e-02 9.63836880e-04 9.99789857e-01 -3.44688767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.705898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:272.64, Y:-21.38, Z:-3.45 [[ 9.93926585e-01 1.08116582e-01 2.05121261e-02 2.72638118e+02] [-1.08073131e-01 9.94137737e-01 -3.21839112e-03 -2.13766769e+01] [-2.07398401e-02 9.82034799e-04 9.99784424e-01 -3.44759085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73589822699995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:272.67, Y:-21.38, Z:-3.45 [[ 9.94099171e-01 1.06305142e-01 2.15883220e-02 2.72670987e+02] [-1.06256492e-01 9.94332970e-01 -3.39152430e-03 -2.13760482e+01] [-2.18265168e-02 1.07761214e-03 9.99761192e-01 -3.44867154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.765898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.70, Y:-21.38, Z:-3.45 [[ 9.94226362e-01 1.05065441e-01 2.17989427e-02 2.72704508e+02] [-1.05015456e-01 9.94464680e-01 -3.42840958e-03 -2.13783643e+01] [-2.20384860e-02 1.11938928e-03 9.99756496e-01 -3.44927814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:272.74, Y:-21.38, Z:-3.45 [[ 9.94397214e-01 1.03515082e-01 2.14198054e-02 2.72736100e+02] [-1.03466377e-01 9.94627234e-01 -3.37268460e-03 -2.13801907e+01] [-2.16538455e-02 1.13755851e-03 9.99764881e-01 -3.45104378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.825898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:272.77, Y:-21.38, Z:-3.45 [[ 9.94984088e-01 9.80234395e-02 1.99516925e-02 2.72769368e+02] [-9.79800196e-02 9.95183414e-01 -3.14463151e-03 -2.13783475e+01] [-2.01638410e-02 1.17399109e-03 9.99796000e-01 -3.45248637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:272.80, Y:-21.38, Z:-3.45 [[ 9.95375885e-01 9.40823072e-02 1.93744014e-02 2.72801794e+02] [-9.40405515e-02 9.95563674e-01 -3.05713698e-03 -2.13806995e+01] [-1.95760727e-02 1.22102104e-03 9.99807625e-01 -3.45319889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.885898227 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:272.83, Y:-21.38, Z:-3.45 [[ 9.95786255e-01 8.96879886e-02 1.91258642e-02 2.72833371e+02] [-8.96464281e-02 9.95969071e-01 -3.02113460e-03 -2.13839852e+01] [-1.93197287e-02 1.29383890e-03 9.99812519e-01 -3.45433990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.87, Y:-21.39, Z:-3.46 [[ 9.96568539e-01 8.06607891e-02 1.85737253e-02 2.72865741e+02] [-8.06199774e-02 9.96740585e-01 -2.93689000e-03 -2.13882642e+01] [-1.87500777e-02 1.42939887e-03 9.99823180e-01 -3.45583425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.945898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.90, Y:-21.39, Z:-3.46 [[ 9.96866258e-01 7.68520874e-02 1.87462004e-02 2.72898645e+02] [-7.68097807e-02 9.97041349e-01 -2.96754988e-03 -2.13944449e+01] [-1.89187993e-02 1.51835881e-03 9.99819871e-01 -3.45691372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97589822699996 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:272.93, Y:-21.40, Z:-3.46 [[ 9.97104117e-01 7.35839249e-02 1.92037972e-02 2.72930316e+02] [-7.35388514e-02 9.97287708e-01 -3.04378841e-03 -2.14008159e+01] [-1.93756848e-02 1.62274877e-03 9.99810957e-01 -3.45793680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.005898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.96, Y:-21.41, Z:-3.46 [[ 9.97561117e-01 6.75028275e-02 1.77535095e-02 2.72960968e+02] [-6.74633240e-02 9.97717783e-01 -2.81536152e-03 -2.14098419e+01] [-1.79030370e-02 1.61078442e-03 9.99838430e-01 -3.45968710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03589822699996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:272.99, Y:-21.42, Z:-3.46 [[ 9.97768684e-01 6.49082364e-02 1.56388477e-02 2.72993301e+02] [-6.48772384e-02 9.97890166e-01 -2.48189815e-03 -2.14188864e+01] [-1.57669479e-02 1.46175500e-03 9.99874625e-01 -3.46037443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.065898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:273.02, Y:-21.43, Z:-3.46 [[ 9.97991403e-01 6.20929576e-02 1.25548655e-02 2.73023338e+02] [-6.20727390e-02 9.98069636e-01 -1.99410177e-03 -2.14333447e+01] [-1.26544497e-02 1.21078153e-03 9.99919196e-01 -3.46148646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09589822699996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:273.06, Y:-21.44, Z:-3.46 [[ 9.97985875e-01 6.22306503e-02 1.23101090e-02 2.73055582e+02] [-6.22111978e-02 9.98061088e-01 -1.95724584e-03 -2.14434987e+01] [-1.24080415e-02 1.18747708e-03 9.99922312e-01 -3.46189065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.125898227 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:273.09, Y:-21.45, Z:-3.46 [[ 9.97905900e-01 6.34437963e-02 1.25976125e-02 2.73086360e+02] [-6.34234879e-02 9.97984689e-01 -2.00550265e-03 -2.14530880e+01] [-1.26994611e-02 1.20231841e-03 9.99918636e-01 -3.46186515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15589822699997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:273.12, Y:-21.46, Z:-3.46 [[ 9.97445664e-01 7.03278833e-02 1.24954241e-02 2.73117766e+02] [-7.03083995e-02 9.97523313e-01 -1.99232502e-03 -2.14643299e+01] [-1.26045928e-02 1.10870268e-03 9.99919944e-01 -3.46048461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.185898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.15, Y:-21.47, Z:-3.46 [[ 9.97116972e-01 7.48354632e-02 1.25458548e-02 2.73150437e+02] [-7.48161777e-02 9.97195336e-01 -2.00021071e-03 -2.14713694e+01] [-1.26603546e-02 1.05581114e-03 9.99919297e-01 -3.46104965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:273.18, Y:-21.48, Z:-3.46 [[ 9.96414588e-01 8.35015920e-02 1.36180931e-02 2.73181093e+02] [-8.34796292e-02 9.96507112e-01 -2.17430835e-03 -2.14793162e+01] [-1.37520848e-02 1.02967920e-03 9.99904905e-01 -3.46210703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.21, Y:-21.49, Z:-3.46 [[ 9.96152572e-01 8.62520548e-02 1.55124748e-02 2.73212604e+02] [-8.62238379e-02 9.96272703e-01 -2.47993721e-03 -2.14858723e+01] [-1.56685549e-02 1.13285072e-03 9.99876599e-01 -3.46327652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.25, Y:-21.49, Z:-3.46 [[ 9.96142400e-01 8.63695182e-02 1.55120773e-02 2.73245656e+02] [-8.63412770e-02 9.96262526e-01 -2.48242054e-03 -2.14913315e+01] [-1.56685068e-02 1.13351179e-03 9.99876599e-01 -3.46408170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.28, Y:-21.50, Z:-3.46 [[ 9.95972908e-01 8.81039963e-02 1.66027793e-02 2.73278283e+02] [-8.80718544e-02 9.96110576e-01 -2.65868985e-03 -2.14986618e+01] [-1.67724452e-02 1.18574550e-03 9.99858630e-01 -3.46497910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.335898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.31, Y:-21.51, Z:-3.47 [[ 9.95945569e-01 8.84530936e-02 1.63851521e-02 2.73309685e+02] [-8.84217839e-02 9.96079659e-01 -2.62697679e-03 -2.15063504e+01] [-1.65532810e-02 1.16752152e-03 9.99862303e-01 -3.46614296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.34, Y:-21.52, Z:-3.47 [[ 9.96077013e-01 8.72006345e-02 1.50543358e-02 2.73341163e+02] [-8.71740294e-02 9.96190169e-01 -2.41578208e-03 -2.15186494e+01] [-1.52076390e-02 1.09395789e-03 9.99883759e-01 -3.46662402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.395898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:273.37, Y:-21.53, Z:-3.47 [[ 9.96101047e-01 8.68255128e-02 1.56216301e-02 2.73371751e+02] [-8.67967591e-02 9.96222876e-01 -2.51059207e-03 -2.15274451e+01] [-1.57806088e-02 1.14489652e-03 9.99874823e-01 -3.46665103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.40, Y:-21.54, Z:-3.47 [[ 9.96089374e-01 8.67647460e-02 1.66684917e-02 2.73403388e+02] [-8.67319716e-02 9.96228076e-01 -2.68054516e-03 -2.15357200e+01] [-1.68381962e-02 1.22437140e-03 9.99857478e-01 -3.46634629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.455898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.43, Y:-21.55, Z:-3.47 [[ 9.95878952e-01 8.84996457e-02 1.98223674e-02 2.73434338e+02] [-8.84535373e-02 9.96075187e-01 -3.19261674e-03 -2.15454690e+01] [-2.00271138e-02 1.42610129e-03 9.99798420e-01 -3.46525084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.47, Y:-21.55, Z:-3.47 [[ 9.95735035e-01 8.99797569e-02 2.03809761e-02 2.73466574e+02] [-8.99312749e-02 9.95942556e-01 -3.28482912e-03 -2.15526602e+01] [-2.05938496e-02 1.43793227e-03 9.99786890e-01 -3.46584376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.50, Y:-21.56, Z:-3.47 [[ 9.95586932e-01 9.17471674e-02 1.97261007e-02 2.73498136e+02] [-9.17020193e-02 9.95781405e-01 -3.18315870e-03 -2.15602815e+01] [-1.99349301e-02 1.36018794e-03 9.99800354e-01 -3.46602686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54589822699995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:273.53, Y:-21.57, Z:-3.47 [[ 9.95590042e-01 9.19012864e-02 1.88314124e-02 2.73530882e+02] [-9.18601362e-02 9.95767277e-01 -3.04050071e-03 -2.15661906e+01] [-1.90311302e-02 1.29723613e-03 9.99818050e-01 -3.46649523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.56, Y:-21.57, Z:-3.47 [[ 9.95601457e-01 9.17659736e-02 1.88876706e-02 2.73562043e+02] [-9.17244807e-02 9.95779743e-01 -3.05336560e-03 -2.15731018e+01] [-1.90881549e-02 1.30747346e-03 9.99816950e-01 -3.46772458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.59, Y:-21.58, Z:-3.47 [[ 9.95713093e-01 9.05045346e-02 1.90883618e-02 2.73593947e+02] [-9.04618567e-02 9.95895129e-01 -3.08932113e-03 -2.15801868e+01] [-1.92896041e-02 1.34930885e-03 9.99813028e-01 -3.46839873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.63, Y:-21.59, Z:-3.47 [[ 9.96065263e-01 8.61601382e-02 2.07466200e-02 2.73625859e+02] [-8.61086954e-02 9.96280076e-01 -3.36193199e-03 -2.15880949e+01] [-2.09591087e-02 1.56223929e-03 9.99779113e-01 -3.46900535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.66, Y:-21.59, Z:-3.47 [[ 9.96266037e-01 8.37120824e-02 2.11251075e-02 2.73657549e+02] [-8.36581118e-02 9.96488622e-01 -3.42730148e-03 -2.15942957e+01] [-2.13378358e-02 1.64721746e-03 9.99770965e-01 -3.46955180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.69, Y:-21.60, Z:-3.47 [[ 9.96605583e-01 7.96926390e-02 2.06493497e-02 2.73690176e+02] [-7.96401432e-02 9.96818038e-01 -3.35355511e-03 -2.16020164e+01] [-2.08508979e-02 1.69765457e-03 9.99781155e-01 -3.47043387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.72, Y:-21.61, Z:-3.47 [[ 9.96728904e-01 7.83081154e-02 1.99832827e-02 2.73722270e+02] [-7.82586053e-02 9.96927799e-01 -3.24887384e-03 -2.16089518e+01] [-2.01763033e-02 1.67438262e-03 9.99795036e-01 -3.47108723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.75, Y:-21.62, Z:-3.47 [[ 9.96829755e-01 7.73673273e-02 1.85670537e-02 2.73753818e+02] [-7.73243651e-02 9.97001410e-01 -3.02183050e-03 -2.16167739e+01] [-1.87451697e-02 1.57656492e-03 9.99823051e-01 -3.47195271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.79, Y:-21.62, Z:-3.47 [[ 9.96762530e-01 7.83832208e-02 1.79033647e-02 2.73786403e+02] [-7.83433860e-02 9.96922167e-01 -2.91670040e-03 -2.16227650e+01] [-1.80768815e-02 1.50464746e-03 9.99835468e-01 -3.47248861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.82, Y:-21.63, Z:-3.47 [[ 9.96596229e-01 8.03375275e-02 1.84888829e-02 2.73818379e+02] [-8.02953098e-02 9.96766557e-01 -3.01574360e-03 -2.16285994e+01] [-1.86713775e-02 1.52090812e-03 9.99824518e-01 -3.47308318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.85, Y:-21.63, Z:-3.47 [[ 9.96409661e-01 8.26346123e-02 1.84203075e-02 2.73850214e+02] [-8.25930376e-02 9.96578820e-01 -3.00775125e-03 -2.16337936e+01] [-1.86058327e-02 1.47556326e-03 9.99825808e-01 -3.47332350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.88, Y:-21.64, Z:-3.47 [[ 9.96087341e-01 8.68117358e-02 1.65448102e-02 2.73882664e+02] [-8.67787306e-02 9.96223941e-01 -2.70384104e-03 -2.16392841e+01] [-1.67170611e-02 1.25752422e-03 9.99859469e-01 -3.47327728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.91, Y:-21.64, Z:-3.47 [[ 9.95936818e-01 8.87523309e-02 1.52603227e-02 2.73913919e+02] [-8.87244387e-02 9.96053082e-01 -2.49650552e-03 -2.16440835e+01] [-1.54216621e-02 1.13239820e-03 9.99880438e-01 -3.47406408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.95, Y:-21.65, Z:-3.48 [[ 9.95765886e-01 9.07500088e-02 1.46539089e-02 2.73946497e+02] [-9.07244572e-02 9.95873140e-01 -2.40050170e-03 -2.16484913e+01] [-1.48112799e-02 1.06086977e-03 9.99889744e-01 -3.47501498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.98, Y:-21.65, Z:-3.48 [[ 9.95425756e-01 9.44206675e-02 1.45705754e-02 2.73979635e+02] [-9.43957949e-02 9.95531886e-01 -2.38698132e-03 -2.16516265e+01] [-1.47308527e-02 1.00066164e-03 9.99890994e-01 -3.47631060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.01, Y:-21.66, Z:-3.48 [[ 9.95240988e-01 9.62931925e-02 1.49331084e-02 2.74011292e+02] [-9.62672290e-02 9.95352511e-01 -2.44951722e-03 -2.16555629e+01] [-1.50995787e-02 1.00029097e-03 9.99885495e-01 -3.47709056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.04, Y:-21.66, Z:-3.48 [[ 9.95078377e-01 9.79975817e-02 1.46798625e-02 2.74043616e+02] [-9.79726387e-02 9.95186189e-01 -2.41049415e-03 -2.16595759e+01] [-1.48454191e-02 9.60405739e-04 9.99889339e-01 -3.47732252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.08, Y:-21.66, Z:-3.48 [[ 9.94721884e-01 1.01692393e-01 1.36759255e-02 2.74075689e+02] [-1.01671060e-01 9.94815532e-01 -2.24805204e-03 -2.16619058e+01] [-1.38336329e-02 8.45740719e-04 9.99903953e-01 -3.47830402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:-21.67, Z:-3.48 [[ 9.94613702e-01 1.02903139e-01 1.24309509e-02 2.74108260e+02] [-1.02885587e-01 9.94691095e-01 -2.04503201e-03 -2.16664367e+01] [-1.25753963e-02 7.55051183e-04 9.99920642e-01 -3.47892245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.14, Y:-21.67, Z:-3.48 [[ 9.94545554e-01 1.03668574e-01 1.14876979e-02 2.74139983e+02] [-1.03653603e-01 9.94611657e-01 -1.89261642e-03 -2.16714288e+01] [-1.16220031e-02 6.91551967e-04 9.99932223e-01 -3.48085667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.17, Y:-21.68, Z:-3.48 [[ 9.94611109e-01 1.02982069e-01 1.19764328e-02 2.74171284e+02] [-1.02965736e-01 9.94682945e-01 -1.97407116e-03 -2.16771415e+01] [-1.21160474e-02 7.30270894e-04 9.99926331e-01 -3.48223885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.20, Y:-21.68, Z:-3.48 [[ 9.94672277e-01 1.02334508e-01 1.24382343e-02 2.74204086e+02] [-1.02316814e-01 9.94749746e-01 -2.05237667e-03 -2.16831523e+01] [-1.25829594e-02 7.68801678e-04 9.99920536e-01 -3.48271369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.205898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.24, Y:-21.69, Z:-3.48 [[ 9.94701808e-01 1.02004456e-01 1.27829307e-02 2.74236661e+02] [-1.01985707e-01 9.94783623e-01 -2.11179082e-03 -2.16893812e+01] [-1.29316622e-02 7.96925919e-04 9.99916065e-01 -3.48349893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.27, Y:-21.70, Z:-3.49 [[ 9.94755911e-01 1.01526163e-01 1.23739790e-02 2.74268595e+02] [-1.01508531e-01 9.94832564e-01 -2.04639348e-03 -2.16967547e+01] [-1.25177998e-02 7.79597574e-04 9.99921345e-01 -3.48538600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.30, Y:-21.70, Z:-3.49 [[ 9.94798656e-01 1.01032088e-01 1.29673093e-02 2.74300551e+02] [-1.01012649e-01 9.94882825e-01 -2.14709400e-03 -2.17034726e+01] [-1.31178787e-02 8.26063964e-04 9.99913616e-01 -3.48671615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:274.33, Y:-21.71, Z:-3.49 [[ 9.94819059e-01 1.00654195e-01 1.42748937e-02 2.74332575e+02] [-1.00630554e-01 9.94921047e-01 -2.36670034e-03 -2.17104194e+01] [-1.44406105e-02 9.17948153e-04 9.99895308e-01 -3.48774247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.325898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:274.36, Y:-21.72, Z:-3.49 [[ 9.94811837e-01 1.00277930e-01 1.71390299e-02 2.74364907e+02] [-1.00243722e-01 9.94958843e-01 -2.84565806e-03 -2.17173751e+01] [-1.73379861e-02 1.11281417e-03 9.99849067e-01 -3.48792234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.40, Y:-21.72, Z:-3.49 [[ 9.94736436e-01 1.00818294e-01 1.83056057e-02 2.74396514e+02] [-1.00779289e-01 9.94904153e-01 -3.04327422e-03 -2.17232887e+01] [-1.85191408e-02 1.18242982e-03 9.99827807e-01 -3.48868708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.43, Y:-21.73, Z:-3.49 [[ 9.94659646e-01 1.01514424e-01 1.86281901e-02 2.74428280e+02] [-1.01474083e-01 9.94833351e-01 -3.10064241e-03 -2.17289836e+01] [-1.88467047e-02 1.19380537e-03 9.99821672e-01 -3.48942336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.46, Y:-21.73, Z:-3.49 [[ 9.94556141e-01 1.02470355e-01 1.89184595e-02 2.74460825e+02] [-1.02428882e-01 9.94735340e-01 -3.15089798e-03 -2.17348492e+01] [-1.91417339e-02 1.19594828e-03 9.99816065e-01 -3.49024795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.49, Y:-21.74, Z:-3.49 [[ 9.94375453e-01 1.04214216e-01 1.88906333e-02 2.74492161e+02] [-1.04173107e-01 9.94554192e-01 -3.14994236e-03 -2.17409521e+01] [-1.91160274e-02 1.16432939e-03 9.99816594e-01 -3.49146739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.52, Y:-21.75, Z:-3.49 [[ 9.94331533e-01 1.04599840e-01 1.90702713e-02 2.74524650e+02] [-1.04557951e-01 9.94513701e-01 -3.18328846e-03 -2.17461496e+01] [-1.92986175e-02 1.17129560e-03 9.99813078e-01 -3.49239699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.56, Y:-21.75, Z:-3.49 [[ 9.94386146e-01 1.04095075e-01 1.89844132e-02 2.74556527e+02] [-1.04053396e-01 9.94566651e-01 -3.17283578e-03 -2.17511383e+01] [-1.92115408e-02 1.17963127e-03 9.99814745e-01 -3.49271654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.59, Y:-21.76, Z:-3.49 [[ 9.94771650e-01 1.00475088e-01 1.82789857e-02 2.74589493e+02] [-1.00435810e-01 9.94938845e-01 -3.05659821e-03 -2.17565609e+01] [-1.84935849e-02 1.20475250e-03 9.99828253e-01 -3.49418253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.62, Y:-21.76, Z:-3.50 [[ 9.95031167e-01 9.78637722e-02 1.83210040e-02 2.74621936e+02] [-9.78238095e-02 9.95199023e-01 -3.06704117e-03 -2.17628638e+01] [-1.85331975e-02 1.25957115e-03 9.99827452e-01 -3.49561807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.65, Y:-21.77, Z:-3.50 [[ 9.95300949e-01 9.51697719e-02 1.78531906e-02 2.74653110e+02] [-9.51313331e-02 9.95460234e-01 -2.99203570e-03 -2.17696554e+01] [-1.80568926e-02 1.27957815e-03 9.99836142e-01 -3.49703213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.69, Y:-21.78, Z:-3.50 [[ 9.95816272e-01 8.97728504e-02 1.70525131e-02 2.74685306e+02] [-8.97369485e-02 9.95961393e-01 -2.86055585e-03 -2.17795977e+01] [-1.72404449e-02 1.31834757e-03 9.99850503e-01 -3.49814989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:274.72, Y:-21.79, Z:-3.50 [[ 9.95986614e-01 8.76863012e-02 1.79381753e-02 2.74716598e+02] [-8.76461696e-02 9.96147114e-01 -3.01280453e-03 -2.17870262e+01] [-1.81332433e-02 1.42850063e-03 9.99834559e-01 -3.49836717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.685898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.75, Y:-21.80, Z:-3.50 [[ 9.96032057e-01 8.66811115e-02 2.01624948e-02 2.74747520e+02] [-8.67173126e-02 9.96232528e-01 9.26491052e-04 -2.17955195e+01] [-2.00062239e-02 -2.67125215e-03 9.99796287e-01 -3.49839490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.78, Y:-21.80, Z:-3.50 [[ 9.96105238e-01 8.65366196e-02 1.69046706e-02 2.74779628e+02] [-8.64263755e-02 9.96232597e-01 -7.14807656e-03 -2.17973291e+01] [-1.74595543e-02 5.65922710e-03 9.99831554e-01 -3.49846964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.81, Y:-21.80, Z:-3.50 [[ 9.96043730e-01 8.71197727e-02 1.75223400e-02 2.74811772e+02] [-8.70812572e-02 9.96196842e-01 -2.95064475e-03 -2.18041039e+01] [-1.77127593e-02 1.41310380e-03 9.99842118e-01 -3.49839632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.84, Y:-21.81, Z:-3.50 [[ 9.95828983e-01 8.94242231e-02 1.81092489e-02 2.74843185e+02] [-8.93834428e-02 9.95992618e-01 -3.05054507e-03 -2.18078735e+01] [-1.83094708e-02 1.41915419e-03 9.99831360e-01 -3.49906429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80589822699994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:274.88, Y:-21.81, Z:-3.50 [[ 9.95801240e-01 8.97463250e-02 1.80412925e-02 2.74876154e+02] [-8.97058440e-02 9.95963657e-01 -3.04231664e-03 -2.18124155e+01] [-1.82415084e-02 1.41113331e-03 9.99832614e-01 -3.49998993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.835898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:274.91, Y:-21.82, Z:-3.50 [[ 9.95807540e-01 8.97985308e-02 1.74231545e-02 2.74908064e+02] [-8.97607203e-02 9.95959015e-01 -2.94172301e-03 -2.18175984e+01] [-1.76169102e-02 1.36547505e-03 9.99843878e-01 -3.50126303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.94, Y:-21.82, Z:-3.50 [[ 9.95920368e-01 8.86284030e-02 1.69595583e-02 2.74940300e+02] [-8.85923837e-02 9.96063844e-01 -2.86496083e-03 -2.18228706e+01] [-1.71467197e-02 1.35078515e-03 9.99852072e-01 -3.50218176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.895898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:274.97, Y:-21.83, Z:-3.50 [[ 9.96142966e-01 8.61615573e-02 1.65944787e-02 2.74972535e+02] [-8.61266818e-02 9.96280241e-01 -2.80628754e-03 -2.18280826e+01] [-1.67745454e-02 1.36623621e-03 9.99858364e-01 -3.50359805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.00, Y:-21.84, Z:-3.50 [[ 9.96542433e-01 8.14774427e-02 1.62666793e-02 2.75003516e+02] [-8.14432615e-02 9.96674175e-01 -2.75390984e-03 -2.18360927e+01] [-1.64369607e-02 1.41957660e-03 9.99863896e-01 -3.50444076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.04, Y:-21.84, Z:-3.50 [[ 9.96721868e-01 7.92646193e-02 1.62061398e-02 2.75035478e+02] [-7.92303571e-02 9.96852551e-01 -2.74639100e-03 -2.18429880e+01] [-1.63728234e-02 1.45336973e-03 9.99864900e-01 -3.50471810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.07, Y:-21.85, Z:-3.51 [[ 9.96857039e-01 7.75737581e-02 1.60734656e-02 2.75068040e+02] [-7.75397888e-02 9.96985529e-01 -2.72685782e-03 -2.18507278e+01] [-1.62365452e-02 1.47195428e-03 9.99867095e-01 -3.50587833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.10, Y:-21.86, Z:-3.51 [[ 9.96921357e-01 7.68720635e-02 1.54432363e-02 2.75098532e+02] [-7.68405790e-02 9.97039942e-01 -2.62273264e-03 -2.18600390e+01] [-1.55991383e-02 1.42799096e-03 9.99877306e-01 -3.50525876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.13, Y:-21.87, Z:-3.51 [[ 9.96812494e-01 7.83983877e-02 1.47832795e-02 2.75131301e+02] [-7.83696705e-02 9.96921201e-01 -2.51284906e-03 -2.18668193e+01] [-1.49347681e-02 1.34627859e-03 9.99887564e-01 -3.50512679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.16, Y:-21.87, Z:-3.51 [[ 9.96566968e-01 8.14768582e-02 1.46901629e-02 2.75162946e+02] [-8.14487895e-02 9.96674393e-01 -2.49996971e-03 -2.18736141e+01] [-1.48449989e-02 1.29489125e-03 9.99888968e-01 -3.50601309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.20, Y:-21.88, Z:-3.51 [[ 9.95921941e-01 8.87747570e-02 1.60788562e-02 2.75195522e+02] [-8.87420201e-02 9.96050876e-01 -2.73959412e-03 -2.18790976e+01] [-1.62585656e-02 1.30155171e-03 9.99866974e-01 -3.50644083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.23, Y:-21.88, Z:-3.51 [[ 9.95583033e-01 9.22662375e-02 1.73599031e-02 2.75226942e+02] [-9.22285318e-02 9.95733461e-01 -2.96191927e-03 -2.18845816e+01] [-1.75591215e-02 1.34775820e-03 9.99844918e-01 -3.50785473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.26, Y:-21.89, Z:-3.51 [[ 9.95575731e-01 9.23450600e-02 1.73595283e-02 2.75259934e+02] [-9.23073281e-02 9.95726153e-01 -2.96411363e-03 -2.18903476e+01] [-1.75590576e-02 1.34858792e-03 9.99844918e-01 -3.50865996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.195898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:275.29, Y:-21.90, Z:-3.51 [[ 9.95195479e-01 9.60093463e-02 1.91875831e-02 2.75292045e+02] [-9.59638998e-02 9.95379419e-01 -3.27754097e-03 -2.18966019e+01] [-1.94135999e-02 1.42047866e-03 9.99810529e-01 -3.51066789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:275.32, Y:-21.90, Z:-3.51 [[ 9.95218590e-01 9.57983360e-02 1.90430310e-02 2.75323348e+02] [-9.57534590e-02 9.95399753e-01 -3.25671045e-03 -2.19022232e+01] [-1.92674158e-02 1.41770270e-03 9.99813361e-01 -3.51171371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.36, Y:-21.91, Z:-3.51 [[ 9.95311703e-01 9.49354875e-02 1.84896272e-02 2.75355512e+02] [-9.48930009e-02 9.95482450e-01 -3.16378974e-03 -2.19086931e+01] [-1.87064553e-02 1.39442075e-03 9.99824047e-01 -3.51341593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28589822699996 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:275.39, Y:-21.92, Z:-3.52 [[ 9.95515419e-01 9.28871918e-02 1.79170194e-02 2.75387921e+02] [-9.28469088e-02 9.95675666e-01 -3.06899716e-03 -2.19155667e+01] [-1.81246107e-02 1.39169414e-03 9.99834767e-01 -3.51508847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.315898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.42, Y:-21.93, Z:-3.52 [[ 9.95987501e-01 8.80557306e-02 1.59714173e-02 2.75417917e+02] [-8.80230627e-02 9.96114673e-01 -2.73833105e-03 -2.19271938e+01] [-1.61504889e-02 1.32149043e-03 9.99868699e-01 -3.51735315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:275.45, Y:-21.94, Z:-3.52 [[ 9.96216081e-01 8.54990867e-02 1.56021446e-02 2.75449671e+02] [-8.54675611e-02 9.96337356e-01 -2.67752872e-03 -2.19364948e+01] [-1.57739258e-02 1.33391992e-03 9.99874694e-01 -3.51840938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.375898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:275.48, Y:-21.95, Z:-3.52 [[ 9.96399512e-01 8.34118162e-02 1.51816137e-02 2.75481551e+02] [-8.33816855e-02 9.96514271e-01 -2.60805567e-03 -2.19454655e+01] [-1.53462373e-02 1.33279686e-03 9.99881351e-01 -3.51851734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:275.51, Y:-21.96, Z:-3.52 [[ 9.96494486e-01 8.20127990e-02 1.65118279e-02 2.75512643e+02] [-8.19769060e-02 9.96630182e-01 -2.84015059e-03 -2.19561354e+01] [-1.66891147e-02 1.47660585e-03 9.99859637e-01 -3.51914850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.435898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.54, Y:-21.96, Z:-3.52 [[ 9.96353360e-01 8.34019101e-02 1.80028902e-02 2.75544935e+02] [-8.33594026e-02 9.96514726e-01 -3.10010079e-03 -2.19639156e+01] [-1.81986996e-02 1.58808567e-03 9.99833129e-01 -3.51919418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:275.58, Y:-21.97, Z:-3.52 [[ 9.96164711e-01 8.53324963e-02 1.93451379e-02 2.75576172e+02] [-8.52836958e-02 9.96351127e-01 -3.33524044e-03 -2.19717186e+01] [-1.95591544e-02 1.67262397e-03 9.99807302e-01 -3.51913397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49589822699994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:275.61, Y:-21.98, Z:-3.52 [[ 9.95774876e-01 8.97000737e-02 1.96543286e-02 2.75606257e+02] [-8.96504754e-02 9.95967513e-01 -3.39203951e-03 -2.19827204e+01] [-1.98793390e-02 1.61568782e-03 9.99801081e-01 -3.51946357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52589822699997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.64, Y:-21.99, Z:-3.52 [[ 9.95579764e-01 9.20298060e-02 1.87469481e-02 2.75638124e+02] [-9.19850358e-02 9.95755123e-01 -3.23842788e-03 -2.19908105e+01] [-1.89654015e-02 1.49967457e-03 9.99819016e-01 -3.52037498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.67, Y:-22.00, Z:-3.52 [[ 9.95379483e-01 9.43705610e-02 1.77167382e-02 2.75670496e+02] [-9.43308913e-02 9.95536186e-01 -3.06346172e-03 -2.19981526e+01] [-1.79267546e-02 1.37807124e-03 9.99838353e-01 -3.52168886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.585898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.70, Y:-22.01, Z:-3.52 [[ 9.95039328e-01 9.80622359e-02 1.67491330e-02 2.75701646e+02] [-9.80272506e-02 9.95179508e-01 -2.89914217e-03 -2.20063312e+01] [-1.69526903e-02 1.24288902e-03 9.99855520e-01 -3.52252489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:275.73, Y:-22.01, Z:-3.52 [[ 9.94877755e-01 9.96396565e-02 1.70350365e-02 2.75733643e+02] [-9.96036445e-02 9.95022815e-01 -2.95163747e-03 -2.20135565e+01] [-1.72443501e-02 1.23976674e-03 9.99850537e-01 -3.52338356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.645898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.77, Y:-22.02, Z:-3.52 [[ 9.94767663e-01 1.00691806e-01 1.72758936e-02 2.75766221e+02] [-1.00654858e-01 9.94916889e-01 -2.99724932e-03 -2.20213800e+01] [-1.74898768e-02 1.24266408e-03 9.99846268e-01 -3.52380295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:275.80, Y:-22.03, Z:-3.52 [[ 9.94661652e-01 1.01698097e-01 1.74841506e-02 2.75797189e+02] [-1.01660391e-01 9.94814534e-01 -3.03429547e-03 -2.20302074e+01] [-1.77020692e-02 1.24065176e-03 9.99842536e-01 -3.52437950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.705898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:275.83, Y:-22.04, Z:-3.52 [[ 9.94665784e-01 1.01767509e-01 1.68330976e-02 2.75828804e+02] [-1.01732512e-01 9.94807490e-01 -2.92468250e-03 -2.20367023e+01] [-1.70433292e-02 1.19660831e-03 9.99854036e-01 -3.52464475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:275.86, Y:-22.04, Z:-3.53 [[ 9.94608718e-01 1.02436307e-01 1.61338493e-02 2.75861318e+02] [-1.02404225e-01 9.94738915e-01 -2.80439553e-03 -2.20436288e+01] [-1.63362397e-02 1.13710190e-03 9.99865908e-01 -3.52586499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.89, Y:-22.05, Z:-3.53 [[ 9.94617253e-01 1.02629394e-01 1.42732908e-02 2.75892342e+02] [-1.02604273e-01 9.94719155e-01 -2.48327124e-03 -2.20507832e+01] [-1.44527724e-02 1.00540379e-03 9.99895048e-01 -3.52875797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:275.92, Y:-22.06, Z:-3.53 [[ 9.94644682e-01 1.02451608e-01 1.36244232e-02 2.75923284e+02] [-1.02428670e-01 9.94737522e-01 -2.37266724e-03 -2.20576182e+01] [-1.37958086e-02 9.64429294e-04 9.99904368e-01 -3.52895151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.825898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:275.96, Y:-22.06, Z:-3.53 [[ 9.94634402e-01 1.02503736e-01 1.39781862e-02 2.75956067e+02] [-1.02479565e-01 9.94732126e-01 -2.43652221e-03 -2.20643214e+01] [-1.41543035e-02 9.90970362e-04 9.99899332e-01 -3.52952013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.99, Y:-22.07, Z:-3.53 [[ 9.94595082e-01 1.02798701e-01 1.45962566e-02 2.75988657e+02] [-1.02772334e-01 9.94701643e-01 -2.54718061e-03 -2.20706686e+01] [-1.47807673e-02 1.03332195e-03 9.99890225e-01 -3.52987409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.02, Y:-22.07, Z:-3.53 [[ 9.94426136e-01 1.04388885e-01 1.48196163e-02 2.76021286e+02] [-1.04361838e-01 9.94536025e-01 -2.58895528e-03 -2.20741003e+01] [-1.50089004e-02 1.02792241e-03 9.99886832e-01 -3.52922457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.05, Y:-22.08, Z:-3.53 [[ 9.94237521e-01 1.06084431e-01 1.54222698e-02 2.76052703e+02] [-1.06055292e-01 9.94356575e-01 -2.69747187e-03 -2.20781249e+01] [-1.56213951e-02 1.04631443e-03 9.99877431e-01 -3.53022016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.945898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.09, Y:-22.08, Z:-3.53 [[ 9.94016747e-01 1.07969605e-01 1.65308919e-02 2.76085705e+02] [-1.07936332e-01 9.94153595e-01 -2.89455880e-03 -2.20826363e+01] [-1.67467700e-02 1.09295609e-03 9.99859166e-01 -3.53120960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.12, Y:-22.09, Z:-3.53 [[ 9.93872275e-01 1.09106948e-01 1.77080678e-02 2.76118676e+02] [-1.09068881e-01 9.94029347e-01 -3.10428376e-03 -2.20873028e+01] [-1.79410380e-02 1.15386242e-03 9.99838381e-01 -3.53156488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.005898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:276.15, Y:-22.09, Z:-3.53 [[ 9.94004490e-01 1.07524457e-01 1.98384705e-02 2.76150308e+02] [-1.07476276e-01 9.94201551e-01 -3.48220030e-03 -2.20914447e+01] [-2.00978598e-02 1.32915782e-03 9.99797134e-01 -3.53230786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.18, Y:-22.10, Z:-3.53 [[ 9.94280307e-01 1.04917545e-01 1.99744752e-02 2.76182961e+02] [-1.04868103e-01 9.94479946e-01 -3.50968922e-03 -2.20969861e+01] [-2.02324430e-02 1.39492955e-03 9.99794330e-01 -3.53310255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.21, Y:-22.10, Z:-3.53 [[ 9.94936774e-01 9.87812285e-02 1.85225655e-02 2.76214916e+02] [-9.87375960e-02 9.95108172e-01 -3.25778576e-03 -2.21043839e+01] [-1.87537644e-02 1.41241726e-03 9.99823135e-01 -3.53423190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.25, Y:-22.11, Z:-3.54 [[ 9.95186286e-01 9.64028188e-02 1.76282015e-02 2.76246476e+02] [-9.63628699e-02 9.95341431e-01 -3.10372184e-03 -2.21120629e+01] [-1.78452868e-02 1.39007732e-03 9.99839794e-01 -3.53523957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.28, Y:-22.12, Z:-3.54 [[ 9.95342305e-01 9.47358672e-02 1.78552931e-02 2.76277579e+02] [-9.46945563e-02 9.95501400e-01 -3.14699175e-03 -2.21197574e+01] [-1.80731023e-02 1.44153496e-03 9.99835629e-01 -3.53638015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15589822699997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:276.31, Y:-22.13, Z:-3.54 [[ 9.95400392e-01 9.39473055e-02 1.87606814e-02 2.76309852e+02] [-9.39014944e-02 9.95575991e-01 -3.30997406e-03 -2.21276944e+01] [-1.89886471e-02 1.53309346e-03 9.99818524e-01 -3.53700663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.185898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.34, Y:-22.14, Z:-3.54 [[ 9.95343876e-01 9.40112824e-02 2.12708130e-02 2.76340599e+02] [-9.39523025e-02 9.95569609e-01 -3.75757693e-03 -2.21368973e+01] [-2.15298296e-02 1.74163933e-03 9.99766689e-01 -3.53665993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21589822699997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:276.37, Y:-22.14, Z:-3.54 [[ 9.95223348e-01 9.50797506e-02 2.21433515e-02 2.76371628e+02] [-9.50160338e-02 9.95468046e-01 -3.91441464e-03 -2.21437531e+01] [-2.24151804e-02 1.79174341e-03 9.99747143e-01 -3.53697714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.40, Y:-22.15, Z:-3.54 [[ 9.95073136e-01 9.66223653e-02 2.22164926e-02 2.76402911e+02] [-9.65585508e-02 9.95319548e-01 -3.92991636e-03 -2.21504388e+01] [-2.24922272e-02 1.76536187e-03 9.99745459e-01 -3.53778866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.43, Y:-22.16, Z:-3.54 [[ 9.94935300e-01 9.82168711e-02 2.13821278e-02 2.76434610e+02] [-9.81580791e-02 9.95163639e-01 -3.78451732e-03 -2.21578629e+01] [-2.16504196e-02 1.66652128e-03 9.99764213e-01 -3.53886926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.47, Y:-22.17, Z:-3.54 [[ 9.94700887e-01 1.00824863e-01 2.01119857e-02 2.76466473e+02] [-1.00773309e-01 9.94903032e-01 -3.56317289e-03 -2.21684094e+01] [-2.03687319e-02 1.51753989e-03 9.99791384e-01 -3.54063086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.335898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:276.50, Y:-22.18, Z:-3.54 [[ 9.94553517e-01 1.02164051e-01 2.06351492e-02 2.76497252e+02] [-1.02109983e-01 9.94766383e-01 -3.65984186e-03 -2.21762789e+01] [-2.09010570e-02 1.53285386e-03 9.99780374e-01 -3.54093722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.53, Y:-22.18, Z:-3.54 [[ 9.94367652e-01 1.03796809e-01 2.14288330e-02 2.76529202e+02] [-1.03738794e-01 9.94597300e-01 -3.80445353e-03 -2.21845813e+01] [-2.17079496e-02 1.56002423e-03 9.99763138e-01 -3.54194974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.56, Y:-22.20, Z:-3.54 [[ 9.94034450e-01 1.07105497e-01 2.05894197e-02 2.76559580e+02] [-1.07052568e-01 9.94246629e-01 -3.65913019e-03 -2.21951367e+01] [-2.08628740e-02 1.43315122e-03 9.99781319e-01 -3.54373648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.59, Y:-22.20, Z:-3.55 [[ 9.93906310e-01 1.08509489e-01 1.93891105e-02 2.76591572e+02] [-1.08462758e-01 9.94094530e-01 -3.44886194e-03 -2.22039547e+01] [-1.96488430e-02 1.32484925e-03 9.99806065e-01 -3.54503500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.455898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.62, Y:-22.21, Z:-3.55 [[ 9.93838556e-01 1.09281324e-01 1.85072063e-02 2.76622671e+02] [-1.09238816e-01 9.94010071e-01 -3.29545578e-03 -2.22126994e+01] [-1.87564813e-02 1.25344571e-03 9.99823296e-01 -3.54650962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.65, Y:-22.22, Z:-3.55 [[ 9.93818563e-01 1.09571082e-01 1.78561525e-02 2.76654425e+02] [-1.09531504e-01 9.93978230e-01 -3.18254029e-03 -2.22215322e+01] [-1.80973412e-02 1.20705638e-03 9.99835501e-01 -3.54802752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.68, Y:-22.23, Z:-3.55 [[ 9.93833094e-01 1.09507715e-01 1.74310351e-02 2.76684333e+02] [-1.09469932e-01 9.93985242e-01 -3.11005627e-03 -2.22340912e+01] [-1.76667668e-02 1.18270262e-03 9.99843231e-01 -3.55004609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.72, Y:-22.24, Z:-3.55 [[ 9.93887319e-01 1.09048407e-01 1.72174792e-02 2.76716083e+02] [-1.09011419e-01 9.94035741e-01 -3.07520197e-03 -2.22444238e+01] [-1.74501355e-02 1.17950240e-03 9.99847039e-01 -3.55142760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.75, Y:-22.26, Z:-3.55 [[ 9.93936108e-01 1.08622124e-01 1.70952365e-02 2.76747034e+02] [-1.08585538e-01 9.94082410e-01 -3.05673028e-03 -2.22553395e+01] [-1.73261024e-02 1.18189915e-03 9.99849193e-01 -3.55252778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.78, Y:-22.27, Z:-3.55 [[ 9.93964044e-01 1.08346067e-01 1.72223360e-02 2.76777980e+02] [-1.08308832e-01 9.94112515e-01 -3.08299560e-03 -2.22658836e+01] [-1.74549702e-02 1.19905568e-03 9.99846931e-01 -3.55374824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.81, Y:-22.28, Z:-3.55 [[ 9.93935299e-01 1.08693327e-01 1.66847942e-02 2.76809013e+02] [-1.08658405e-01 9.94074656e-01 -2.98817437e-03 -2.22803679e+01] [-1.69107257e-02 1.15710885e-03 9.99856334e-01 -3.55459425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.84, Y:-22.29, Z:-3.56 [[ 9.93808433e-01 1.09901813e-01 1.63214615e-02 2.76840097e+02] [-1.09868506e-01 9.93941823e-01 -2.92624875e-03 -2.22896945e+01] [-1.65441833e-02 1.11491609e-03 9.99862514e-01 -3.55530185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.87, Y:-22.30, Z:-3.56 [[ 9.93603012e-01 1.11782653e-01 1.60528224e-02 2.76870538e+02] [-1.11750631e-01 9.93732105e-01 -2.88094761e-03 -2.22987872e+01] [-1.62742449e-02 1.06860519e-03 9.99866995e-01 -3.55605196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.90, Y:-22.31, Z:-3.56 [[ 9.92909920e-01 1.17587305e-01 1.74102439e-02 2.76902202e+02] [-1.17550467e-01 9.93061984e-01 -3.12790055e-03 -2.23078206e+01] [-1.76572527e-02 1.05914118e-03 9.99843538e-01 -3.55569596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.94, Y:-22.31, Z:-3.56 [[ 9.92476254e-01 1.21024955e-01 1.85430703e-02 2.76935012e+02] [-1.20983694e-01 9.92648892e-01 -3.33514411e-03 -2.23142807e+01] [-1.88103939e-02 1.06664219e-03 9.99822500e-01 -3.55608430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.97, Y:-22.32, Z:-3.56 [[ 9.92029739e-01 1.24516433e-01 1.93042703e-02 2.76966871e+02] [-1.24472294e-01 9.92216995e-01 -3.47610476e-03 -2.23196465e+01] [-1.95868572e-02 1.04555249e-03 9.99807612e-01 -3.55639531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.815898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.00, Y:-22.32, Z:-3.56 [[ 9.91330244e-01 1.30052709e-01 1.87253703e-02 2.76998255e+02] [-1.30012093e-01 9.91506662e-01 -3.37550039e-03 -2.23230302e+01] [-1.90053223e-02 9.11711043e-04 9.99818967e-01 -3.55714218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.03, Y:-22.33, Z:-3.56 [[ 9.91074068e-01 1.32022984e-01 1.84965778e-02 2.77031310e+02] [-1.31983653e-01 9.91246277e-01 -3.33657894e-03 -2.23282026e+01] [-1.87751690e-02 8.65550945e-04 9.99823356e-01 -3.55874454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.06, Y:-22.33, Z:-3.56 [[ 9.90867354e-01 1.33589657e-01 1.83218511e-02 2.77063509e+02] [-1.33551316e-01 9.91036385e-01 -3.30597481e-03 -2.23332599e+01] [-1.85992651e-02 8.28875189e-04 9.99826675e-01 -3.55908826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.09, Y:-22.34, Z:-3.56 [[ 9.90686781e-01 1.34667682e-01 2.01076637e-02 2.77094921e+02] [-1.34705053e-01 9.90885608e-01 5.09633290e-04 -2.23401016e+01] [-1.98557635e-02 -3.21349088e-03 9.99797691e-01 -3.55958772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.13, Y:-22.34, Z:-3.56 [[ 9.90865899e-01 1.33899972e-01 1.59864640e-02 2.77127439e+02] [-1.33802329e-01 9.90983080e-01 -7.03358816e-03 -2.23400425e+01] [-1.67841126e-02 4.83031654e-03 9.99847469e-01 -3.56212614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96589822699997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:277.16, Y:-22.35, Z:-3.56 [[ 9.91014194e-01 1.32890618e-01 1.51970755e-02 2.77159676e+02] [-1.32864073e-01 9.91130460e-01 -2.74773635e-03 -2.23469570e+01] [-1.54274328e-02 7.03900381e-04 9.99880742e-01 -3.56202907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.19, Y:-22.35, Z:-3.56 [[ 9.91140166e-01 1.32039732e-01 1.43763826e-02 2.77191287e+02] [-1.32015847e-01 9.91244191e-01 -2.60206644e-03 -2.23525340e+01] [-1.45940819e-02 6.81102225e-04 9.99893269e-01 -3.56359687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.22, Y:-22.36, Z:-3.56 [[ 9.91277589e-01 1.30968987e-01 1.46924024e-02 2.77224262e+02] [-1.30943883e-01 9.91386208e-01 -2.66200405e-03 -2.23581327e+01] [-1.49144851e-02 7.14904740e-04 9.99888517e-01 -3.56414200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.26, Y:-22.36, Z:-3.56 [[ 9.91184784e-01 1.31524665e-01 1.59369572e-02 2.77257246e+02] [-1.31495143e-01 9.91312600e-01 -2.89094162e-03 -2.23635362e+01] [-1.61787366e-02 7.69824895e-04 9.99868819e-01 -3.56467422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.29, Y:-22.37, Z:-3.57 [[ 9.91174046e-01 1.31605644e-01 1.59362707e-02 2.77290164e+02] [-1.31576072e-01 9.91301850e-01 -2.89472010e-03 -2.23696570e+01] [-1.61786161e-02 7.72339534e-04 9.99868819e-01 -3.56548002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.32, Y:-22.37, Z:-3.57 [[ 9.90985770e-01 1.32984616e-01 1.61955212e-02 2.77321369e+02] [-1.32954246e-01 9.91117808e-01 -2.94250109e-03 -2.23740939e+01] [-1.64429768e-02 7.62713396e-04 9.99864514e-01 -3.56578380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.145898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:277.35, Y:-22.38, Z:-3.57 [[ 9.90455241e-01 1.36949313e-01 1.55981161e-02 2.77354382e+02] [-1.36921593e-01 9.90577827e-01 -2.83651724e-03 -2.23753640e+01] [-1.58396070e-02 6.73724472e-04 9.99874319e-01 -3.56602806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.39, Y:-22.38, Z:-3.57 [[ 9.90124857e-01 1.39223849e-01 1.64161045e-02 2.77386316e+02] [-1.39193399e-01 9.90260706e-01 -2.98870943e-03 -2.23774012e+01] [-1.66723229e-02 6.74182115e-04 9.99860780e-01 -3.56672259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.42, Y:-22.38, Z:-3.57 [[ 9.89768477e-01 1.41529568e-01 1.81036918e-02 2.77418973e+02] [-1.41492853e-01 9.89933778e-01 -3.29955228e-03 -2.23795186e+01] [-1.83884402e-02 7.04249827e-04 9.99830670e-01 -3.56713902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.45, Y:-22.38, Z:-3.57 [[ 9.89355406e-01 1.44100923e-01 2.02683016e-02 2.77452969e+02] [-1.44055352e-01 9.89562720e-01 -3.69840004e-03 -2.23762839e+01] [-2.05896986e-02 7.39274755e-04 9.99787736e-01 -3.56720786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.49, Y:-22.38, Z:-3.57 [[ 9.89259832e-01 1.44761562e-01 2.02256041e-02 2.77485586e+02] [-1.44716239e-01 9.89466301e-01 -3.69457285e-03 -2.23770885e+01] [-2.05473858e-02 7.27919166e-04 9.99788615e-01 -3.56797883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.52, Y:-22.38, Z:-3.57 [[ 9.89280607e-01 1.44778331e-01 1.90556052e-02 2.77519283e+02] [-1.44738043e-01 9.89463875e-01 -3.48398679e-03 -2.23785058e+01] [-1.93592388e-02 6.88569545e-04 9.99812355e-01 -3.56848984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.325898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.55, Y:-22.38, Z:-3.57 [[ 9.89640654e-01 1.42408115e-01 1.82017655e-02 2.77553795e+02] [-1.42370894e-01 9.89807775e-01 -3.33125539e-03 -2.23758216e+01] [-1.84906468e-02 7.05344134e-04 9.99828785e-01 -3.56959237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.59, Y:-22.38, Z:-3.57 [[ 9.89950044e-01 1.40064910e-01 1.95123392e-02 2.77587037e+02] [-1.40021598e-01 9.90141995e-01 -3.57528843e-03 -2.23769035e+01] [-1.98207589e-02 8.07208009e-04 9.99803224e-01 -3.56992230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.62, Y:-22.38, Z:-3.57 [[ 9.90242598e-01 1.37717420e-01 2.12957765e-02 2.77619653e+02] [-1.37665184e-01 9.90471117e-01 -3.90679986e-03 -2.23780120e+01] [-2.16308859e-02 9.36992657e-04 9.99765586e-01 -3.57025423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:277.65, Y:-22.38, Z:-3.57 [[ 9.90519446e-01 1.35618336e-01 2.18836702e-02 2.77652781e+02] [-1.35562569e-01 9.90760636e-01 -4.01886443e-03 -2.23799971e+01] [-2.22265107e-02 1.01415680e-03 9.99752446e-01 -3.57053829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.69, Y:-22.38, Z:-3.57 [[ 9.91103171e-01 1.31422803e-01 2.10368975e-02 2.77686219e+02] [-1.31370245e-01 9.91325831e-01 -3.86715834e-03 -2.23793905e+01] [-2.13626527e-02 1.06913052e-03 9.99771221e-01 -3.57194687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.72, Y:-22.38, Z:-3.57 [[ 9.91407019e-01 1.29243481e-01 2.02050675e-02 2.77719470e+02] [-1.29194472e-01 9.91612306e-01 -3.71786418e-03 -2.23820597e+01] [-2.05161033e-02 1.07553361e-03 9.99788944e-01 -3.57277776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.75, Y:-22.38, Z:-3.57 [[ 9.91641171e-01 1.27478876e-01 1.99229604e-02 2.77751659e+02] [-1.27430792e-01 9.91840675e-01 -3.66987202e-03 -2.23843071e+01] [-2.02282337e-02 1.10039757e-03 9.99794783e-01 -3.57426776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.78, Y:-22.38, Z:-3.58 [[ 9.92011286e-01 1.24526799e-01 2.01664190e-02 2.77784055e+02] [-1.24476847e-01 9.92215545e-01 -3.71849414e-03 -2.23836433e+01] [-2.04724866e-02 1.17853590e-03 9.99789722e-01 -3.57534756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.82, Y:-22.39, Z:-3.58 [[ 9.92134489e-01 1.23554657e-01 2.00848748e-02 2.77817116e+02] [-1.23504837e-01 9.92337046e-01 -3.70700441e-03 -2.23878194e+01] [-2.03889830e-02 1.19726774e-03 9.99791406e-01 -3.57587207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.85, Y:-22.39, Z:-3.58 [[ 9.92276718e-01 1.22465176e-01 1.97280447e-02 2.77850316e+02] [-1.22416824e-01 9.92472084e-01 -3.64476020e-03 -2.23921199e+01] [-2.00258898e-02 1.20156611e-03 9.99798740e-01 -3.57633632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.88, Y:-22.39, Z:-3.58 [[ 9.92520012e-01 1.20625412e-01 1.88025606e-02 2.77883091e+02] [-1.20581099e-01 9.92697390e-01 -3.47707192e-03 -2.23940955e+01] [-1.90846760e-02 1.18383005e-03 9.99817170e-01 -3.57792508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.92, Y:-22.40, Z:-3.58 [[ 9.92508962e-01 1.20779538e-01 1.83919183e-02 2.77915045e+02] [-1.20737102e-01 9.92678680e-01 -3.40458684e-03 -2.23985941e+01] [-1.86684696e-02 1.15849603e-03 9.99825058e-01 -3.57896646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.95, Y:-22.40, Z:-3.58 [[ 9.92461738e-01 1.21249154e-01 1.78421391e-02 2.77947140e+02] [-1.21209239e-01 9.92621475e-01 -3.30579188e-03 -2.24036885e+01] [-1.81113149e-02 1.11823985e-03 9.99835351e-01 -3.58105458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.98, Y:-22.41, Z:-3.58 [[ 9.92383304e-01 1.21944061e-01 1.74649654e-02 2.77980019e+02] [-1.21905866e-01 9.92536381e-01 -3.23907942e-03 -2.24097640e+01] [-1.77296001e-02 1.08532659e-03 9.99842229e-01 -3.58287883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.01, Y:-22.42, Z:-3.58 [[ 9.92293977e-01 1.22771954e-01 1.67245709e-02 2.78011467e+02] [-1.22736995e-01 9.92434376e-01 -3.10479549e-03 -2.24152629e+01] [-1.69792209e-02 1.02814628e-03 9.99855314e-01 -3.58366389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.04, Y:-22.42, Z:-3.58 [[ 9.92227174e-01 1.23364930e-01 1.63195959e-02 2.78043612e+02] [-1.23331679e-01 9.92360873e-01 -3.03228783e-03 -2.24215972e+01] [-1.65690064e-02 9.95995209e-04 9.99862229e-01 -3.58423986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.08, Y:-22.43, Z:-3.58 [[ 9.92154620e-01 1.23944544e-01 1.63389115e-02 2.78075346e+02] [-1.23911241e-01 9.92288652e-01 -3.03902478e-03 -2.24278288e+01] [-1.65895870e-02 9.90607682e-04 9.99861893e-01 -3.58446856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.835898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.11, Y:-22.43, Z:-3.58 [[ 9.91910280e-01 1.25798023e-01 1.69956849e-02 2.78107894e+02] [-1.25762207e-01 9.92055369e-01 -3.16420131e-03 -2.24335500e+01] [-1.72587107e-02 1.00118896e-03 9.99850556e-01 -3.58433339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:-22.44, Z:-3.58 [[ 9.91721490e-01 1.27293823e-01 1.68751034e-02 2.78140411e+02] [-1.27258676e-01 9.91864577e-01 -3.14490748e-03 -2.24383620e+01] [-1.71381446e-02 9.71369018e-04 9.99852659e-01 -3.58428940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.895898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.17, Y:-22.44, Z:-3.58 [[ 9.91497011e-01 1.28982470e-01 1.72394938e-02 2.78173516e+02] [-1.28945984e-01 9.91646404e-01 -3.21614079e-03 -2.24427280e+01] [-1.75103078e-02 9.65830490e-04 9.99846216e-01 -3.58483112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.21, Y:-22.45, Z:-3.59 [[ 9.91280996e-01 1.30520989e-01 1.80626301e-02 2.78206400e+02] [-1.30481123e-01 9.91445055e-01 -3.37334913e-03 -2.24471403e+01] [-1.83483981e-02 9.87104631e-04 9.99831167e-01 -3.58501420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:-22.45, Z:-3.59 [[ 9.90924528e-01 1.32871565e-01 2.03402968e-02 2.78238774e+02] [-1.32821412e-01 9.91132690e-01 -3.80313903e-03 -2.24511661e+01] [-2.06652621e-02 1.06699681e-03 9.99785881e-01 -3.58607315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.27, Y:-22.46, Z:-3.59 [[ 9.90935950e-01 1.32638822e-01 2.12811198e-02 2.78270241e+02] [-1.32583775e-01 9.91163799e-01 -3.98332806e-03 -2.24563683e+01] [-2.16214195e-02 1.12569178e-03 9.99765596e-01 -3.58741520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:-22.46, Z:-3.59 [[ 9.91113337e-01 1.31242474e-01 2.16741086e-02 2.78302891e+02] [-1.31184956e-01 9.91349594e-01 -4.06076458e-03 -2.24620519e+01] [-2.20195636e-02 1.18136095e-03 9.99756842e-01 -3.58882543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.33, Y:-22.47, Z:-3.59 [[ 9.91641361e-01 1.27413813e-01 2.03256440e-02 2.78334117e+02] [-1.27362348e-01 9.91848930e-01 -3.81205107e-03 -2.24683443e+01] [-2.06456763e-02 1.19146577e-03 9.99786145e-01 -3.58968124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.37, Y:-22.47, Z:-3.59 [[ 9.91870507e-01 1.25723636e-01 1.96587168e-02 2.78365616e+02] [-1.25675121e-01 9.92064592e-01 -3.68904493e-03 -2.24746697e+01] [-1.99665170e-02 1.18844326e-03 9.99799943e-01 -3.59091821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.40, Y:-22.48, Z:-3.59 [[ 9.92091640e-01 1.23881974e-01 2.01850295e-02 2.78396969e+02] [-1.23830369e-01 9.92296157e-01 -3.79154818e-03 -2.24822630e+01] [-2.04992317e-02 1.26204360e-03 9.99789072e-01 -3.59164900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.43, Y:-22.49, Z:-3.59 [[ 9.92090258e-01 1.23741096e-01 2.10964945e-02 2.78429409e+02] [-1.23684610e-01 9.92313652e-01 -3.96665077e-03 -2.24896571e+01] [-2.14251772e-02 1.32596389e-03 9.99769575e-01 -3.59243298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.46, Y:-22.50, Z:-3.59 [[ 9.92067234e-01 1.23779138e-01 2.19391958e-02 2.78461537e+02] [-1.23717961e-01 9.92308830e-01 -4.12941183e-03 -2.24962716e+01] [-2.22815927e-02 1.38238160e-03 9.99750779e-01 -3.59352539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:-22.50, Z:-3.59 [[ 9.92030466e-01 1.24029279e-01 2.21876823e-02 2.78492736e+02] [-1.23966670e-01 9.92277576e-01 -4.18065100e-03 -2.25026895e+01] [-2.25348627e-02 1.39680007e-03 9.99745082e-01 -3.59496142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.52, Y:-22.51, Z:-3.60 [[ 9.91957468e-01 1.24827636e-01 2.09390366e-02 2.78523910e+02] [-1.24771976e-01 9.92177584e-01 -3.94903425e-03 -2.25096180e+01] [-2.12681913e-02 1.30466905e-03 9.99772955e-01 -3.59634372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.56, Y:-22.52, Z:-3.60 [[ 9.91857637e-01 1.25692376e-01 2.04903756e-02 2.78556478e+02] [-1.25639188e-01 9.92068462e-01 -3.86784021e-03 -2.25164511e+01] [-2.08140135e-02 1.26195269e-03 9.99782569e-01 -3.59757160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:278.59, Y:-22.52, Z:-3.60 [[ 9.91709805e-01 1.26945412e-01 1.99129368e-02 2.78588028e+02] [-1.26895357e-01 9.91908973e-01 -3.76258458e-03 -2.25225476e+01] [-2.02294635e-02 1.20453280e-03 9.99794638e-01 -3.59824033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.62, Y:-22.53, Z:-3.60 [[ 9.91285421e-01 1.30305627e-01 1.93302342e-02 2.78619812e+02] [-1.30259024e-01 9.91473257e-01 -3.65608342e-03 -2.25293306e+01] [-1.96418185e-02 1.10628476e-03 9.99806469e-01 -3.59918856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.65, Y:-22.54, Z:-3.60 [[ 9.91090389e-01 1.31788249e-01 1.92794923e-02 2.78652347e+02] [-1.31742096e-01 9.91277305e-01 -3.65024473e-03 -2.25360973e+01] [-1.95923825e-02 1.07780174e-03 9.99807470e-01 -3.59965594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.68, Y:-22.54, Z:-3.60 [[ 9.90870858e-01 1.33457256e-01 1.90814874e-02 2.78683585e+02] [-1.33412283e-01 9.91054027e-01 -3.61647873e-03 -2.25431745e+01] [-1.93934303e-02 1.03775859e-03 9.99811391e-01 -3.60046292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.71, Y:-22.55, Z:-3.60 [[ 9.90584797e-01 1.35572213e-01 1.90246138e-02 2.78714708e+02] [-1.35527828e-01 9.90766966e-01 -3.60918966e-03 -2.25497796e+01] [-1.93382647e-02 9.96843815e-04 9.99812501e-01 -3.60125828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.75, Y:-22.56, Z:-3.60 [[ 9.90435903e-01 1.36640556e-01 1.91332389e-02 2.78746770e+02] [-1.36595799e-01 9.90620204e-01 -3.63301398e-03 -2.25557464e+01] [-1.94501901e-02 9.84747420e-04 9.99810342e-01 -3.60189047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.78, Y:-22.56, Z:-3.60 [[ 9.90356261e-01 1.37242774e-01 1.89445708e-02 2.78779303e+02] [-1.37198937e-01 9.90536969e-01 -3.60076000e-03 -2.25607972e+01] [-1.92594760e-02 9.66860235e-04 9.99814052e-01 -3.60328248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.81, Y:-22.57, Z:-3.60 [[ 9.90263508e-01 1.37955570e-01 1.86130588e-02 2.78812370e+02] [-1.37913314e-01 9.90437973e-01 -3.54123589e-03 -2.25654629e+01] [-1.89236135e-02 9.39768047e-04 9.99820491e-01 -3.60438352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.85, Y:-22.57, Z:-3.61 [[ 9.90285965e-01 1.37787390e-01 1.86639344e-02 2.78845090e+02] [-1.37744804e-01 9.90461374e-01 -3.55453995e-03 -2.25716868e+01] [-1.89756769e-02 9.49151036e-04 9.99819495e-01 -3.60520760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.88, Y:-22.58, Z:-3.61 [[ 9.90400146e-01 1.37004546e-01 1.83658592e-02 2.78876377e+02] [-1.36963109e-01 9.90569961e-01 -3.50130984e-03 -2.25757366e+01] [-1.86723638e-02 9.52252613e-04 9.99825203e-01 -3.60621004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.91, Y:-22.58, Z:-3.61 [[ 9.90430662e-01 1.36716633e-01 1.88591025e-02 2.78908584e+02] [-1.36672820e-01 9.90609705e-01 -3.59886996e-03 -2.25799394e+01] [-1.91740353e-02 9.86904434e-04 9.99815674e-01 -3.60754824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.94, Y:-22.58, Z:-3.61 [[ 9.90434228e-01 1.36643232e-01 1.92006981e-02 2.78941490e+02] [-1.36597736e-01 9.90619810e-01 -3.66750734e-03 -2.25837677e+01] [-1.95217319e-02 1.00965290e-03 9.99808923e-01 -3.60836646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.97, Y:-22.59, Z:-3.61 [[ 9.90394443e-01 1.36849927e-01 1.97723386e-02 2.78973958e+02] [-1.36801652e-01 9.90591247e-01 -3.78023243e-03 -2.25874116e+01] [-2.01036301e-02 1.03903261e-03 9.99797362e-01 -3.60913334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.01, Y:-22.59, Z:-3.61 [[ 9.90272728e-01 1.37579388e-01 2.07806638e-02 2.79006292e+02] [-1.37526134e-01 9.90490154e-01 -3.97721816e-03 -2.25873490e+01] [-2.11302261e-02 1.08064632e-03 9.99776148e-01 -3.60924599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.04, Y:-22.59, Z:-3.61 [[ 9.90242063e-01 1.37800947e-01 2.07739230e-02 2.79039673e+02] [-1.37747699e-01 9.90459355e-01 -3.97957043e-03 -2.25904087e+01] [-2.11241149e-02 1.07917795e-03 9.99776279e-01 -3.61042549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.07, Y:-22.59, Z:-3.61 [[ 9.90236476e-01 1.37814998e-01 2.09463230e-02 2.79071866e+02] [-1.37760780e-01 9.90457386e-01 -4.01661932e-03 -2.25928218e+01] [-2.12999907e-02 1.09182117e-03 9.99772533e-01 -3.61168445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:-22.60, Z:-3.61 [[ 9.90286879e-01 1.37403124e-01 2.12668264e-02 2.79105040e+02] [-1.37347058e-01 9.90514575e-01 -4.08186195e-03 -2.25959814e+01] [-2.16259621e-02 1.12127830e-03 9.99765503e-01 -3.61249425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:-22.60, Z:-3.61 [[ 9.90467063e-01 1.35996648e-01 2.19068334e-02 2.79137683e+02] [-1.35936718e-01 9.90708582e-01 -4.20894840e-03 -2.25968995e+01] [-2.22756907e-02 1.19088173e-03 9.99751157e-01 -3.61291702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-22.60, Z:-3.61 [[ 9.90581443e-01 1.35245642e-01 2.13780588e-02 2.79169876e+02] [-1.35188317e-01 9.90811394e-01 -4.11099345e-03 -2.26009833e+01] [-2.17376182e-02 1.18221003e-03 9.99763011e-01 -3.61367047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.20, Y:-22.60, Z:-3.61 [[ 9.90867983e-01 1.33252476e-01 2.06014301e-02 2.79201934e+02] [-1.33198739e-01 9.91081416e-01 -3.96507276e-03 -2.26035597e+01] [-2.09460503e-02 1.18477913e-03 9.99779905e-01 -3.61355165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.23, Y:-22.61, Z:-3.61 [[ 9.90972559e-01 1.32436547e-01 2.08314205e-02 2.79234725e+02] [-1.32381349e-01 9.91190736e-01 -4.01289057e-03 -2.26093937e+01] [-2.11793644e-02 1.21897289e-03 9.99774949e-01 -3.61478794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:279.27, Y:-22.62, Z:-3.62 [[ 9.91041888e-01 1.31927926e-01 2.07605009e-02 2.79267109e+02] [-1.31872912e-01 9.91258549e-01 -4.00298872e-03 -2.26155989e+01] [-2.11071300e-02 1.22938178e-03 9.99776464e-01 -3.61566265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.30, Y:-22.62, Z:-3.62 [[ 9.91157371e-01 1.31180667e-01 1.99674423e-02 2.79298949e+02] [-1.31129556e-01 9.91357751e-01 -3.85356427e-03 -2.26216529e+01] [-2.03003918e-02 1.20116680e-03 9.99793204e-01 -3.61707945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.33, Y:-22.63, Z:-3.62 [[ 9.91147410e-01 1.31256008e-01 1.99667519e-02 2.79331809e+02] [-1.31204839e-01 9.91347776e-01 -3.85713779e-03 -2.26281407e+01] [-2.03002676e-02 1.20325766e-03 9.99793204e-01 -3.61788488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.005898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.36, Y:-22.63, Z:-3.62 [[ 9.91095161e-01 1.31749852e-01 1.92965879e-02 2.79364659e+02] [-1.31702134e-01 9.91282323e-01 -3.72870200e-03 -2.26346642e+01] [-1.96196224e-02 1.15409671e-03 9.99806851e-01 -3.61860123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.40, Y:-22.64, Z:-3.62 [[ 9.90966375e-01 1.32748439e-01 1.90655793e-02 2.79397046e+02] [-1.32701976e-01 9.91149125e-01 -3.68743682e-03 -2.26409071e+01] [-1.93863337e-02 1.12408585e-03 9.99811435e-01 -3.61926498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.065898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:279.43, Y:-22.65, Z:-3.62 [[ 9.90628770e-01 1.35164459e-01 1.96267657e-02 2.79428300e+02] [-1.35115619e-01 9.90822553e-01 -3.79965196e-03 -2.26456880e+01] [-1.99602200e-02 1.11216194e-03 9.99800156e-01 -3.62037289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.46, Y:-22.65, Z:-3.62 [[ 9.90338672e-01 1.37240398e-01 1.98591992e-02 2.79460509e+02] [-1.37190743e-01 9.90537174e-01 -3.84797648e-03 -2.26524647e+01] [-2.01993728e-02 1.08630164e-03 9.99795382e-01 -3.62060878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.49, Y:-22.66, Z:-3.62 [[ 9.90162019e-01 1.38544195e-01 1.96133234e-02 2.79492596e+02] [-1.38495950e-01 9.90355696e-01 -3.80366702e-03 -2.26579313e+01] [-1.99511425e-02 1.04988076e-03 9.99800405e-01 -3.62154620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.52, Y:-22.66, Z:-3.62 [[ 9.90109387e-01 1.38956851e-01 1.93492935e-02 2.79524265e+02] [-1.38909900e-01 9.90297900e-01 -3.75627283e-03 -2.26631452e+01] [-1.96835245e-02 1.03131256e-03 9.99805729e-01 -3.62320215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.185898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:279.56, Y:-22.67, Z:-3.62 [[ 9.90197982e-01 1.38133689e-01 2.06649599e-02 2.79556438e+02] [-1.38079871e-01 9.90412956e-01 -4.01576239e-03 -2.26685071e+01] [-2.10215561e-02 1.12298481e-03 9.99778392e-01 -3.62444947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.59, Y:-22.68, Z:-3.62 [[ 9.90150336e-01 1.38279231e-01 2.19354965e-02 2.79587767e+02] [-1.38218526e-01 9.90392564e-01 -4.26717007e-03 -2.26766639e+01] [-2.23148136e-02 1.19324789e-03 9.99750281e-01 -3.62458607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:-22.68, Z:-3.63 [[ 9.90119527e-01 1.38425228e-01 2.24004297e-02 2.79620110e+02] [-1.38361900e-01 9.90372139e-01 -4.36020130e-03 -2.26841307e+01] [-2.27883233e-02 1.21775443e-03 9.99739571e-01 -3.62531947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.65, Y:-22.69, Z:-3.63 [[ 9.90119213e-01 1.38478867e-01 2.20804602e-02 2.79651080e+02] [-1.38417254e-01 9.90364658e-01 -4.30216660e-03 -2.26912070e+01] [-2.24634666e-02 1.20334116e-03 9.99746940e-01 -3.62645935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.68, Y:-22.70, Z:-3.63 [[ 9.90124963e-01 1.38438335e-01 2.20767746e-02 2.79683407e+02] [-1.38376643e-01 9.90370319e-01 -4.30542910e-03 -2.26975645e+01] [-2.24602187e-02 1.20800289e-03 9.99747008e-01 -3.62706413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.71, Y:-22.70, Z:-3.63 [[ 9.90155375e-01 1.38219952e-01 2.20811513e-02 2.79714917e+02] [-1.38158082e-01 9.90400809e-01 -4.31067005e-03 -2.27039357e+01] [-2.24650107e-02 1.21754361e-03 9.99746888e-01 -3.62756416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.75, Y:-22.71, Z:-3.63 [[ 9.90195751e-01 1.37981740e-01 2.17580893e-02 2.79746423e+02] [-1.37921520e-01 9.90434035e-01 -4.25165401e-03 -2.27112036e+01] [-2.21366028e-02 1.20906098e-03 9.99754224e-01 -3.62796894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.395898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:279.78, Y:-22.72, Z:-3.63 [[ 9.90238170e-01 1.37782788e-01 2.10777309e-02 2.79779085e+02] [-1.37726182e-01 9.90461769e-01 -4.12097174e-03 -2.27174852e+01] [-2.14444856e-02 1.17778810e-03 9.99769347e-01 -3.62936341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.81, Y:-22.73, Z:-3.63 [[ 9.90100805e-01 1.38854225e-01 2.04914602e-02 2.79810271e+02] [-1.38800871e-01 9.90312191e-01 -4.01033333e-03 -2.27253950e+01] [-2.08497945e-02 1.12640174e-03 9.99781985e-01 -3.63013776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.84, Y:-22.73, Z:-3.63 [[ 9.89964279e-01 1.39940043e-01 1.96852996e-02 2.79842493e+02] [-1.39890981e-01 9.90159410e-01 -3.85450381e-03 -2.27323125e+01] [-2.00309841e-02 1.06202521e-03 9.99798796e-01 -3.63112247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.87, Y:-22.74, Z:-3.63 [[ 9.89734143e-01 1.41668054e-01 1.88809252e-02 2.79874742e+02] [-1.41623169e-01 9.89913726e-01 -3.70034008e-03 -2.27394254e+01] [-1.92147070e-02 9.88376470e-04 9.99814892e-01 -3.63222317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.91, Y:-22.75, Z:-3.63 [[ 9.89356900e-01 1.44396881e-01 1.79573250e-02 2.79906384e+02] [-1.44356667e-01 9.89519451e-01 -3.52265442e-03 -2.27458126e+01] [-1.82777827e-02 8.92902865e-04 9.99832549e-01 -3.63354893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.94, Y:-22.75, Z:-3.63 [[ 9.89293025e-01 1.44784999e-01 1.83470600e-02 2.79939127e+02] [-1.44743025e-01 9.89462722e-01 -3.60246220e-03 -2.27521061e+01] [-1.86753145e-02 9.08281767e-04 9.99825189e-01 -3.63487793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.97, Y:-22.76, Z:-3.64 [[ 9.89526833e-01 1.42999366e-01 1.96933381e-02 2.79971604e+02] [-1.42950571e-01 9.89722259e-01 -3.87086403e-03 -2.27592311e+01] [-2.00444662e-02 1.01514991e-03 9.99798574e-01 -3.63613023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:-22.77, Z:-3.64 [[ 9.89731073e-01 1.41607059e-01 1.94895708e-02 2.80003172e+02] [-1.41558925e-01 9.89922404e-01 -3.83457014e-03 -2.27666497e+01] [-1.98361650e-02 1.03627053e-03 9.99802707e-01 -3.63682981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.03, Y:-22.77, Z:-3.64 [[ 9.89946912e-01 1.40148300e-01 1.90674062e-02 2.80034588e+02] [-1.40101894e-01 9.90129971e-01 -3.75485869e-03 -2.27740145e+01] [-1.94054475e-02 1.04573104e-03 9.99811150e-01 -3.63750569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.07, Y:-22.78, Z:-3.64 [[ 9.90221748e-01 1.38275017e-01 1.84637390e-02 2.80066937e+02] [-1.38231121e-01 9.90393313e-01 -3.63901303e-03 -2.27812368e+01] [-1.87895483e-02 1.05116649e-03 9.99822908e-01 -3.63729123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.10, Y:-22.79, Z:-3.64 [[ 9.90228380e-01 1.38183361e-01 1.87913161e-02 2.80098561e+02] [-1.38137807e-01 9.90406080e-01 -3.70726124e-03 -2.27880199e+01] [-1.91233155e-02 1.07524410e-03 9.99816555e-01 -3.63795791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.13, Y:-22.80, Z:-3.64 [[ 9.90089466e-01 1.39136264e-01 1.90774418e-02 2.80130693e+02] [-1.39089423e-01 9.90272660e-01 -3.76708847e-03 -2.27958467e+01] [-1.94160077e-02 1.07628425e-03 9.99810912e-01 -3.63776628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.16, Y:-22.80, Z:-3.64 [[ 9.89998436e-01 1.39784245e-01 1.90646584e-02 2.80161637e+02] [-1.39737510e-01 9.90181411e-01 -3.76845219e-03 -2.28021362e+01] [-1.94042406e-02 1.06671387e-03 9.99811151e-01 -3.63839707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.19, Y:-22.81, Z:-3.64 [[ 9.89962310e-01 1.40035743e-01 1.90949110e-02 2.80194026e+02] [-1.39988869e-01 9.90145876e-01 -3.77635282e-03 -2.28081272e+01] [-1.94355718e-02 1.06537197e-03 9.99810544e-01 -3.63893805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.23, Y:-22.81, Z:-3.64 [[ 9.89951366e-01 1.40111845e-01 1.91040335e-02 2.80226827e+02] [-1.40064872e-01 9.90135107e-01 -3.78170408e-03 -2.28145649e+01] [-1.94454358e-02 1.06789912e-03 9.99810349e-01 -3.63973515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84589822699996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:280.26, Y:-22.82, Z:-3.64 [[ 9.90065037e-01 1.39287926e-01 1.92378558e-02 2.80259565e+02] [-1.39240067e-01 9.90251319e-01 -3.81177405e-03 -2.28199825e+01] [-1.95812462e-02 1.09522388e-03 9.99807669e-01 -3.63889960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.29, Y:-22.83, Z:-3.64 [[ 9.89817101e-01 1.40882162e-01 2.03549492e-02 2.80291463e+02] [-1.40828836e-01 9.90025727e-01 -4.03710537e-03 -2.28272692e+01] [-2.07206795e-02 1.12943214e-03 9.99784666e-01 -3.63858972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.32, Y:-22.83, Z:-3.64 [[ 9.89600039e-01 1.42251709e-01 2.13591767e-02 2.80322833e+02] [-1.42193217e-01 9.89829838e-01 -4.24045141e-03 -2.28326299e+01] [-2.17451619e-02 1.15922082e-03 9.99762874e-01 -3.63958383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.36, Y:-22.84, Z:-3.64 [[ 9.89383729e-01 1.43639456e-01 2.20803916e-02 2.80355258e+02] [-1.43577203e-01 9.89629393e-01 -4.38754314e-03 -2.28377529e+01] [-2.24816289e-02 1.17072292e-03 9.99746571e-01 -3.64030922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.39, Y:-22.84, Z:-3.64 [[ 9.89099560e-01 1.45486786e-01 2.27080476e-02 2.80388569e+02] [-1.45421331e-01 9.89359509e-01 -4.51650762e-03 -2.28405059e+01] [-2.31235150e-02 1.16504120e-03 9.99731937e-01 -3.64161284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:-22.85, Z:-3.64 [[ 9.88998240e-01 1.46093084e-01 2.32226761e-02 2.80421288e+02] [-1.46024692e-01 9.89270143e-01 -4.62316326e-03 -2.28458255e+01] [-2.36489123e-02 1.18121619e-03 9.99719628e-01 -3.64318216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:-22.85, Z:-3.64 [[ 9.89000613e-01 1.45769254e-01 2.50820974e-02 2.80454406e+02] [-1.45689241e-01 9.89317777e-01 -4.99820397e-03 -2.28490630e+01] [-2.55427493e-02 1.28903506e-03 9.99672900e-01 -3.64361837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.49, Y:-22.85, Z:-3.64 [[ 9.89105050e-01 1.44951723e-01 2.56943301e-02 2.80486241e+02] [-1.44867355e-01 9.89437812e-01 -5.12496837e-03 -2.28534156e+01] [-2.61658147e-02 1.34686246e-03 9.99656709e-01 -3.64461256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.52, Y:-22.86, Z:-3.65 [[ 9.89251973e-01 1.44073336e-01 2.49681452e-02 2.80518544e+02] [-1.43993287e-01 9.89566112e-01 -4.98427453e-03 -2.28578143e+01] [-2.54257314e-02 1.33545812e-03 9.99675822e-01 -3.64539089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:280.55, Y:-22.86, Z:-3.65 [[ 9.89579836e-01 1.42367680e-01 2.15218972e-02 2.80551127e+02] [-1.42307731e-01 9.89813125e-01 -4.29965403e-03 -2.28595555e+01] [-2.19147881e-02 1.19211856e-03 9.99759131e-01 -3.64805486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.58, Y:-22.86, Z:-3.65 [[ 9.89643483e-01 1.42130209e-01 2.01191660e-02 2.80581525e+02] [-1.42077700e-01 9.89847333e-01 -4.02297664e-03 -2.28644164e+01] [-2.04866894e-02 1.12282778e-03 9.99789495e-01 -3.64836550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.61, Y:-22.87, Z:-3.65 [[ 9.89610358e-01 1.42396652e-01 1.98628615e-02 2.80613184e+02] [-1.42345514e-01 9.89809060e-01 -3.97229647e-03 -2.28688592e+01] [-2.02260820e-02 1.10363650e-03 9.99794823e-01 -3.64837004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.64, Y:-22.87, Z:-3.65 [[ 9.88977728e-01 1.46130741e-01 2.38507714e-02 2.80643504e+02] [-1.46057970e-01 9.89264511e-01 -4.77452266e-03 -2.28704834e+01] [-2.42924263e-02 1.23830131e-03 9.99704129e-01 -3.64750924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.67, Y:-22.87, Z:-3.65 [[ 9.88487897e-01 1.49185865e-01 2.52042769e-02 2.80674464e+02] [-1.49105580e-01 9.88808407e-01 -5.04580335e-03 -2.28734220e+01] [-2.56749634e-02 1.22961721e-03 9.99669588e-01 -3.64744631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.70, Y:-22.88, Z:-3.65 [[ 9.87986368e-01 1.52424082e-01 2.54918661e-02 2.80704892e+02] [-1.52343014e-01 9.88314502e-01 -5.10393486e-03 -2.28752692e+01] [-2.59719436e-02 1.15911034e-03 9.99662000e-01 -3.64794058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.74, Y:-22.87, Z:-3.65 [[ 9.86997676e-01 1.59037862e-01 2.32926309e-02 2.80736111e+02] [-1.58972018e-01 9.87272074e-01 -4.66360800e-03 -2.28722649e+01] [-2.37378543e-02 9.00093719e-04 9.99717812e-01 -3.64959143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.325898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:280.77, Y:-22.87, Z:-3.65 [[ 9.86722971e-01 1.60849334e-01 2.24782182e-02 2.80766323e+02] [-1.60788483e-01 9.86978626e-01 -4.50057369e-03 -2.28723538e+01] [-2.29094352e-02 8.26580846e-04 9.99737203e-01 -3.65116486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.80, Y:-22.88, Z:-3.65 [[ 9.86298200e-01 1.63421183e-01 2.25694173e-02 2.80795500e+02] [-1.63360521e-01 9.86556093e-01 -4.51831789e-03 -2.28750404e+01] [-2.30043850e-02 7.69457028e-04 9.99735068e-01 -3.65128173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.82, Y:-22.87, Z:-3.65 [[ 9.85853916e-01 1.66037788e-01 2.28803093e-02 2.80824600e+02] [-1.65976172e-01 9.86119130e-01 -4.57945668e-03 -2.28732177e+01] [-2.33230736e-02 7.17089145e-04 9.99727723e-01 -3.65199931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41589822699996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:280.85, Y:-22.87, Z:-3.65 [[ 9.85902990e-01 1.65807457e-01 2.24316865e-02 2.80852640e+02] [-1.65748205e-01 9.86157892e-01 -4.48836322e-03 -2.28741338e+01] [-2.28653888e-02 7.07078941e-04 9.99738303e-01 -3.65329497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.88, Y:-22.88, Z:-3.65 [[ 9.85792492e-01 1.66483250e-01 2.22820568e-02 2.80881197e+02] [-1.66424989e-01 9.86044045e-01 -4.45703839e-03 -2.28781388e+01] [-2.27131116e-02 6.85423917e-04 9.99741789e-01 -3.65326033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:-22.88, Z:-3.66 [[ 9.85868394e-01 1.66096565e-01 2.18046039e-02 2.80909680e+02] [-1.66040703e-01 9.86109259e-01 -4.36050767e-03 -2.28793239e+01] [-2.22259871e-02 6.78434930e-04 9.99752742e-01 -3.65519775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.94, Y:-22.88, Z:-3.66 [[ 9.85887565e-01 1.66018020e-01 2.15343167e-02 2.80938019e+02] [-1.65963546e-01 9.86122491e-01 -4.30511964e-03 -2.28830478e+01] [-2.19502014e-02 6.70452367e-04 9.99758840e-01 -3.65556945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.97, Y:-22.89, Z:-3.66 [[ 9.85784151e-01 1.66576056e-01 2.19550874e-02 2.80965253e+02] [-1.66519592e-01 9.86028381e-01 -4.38822676e-03 -2.28863033e+01] [-2.23793128e-02 6.69892181e-04 9.99749327e-01 -3.65524531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.99, Y:-22.89, Z:-3.65 [[ 9.84906830e-01 1.71483221e-01 2.34955487e-02 2.80993091e+02] [-1.71419983e-01 9.85186860e-01 -4.69468133e-03 -2.28866493e+01] [-2.39525649e-02 5.96217152e-04 9.99712918e-01 -3.65465301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.02, Y:-22.89, Z:-3.65 [[ 9.84173762e-01 1.75734831e-01 2.27876267e-02 2.81021070e+02] [-1.75676526e-01 9.84437424e-01 -4.55146811e-03 -2.28891236e+01] [-2.32328440e-02 4.76184400e-04 9.99729968e-01 -3.65481222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.05, Y:-22.89, Z:-3.66 [[ 9.83246659e-01 1.80953002e-01 2.19549017e-02 2.81048436e+02] [-1.80900214e-01 9.83491686e-01 -4.38364593e-03 -2.28904708e+01] [-2.23856972e-02 3.38558817e-04 9.99749352e-01 -3.65536662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.08, Y:-22.89, Z:-3.66 [[ 9.82221879e-01 1.86500078e-01 2.13986095e-02 2.81076582e+02] [-1.86451285e-01 9.82454925e-01 -4.27078627e-03 -2.28914023e+01] [-2.18196712e-02 2.05061480e-04 9.99761902e-01 -3.65532785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.10, Y:-22.89, Z:-3.66 [[ 9.79998643e-01 1.97868971e-01 2.12256749e-02 2.81104568e+02] [-1.97823649e-01 9.80228477e-01 -4.23505821e-03 -2.28875846e+01] [-2.16439976e-02 -4.85891704e-05 9.99765740e-01 -3.65689223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.13, Y:-22.89, Z:-3.66 [[ 9.79157105e-01 2.02055268e-01 2.06163215e-02 2.81131332e+02] [-2.02013474e-01 9.79374111e-01 -4.11178687e-03 -2.28894913e+01] [-2.10218997e-02 -1.38689399e-04 9.99779006e-01 -3.65833233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.16, Y:-22.89, Z:-3.66 [[ 9.78586353e-01 2.04950097e-01 1.90842182e-02 2.81160257e+02] [-2.04914864e-01 9.78772406e-01 -3.80472314e-03 -2.28895350e+01] [-1.94588845e-02 -1.87389832e-04 9.99810640e-01 -3.66043116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.19, Y:-22.89, Z:-3.66 [[ 9.78792928e-01 2.04021672e-01 1.84271755e-02 2.81188097e+02] [-2.03988682e-01 9.78966358e-01 -3.67247635e-03 -2.28926866e+01] [-1.87888496e-02 -1.64341357e-04 9.99823460e-01 -3.66065593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.21, Y:-22.90, Z:-3.66 [[ 9.79155351e-01 2.02223263e-01 1.89881551e-02 2.81214619e+02] [-2.02187922e-01 9.79339437e-01 -3.78291240e-03 -2.28954582e+01] [-1.93608421e-02 -1.35116710e-04 9.99812552e-01 -3.66132605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.24, Y:-22.90, Z:-3.66 [[ 9.79779094e-01 1.98928167e-01 2.14595125e-02 2.81241590e+02] [-1.98882281e-01 9.80014070e-01 -4.27322786e-03 -2.28973865e+01] [-2.18806896e-02 -8.10974743e-05 9.99760586e-01 -3.66173212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:281.27, Y:-22.90, Z:-3.66 [[ 9.80021364e-01 1.97645298e-01 2.22364950e-02 2.81269372e+02] [-1.97595741e-01 9.80273601e-01 -4.42604397e-03 -2.29012786e+01] [-2.26726358e-02 -5.62190608e-05 9.99742941e-01 -3.66245787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.895898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:281.30, Y:-22.91, Z:-3.66 [[ 9.80054390e-01 1.97481440e-01 2.22367641e-02 2.81297328e+02] [-1.97431872e-01 9.80306625e-01 -4.42469135e-03 -2.29066432e+01] [-2.26726416e-02 -5.38077782e-05 9.99742941e-01 -3.66314232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.33, Y:-22.91, Z:-3.66 [[ 9.80131378e-01 1.97047694e-01 2.26867230e-02 2.81325043e+02] [-1.96996078e-01 9.80393903e-01 -4.51010564e-03 -2.29104345e+01] [-2.31306308e-02 -4.86993956e-05 9.99732450e-01 -3.66353469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.955898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:281.35, Y:-22.91, Z:-3.66 [[ 9.80018767e-01 1.97473232e-01 2.38230729e-02 2.81353529e+02] [-1.97416483e-01 9.80308277e-01 -4.73427815e-03 -2.29124827e+01] [-2.42888488e-02 -6.33858388e-05 9.99704980e-01 -3.66395294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98589822699995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:281.38, Y:-22.92, Z:-3.66 [[ 9.79926829e-01 1.97923723e-01 2.38665019e-02 2.81381240e+02] [-1.97866942e-01 9.80217422e-01 -4.74125319e-03 -2.29165981e+01] [-2.43327674e-02 -7.63105350e-05 9.99703911e-01 -3.66365479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.015898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:281.41, Y:-22.92, Z:-3.66 [[ 9.79814456e-01 1.98478688e-01 2.38713706e-02 2.81409066e+02] [-1.98422088e-01 9.80105199e-01 -4.74057064e-03 -2.29212996e+01] [-2.43373567e-02 -9.17275567e-05 9.99703798e-01 -3.66425707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.44, Y:-22.93, Z:-3.66 [[ 9.79675613e-01 1.99148739e-01 2.39890255e-02 2.81436334e+02] [-1.99091821e-01 9.79969269e-01 -4.76227214e-03 -2.29259398e+01] [-2.44569083e-02 -1.10536898e-04 9.99700879e-01 -3.66439004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.075898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:281.46, Y:-22.93, Z:-3.67 [[ 9.79133081e-01 2.01592883e-01 2.56655245e-02 2.81463540e+02] [-2.01528624e-01 9.79469384e-01 -5.09299385e-03 -2.29294121e+01] [-2.61653068e-02 -1.85619086e-04 9.99657613e-01 -3.66555944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.49, Y:-22.93, Z:-3.67 [[ 9.78974663e-01 2.02353606e-01 2.57221183e-02 2.81491499e+02] [-2.02289385e-01 9.79312501e-01 -5.10198954e-03 -2.29330035e+01] [-2.62223980e-02 -2.08592997e-04 9.99656112e-01 -3.66648647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:-22.93, Z:-3.67 [[ 9.79191238e-01 2.01327923e-01 2.55261968e-02 2.81520237e+02] [-2.01264378e-01 9.79523881e-01 -5.06121304e-03 -2.29343478e+01] [-2.60224829e-02 -1.81618659e-04 9.99661341e-01 -3.66790135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.55, Y:-22.94, Z:-3.67 [[ 9.79541156e-01 1.99587631e-01 2.57662875e-02 2.81546990e+02] [-1.99522337e-01 9.79879971e-01 -5.10672742e-03 -2.29377654e+01] [-2.62671087e-02 -1.38700215e-04 9.99654950e-01 -3.66939362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.195898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:281.58, Y:-22.94, Z:-3.67 [[ 9.80597335e-01 1.94456497e-01 2.48100248e-02 2.81575246e+02] [-1.94394398e-01 9.80911143e-01 -4.91401709e-03 -2.29411925e+01] [-2.52919924e-02 -4.25776930e-06 9.99680106e-01 -3.67100028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.60, Y:-22.95, Z:-3.67 [[ 9.81213425e-01 1.91388511e-01 2.43033515e-02 2.81603279e+02] [-1.91328022e-01 9.81514357e-01 -4.81200000e-03 -2.29457357e+01] [-2.47750499e-02 7.16868382e-05 9.99693049e-01 -3.67238553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.63, Y:-22.95, Z:-3.67 [[ 9.81769859e-01 1.88554586e-01 2.39815169e-02 2.81630594e+02] [-1.88494884e-01 9.82062701e-01 -4.74655680e-03 -2.29501889e+01] [-2.44463383e-02 1.39633153e-04 9.99701134e-01 -3.67241939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.66, Y:-22.95, Z:-3.67 [[ 9.82841947e-01 1.82974980e-01 2.32779531e-02 2.81657898e+02] [-1.82917204e-01 9.83117533e-01 -4.60562704e-03 -2.29538434e+01] [-2.37276783e-02 2.68665357e-04 9.99718423e-01 -3.67232156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.315898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.69, Y:-22.96, Z:-3.67 [[ 9.83451920e-01 1.79822698e-01 2.20480732e-02 2.81685644e+02] [-1.79770116e-01 9.83698984e-01 -4.36046794e-03 -2.29591750e+01] [-2.24727783e-02 3.24725897e-04 9.99747402e-01 -3.67349642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.71, Y:-22.96, Z:-3.67 [[ 9.83975457e-01 1.77038012e-01 2.12094629e-02 2.81712741e+02] [-1.76988738e-01 9.84203944e-01 -4.19317575e-03 -2.29633717e+01] [-2.16167886e-02 3.72145943e-04 9.99766261e-01 -3.67470959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.375898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.74, Y:-22.97, Z:-3.67 [[ 9.84627649e-01 1.73499413e-01 2.01580192e-02 2.81741076e+02] [-1.73454196e-01 9.84833881e-01 -3.98368086e-03 -2.29658196e+01] [-2.05434666e-02 4.25949317e-04 9.99788870e-01 -3.67469422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.77, Y:-22.97, Z:-3.67 [[ 9.84755899e-01 1.72778480e-01 2.00852008e-02 2.81767674e+02] [-1.72733469e-01 9.84960611e-01 -3.96786306e-03 -2.29691280e+01] [-2.04686930e-02 4.37990148e-04 9.99790398e-01 -3.67452346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.80, Y:-22.97, Z:-3.67 [[ 9.84822825e-01 1.72495692e-01 1.92156184e-02 2.81796740e+02] [-1.72454472e-01 9.85010181e-01 -3.79446796e-03 -2.29685916e+01] [-1.95821092e-02 4.23059322e-04 9.99808163e-01 -3.67451087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.82, Y:-22.97, Z:-3.68 [[ 9.84789871e-01 1.72729478e-01 1.87999056e-02 2.81823582e+02] [-1.72690085e-01 9.84969218e-01 -3.71132130e-03 -2.29698090e+01] [-1.91583829e-02 4.08314322e-04 9.99816378e-01 -3.67510929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.85, Y:-22.97, Z:-3.68 [[ 9.84726447e-01 1.73123749e-01 1.84930172e-02 2.81851677e+02] [-1.73085753e-01 9.84900002e-01 -3.64801959e-03 -2.29712540e+01] [-1.88453315e-02 3.91423565e-04 9.99822334e-01 -3.67586501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.88, Y:-22.97, Z:-3.68 [[ 9.84666789e-01 1.73455567e-01 1.85601867e-02 2.81878572e+02] [-1.73417377e-01 9.84841621e-01 -3.65995526e-03 -2.29728367e+01] [-1.89136840e-02 3.85177498e-04 9.99821046e-01 -3.67708285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.91, Y:-22.97, Z:-3.68 [[ 9.84878774e-01 1.72145274e-01 1.94885694e-02 2.81906499e+02] [-1.72102947e-01 9.85071480e-01 -3.84125585e-03 -2.29721309e+01] [-1.98588879e-02 4.29131123e-04 9.99802701e-01 -3.67757113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:-22.97, Z:-3.68 [[ 9.85191793e-01 1.70245524e-01 2.03369772e-02 2.81934722e+02] [-1.70199064e-01 9.85401555e-01 -4.00661455e-03 -2.29748287e+01] [-2.07221972e-02 4.85949270e-04 9.99785154e-01 -3.67809279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:-22.98, Z:-3.68 [[ 9.85632056e-01 1.67612201e-01 2.08710315e-02 2.81961672e+02] [-1.67562711e-01 9.85852851e-01 -4.11033293e-03 -2.29775389e+01] [-2.12647078e-02 5.54069290e-04 9.99773727e-01 -3.67850149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.99, Y:-22.98, Z:-3.68 [[ 9.86427786e-01 1.62917337e-01 2.04490511e-02 2.81989806e+02] [-1.62868855e-01 9.86639514e-01 -4.02554561e-03 -2.29795859e+01] [-2.08316730e-02 6.40396510e-04 9.99782792e-01 -3.68003164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:-22.98, Z:-3.68 [[ 9.86712967e-01 1.61235378e-01 2.00168490e-02 2.82017668e+02] [-1.61188606e-01 9.86915760e-01 -3.93908317e-03 -2.29838057e+01] [-2.03900633e-02 6.60256452e-04 9.99791883e-01 -3.68109058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.05, Y:-22.99, Z:-3.68 [[ 9.87038271e-01 1.59352953e-01 1.90286221e-02 2.82046192e+02] [-1.59310361e-01 9.87221452e-01 -3.74333733e-03 -2.29861737e+01] [-1.93819758e-02 6.63360535e-04 9.99811932e-01 -3.68115373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:-22.99, Z:-3.68 [[ 9.87123110e-01 1.58830769e-01 1.89934753e-02 2.82073089e+02] [-1.58788258e-01 9.87305594e-01 -3.73534222e-03 -2.29889526e+01] [-1.93456516e-02 6.71301769e-04 9.99812630e-01 -3.68127306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.10, Y:-22.99, Z:-3.68 [[ 9.87150885e-01 1.58592887e-01 1.95301249e-02 2.82100881e+02] [-1.58547950e-01 9.87343819e-01 -3.83802384e-03 -2.29918007e+01] [-1.98916314e-02 6.92247366e-04 9.99801902e-01 -3.68172992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.13, Y:-22.99, Z:-3.68 [[ 9.86928949e-01 1.59725523e-01 2.14244707e-02 2.82128869e+02] [-1.59671747e-01 9.87161193e-01 -4.20864116e-03 -2.29944212e+01] [-2.18216335e-02 7.32747122e-04 9.99761611e-01 -3.68191754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.825898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:282.16, Y:-23.00, Z:-3.68 [[ 9.86817774e-01 1.60398095e-01 2.15204804e-02 2.82156757e+02] [-1.60344029e-01 9.87052143e-01 -4.22599315e-03 -2.29986204e+01] [-2.19196776e-02 7.19604609e-04 9.99759476e-01 -3.68332541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:-23.00, Z:-3.68 [[ 9.86726020e-01 1.60993739e-01 2.12785657e-02 2.82182834e+02] [-1.60941050e-01 9.86955181e-01 -4.17714837e-03 -2.30037519e+01] [-2.16734854e-02 6.97106293e-04 9.99764859e-01 -3.68346344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:-23.01, Z:-3.68 [[ 9.86722805e-01 1.61065288e-01 2.08825043e-02 2.82209089e+02] [-1.61014616e-01 9.86943520e-01 -4.09665956e-03 -2.30081585e+01] [-2.12696820e-02 6.79878997e-04 9.99773544e-01 -3.68444556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.24, Y:-23.01, Z:-3.69 [[ 9.86937586e-01 1.59985322e-01 1.89446073e-02 2.82236132e+02] [-1.59943448e-01 9.87119188e-01 -3.71509310e-03 -2.30137794e+01] [-1.92949457e-02 6.36499212e-04 9.99813633e-01 -3.68637911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.26, Y:-23.02, Z:-3.69 [[ 9.87105562e-01 1.58995546e-01 1.85209639e-02 2.82262916e+02] [-1.58955372e-01 9.87279093e-01 -3.63081716e-03 -2.30194670e+01] [-1.88626442e-02 6.39993112e-04 9.99821880e-01 -3.68693045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:-23.03, Z:-3.69 [[ 9.87254259e-01 1.58073398e-01 1.84886210e-02 2.82290541e+02] [-1.58033233e-01 9.87427148e-01 -3.62291963e-03 -2.30253301e+01] [-1.88288535e-02 6.54926299e-04 9.99822507e-01 -3.68800169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:-23.03, Z:-3.69 [[ 9.87360305e-01 1.57452091e-01 1.81236359e-02 2.82317651e+02] [-1.57413414e-01 9.87526411e-01 -3.55020238e-03 -2.30300757e+01] [-1.84565560e-02 6.52425507e-04 9.99829450e-01 -3.68861609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:-23.03, Z:-3.69 [[ 9.87431820e-01 1.56972192e-01 1.83883698e-02 2.82344809e+02] [-1.56932318e-01 9.87602796e-01 -3.60075564e-03 -2.30346254e+01] [-1.87256239e-02 6.69771211e-04 9.99824436e-01 -3.68961320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:-23.04, Z:-3.69 [[ 9.87653301e-01 1.55484182e-01 1.91213639e-02 2.82371244e+02] [-1.55440809e-01 9.87838116e-01 -3.74311852e-03 -2.30382194e+01] [-1.94708079e-02 7.24663083e-04 9.99810163e-01 -3.69033024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:-23.04, Z:-3.69 [[ 9.87749442e-01 1.54899977e-01 1.88954415e-02 2.82398875e+02] [-1.54857568e-01 9.87929892e-01 -3.69620952e-03 -2.30433087e+01] [-1.92399143e-02 7.24826772e-04 9.99814633e-01 -3.69097814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.43, Y:-23.05, Z:-3.69 [[ 9.87789927e-01 1.54690400e-01 1.84916473e-02 2.82426604e+02] [-1.54649772e-01 9.87962739e-01 -3.61593653e-03 -2.30482128e+01] [-1.88284091e-02 7.12056651e-04 9.99822476e-01 -3.69210952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.45, Y:-23.05, Z:-3.69 [[ 9.87684561e-01 1.55231483e-01 1.95549172e-02 2.82452860e+02] [-1.55186178e-01 9.87877846e-01 -3.82259901e-03 -2.30519797e+01] [-1.99112572e-02 7.40869150e-04 9.99801477e-01 -3.69221556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.48, Y:-23.06, Z:-3.69 [[ 9.87678642e-01 1.55189345e-01 2.01784040e-02 2.82480015e+02] [-1.55141156e-01 9.87884450e-01 -3.94159704e-03 -2.30558857e+01] [-2.05456253e-02 7.62530300e-04 9.99788626e-01 -3.69252891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:282.51, Y:-23.06, Z:-3.69 [[ 9.87789091e-01 1.54388934e-01 2.08990282e-02 2.82507393e+02] [-1.54337100e-01 9.88009822e-01 -4.08054620e-03 -2.30596317e+01] [-2.12784364e-02 8.05223603e-04 9.99773264e-01 -3.69306007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.53, Y:-23.06, Z:-3.69 [[ 9.88270859e-01 1.51046127e-01 2.24894913e-02 2.82534916e+02] [-1.50985276e-01 9.88526267e-01 -4.38940432e-03 -2.30613256e+01] [-2.28944554e-02 9.42338331e-04 9.99737443e-01 -3.69409567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.56, Y:-23.06, Z:-3.70 [[ 9.88596913e-01 1.48906227e-01 2.24294091e-02 2.82562382e+02] [-1.48845219e-01 9.88850829e-01 -4.37469810e-03 -2.30648216e+01] [-2.28307596e-02 9.86302727e-04 9.99738858e-01 -3.69566729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:-23.07, Z:-3.70 [[ 9.89284672e-01 1.44500939e-01 2.08642345e-02 2.82589496e+02] [-1.44447201e-01 9.89504147e-01 -4.06807426e-03 -2.30677666e+01] [-2.12330871e-02 1.01070325e-03 9.99774042e-01 -3.69700961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.335898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.62, Y:-23.07, Z:-3.70 [[ 9.89636908e-01 1.42156709e-01 2.02548832e-02 2.82616457e+02] [-1.42105607e-01 9.89843630e-01 -3.94762719e-03 -2.30726593e+01] [-2.06103488e-02 1.02838509e-03 9.99787055e-01 -3.69870069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.64, Y:-23.08, Z:-3.70 [[ 9.90039418e-01 1.39393526e-01 1.97837064e-02 2.82643440e+02] [-1.39344257e-01 9.90236499e-01 -3.85415820e-03 -2.30783790e+01] [-2.01277929e-02 1.05902267e-03 9.99796855e-01 -3.70023025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.67, Y:-23.08, Z:-3.70 [[ 9.90896782e-01 1.33291296e-01 1.88943608e-02 2.82670602e+02] [-1.33245275e-01 9.91076262e-01 -3.67969667e-03 -2.30848667e+01] [-1.92162240e-02 1.12861530e-03 9.99814714e-01 -3.70108116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.70, Y:-23.09, Z:-3.70 [[ 9.91294093e-01 1.30362228e-01 1.84854436e-02 2.82698009e+02] [-1.30317693e-01 9.91465757e-01 -3.59885230e-03 -2.30911631e+01] [-1.87968388e-02 1.15854066e-03 9.99822653e-01 -3.70146664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.73, Y:-23.10, Z:-3.70 [[ 9.91619208e-01 1.27939870e-01 1.79648775e-02 2.82725226e+02] [-1.27897433e-01 9.91781237e-01 -3.49634602e-03 -2.30972672e+01] [-1.82645505e-02 1.16938215e-03 9.99832505e-01 -3.70204516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:-23.10, Z:-3.70 [[ 9.91727650e-01 1.27142877e-01 1.76339539e-02 2.82751528e+02] [-1.27101884e-01 9.91883733e-01 -3.43083464e-03 -2.31046321e+01] [-1.79270382e-02 1.16114483e-03 9.99838624e-01 -3.70226485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.515898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.78, Y:-23.11, Z:-3.70 [[ 9.91508734e-01 1.28669004e-01 1.88339309e-02 2.82779363e+02] [-1.28622547e-01 9.91686859e-01 -3.66263618e-03 -2.31103730e+01] [-1.91486295e-02 1.20906762e-03 9.99815917e-01 -3.70168766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.81, Y:-23.11, Z:-3.70 [[ 9.90818195e-01 1.33517985e-01 2.12662123e-02 2.82806978e+02] [-1.33459897e-01 9.91045592e-01 -4.13408484e-03 -2.31144659e+01] [-2.16277607e-02 1.25793997e-03 9.99765301e-01 -3.70035882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.575898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.83, Y:-23.12, Z:-3.70 [[ 9.90436787e-01 1.36290925e-01 2.14419057e-02 2.82834386e+02] [-1.36232577e-01 9.90668124e-01 -4.16565869e-03 -2.31184952e+01] [-2.18095539e-02 1.20473554e-03 9.99761418e-01 -3.70075683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:282.86, Y:-23.12, Z:-3.70 [[ 9.90046416e-01 1.39140251e-01 2.11680238e-02 2.82861166e+02] [-1.39084063e-01 9.90272045e-01 -4.11101971e-03 -2.31222635e+01] [-2.15341105e-02 1.12596556e-03 9.99767480e-01 -3.70193420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:-23.13, Z:-3.70 [[ 9.89653771e-01 1.42051021e-01 2.01722969e-02 2.82888535e+02] [-1.42000632e-01 9.89858821e-01 -3.91605762e-03 -2.31265838e+01] [-2.05240060e-02 1.01106229e-03 9.99788849e-01 -3.70251761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66589822699996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:282.92, Y:-23.13, Z:-3.71 [[ 9.89180763e-01 1.45571783e-01 1.81734527e-02 2.82915427e+02] [-1.45531493e-01 9.89347332e-01 -3.52723238e-03 -2.31296598e+01] [-1.84933224e-02 8.44260706e-04 9.99828627e-01 -3.70546943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.94, Y:-23.13, Z:-3.71 [[ 9.89310199e-01 1.44927807e-01 1.61635583e-02 2.82943183e+02] [-1.44895886e-01 9.89441941e-01 -3.13501366e-03 -2.31335407e+01] [-1.64472532e-02 7.59467883e-04 9.99864446e-01 -3.70549449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.97, Y:-23.14, Z:-3.71 [[ 9.89526767e-01 1.43552996e-01 1.51431432e-02 2.82969154e+02] [-1.43524831e-01 9.89642360e-01 -2.93624498e-03 -2.31386452e+01] [-1.54078027e-02 7.32075933e-04 9.99881025e-01 -3.70674388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:-23.14, Z:-3.71 [[ 9.89776304e-01 1.41892206e-01 1.44730849e-02 2.82996245e+02] [-1.41866318e-01 9.89881851e-01 -2.80515822e-03 -2.31448405e+01] [-1.47246741e-02 7.23235870e-04 9.99891325e-01 -3.70736645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:-23.15, Z:-3.71 [[ 9.89801075e-01 1.41719304e-01 1.44730960e-02 2.83024205e+02] [-1.41693399e-01 9.89906618e-01 -2.80510153e-03 -2.31501015e+01] [-1.47245505e-02 7.25750343e-04 9.99891325e-01 -3.70805069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.05, Y:-23.16, Z:-3.71 [[ 9.90078107e-01 1.39756510e-01 1.46102550e-02 2.83050181e+02] [-1.39729951e-01 9.90185610e-01 -2.82812260e-03 -2.31563366e+01] [-1.48621128e-02 7.58572064e-04 9.99889265e-01 -3.70891898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84589822699996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:283.08, Y:-23.16, Z:-3.71 [[ 9.90664232e-01 1.35454233e-01 1.53795124e-02 2.83076883e+02] [-1.35424310e-01 9.90783227e-01 -2.97550935e-03 -2.31633514e+01] [-1.56408083e-02 8.64970833e-04 9.99877301e-01 -3.70972966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.10, Y:-23.17, Z:-3.71 [[ 9.90965433e-01 1.33163285e-01 1.59702603e-02 2.83103607e+02] [-1.33130741e-01 9.91093672e-01 -3.08863240e-03 -2.31701367e+01] [-1.62393163e-02 9.34595359e-04 9.99867697e-01 -3.70994159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.13, Y:-23.18, Z:-3.71 [[ 9.91478883e-01 1.29156072e-01 1.69804087e-02 2.83129621e+02] [-1.29118711e-01 9.91623709e-01 -3.28305146e-03 -2.31777647e+01] [-1.72622019e-02 1.06258771e-03 9.99850432e-01 -3.71040806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.16, Y:-23.18, Z:-3.71 [[ 9.91675089e-01 1.27621762e-01 1.71232210e-02 2.83157125e+02] [-1.27583583e-01 9.91822305e-01 -3.30829207e-03 -2.31841038e+01] [-1.74054026e-02 1.09610894e-03 9.99847914e-01 -3.71099313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.18, Y:-23.19, Z:-3.71 [[ 9.91873455e-01 1.26077913e-01 1.70707159e-02 2.83183029e+02] [-1.26039761e-01 9.92019712e-01 -3.29701676e-03 -2.31899569e+01] [-1.73501676e-02 1.11863446e-03 9.99848849e-01 -3.71200398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.21, Y:-23.20, Z:-3.71 [[ 9.92194688e-01 1.23698781e-01 1.57579726e-02 2.83209498e+02] [-1.23665991e-01 9.92319237e-01 -3.04228191e-03 -2.31971695e+01] [-1.60132659e-02 1.06981064e-03 9.99871207e-01 -3.71345833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:-23.20, Z:-3.71 [[ 9.92282674e-01 1.23042576e-01 1.53498732e-02 2.83237090e+02] [-1.23011404e-01 9.92400836e-01 -2.96227273e-03 -2.32033990e+01] [-1.55977127e-02 1.05120246e-03 9.99877796e-01 -3.71415850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.26, Y:-23.21, Z:-3.71 [[ 9.92307196e-01 1.22824897e-01 1.55072286e-02 2.83263308e+02] [-1.22793071e-01 9.92427787e-01 -2.99167766e-03 -2.32092897e+01] [-1.57572570e-02 1.06448305e-03 9.99875280e-01 -3.71480984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:-23.22, Z:-3.71 [[ 9.92256519e-01 1.22951686e-01 1.76035032e-02 2.83290888e+02] [-1.22910722e-01 9.92411927e-01 -3.39444861e-03 -2.32156312e+01] [-1.78872797e-02 1.20450448e-03 9.99839284e-01 -3.71409248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.32, Y:-23.22, Z:-3.72 [[ 9.92264865e-01 1.22808884e-01 1.81222627e-02 2.83317032e+02] [-1.22765467e-01 9.92429562e-01 -3.49338345e-03 -2.32212266e+01] [-1.84140878e-02 1.24157362e-03 9.99829675e-01 -3.71511672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.34, Y:-23.23, Z:-3.72 [[ 9.92589128e-01 1.20386177e-01 1.65526938e-02 2.83344256e+02] [-1.20349652e-01 9.92726444e-01 -3.18894329e-03 -2.32292825e+01] [-1.68162015e-02 1.17319950e-03 9.99857909e-01 -3.71743804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.37, Y:-23.24, Z:-3.72 [[ 9.92769763e-01 1.19016231e-01 1.55991802e-02 2.83370606e+02] [-1.18983638e-01 9.92891670e-01 -3.00434516e-03 -2.32373080e+01] [-1.58458619e-02 1.12657581e-03 9.99873812e-01 -3.71934072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.40, Y:-23.25, Z:-3.72 [[ 9.92952287e-01 1.17521796e-01 1.53096061e-02 2.83397029e+02] [-1.17490246e-01 9.93069663e-01 -2.94726806e-03 -2.32454517e+01] [-1.55498736e-02 1.12776717e-03 9.99878457e-01 -3.72039053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.42, Y:-23.26, Z:-3.72 [[ 9.93114577e-01 1.15985372e-01 1.64568992e-02 2.83422323e+02] [-1.15948726e-01 9.93250151e-01 -3.16694874e-03 -2.32580308e+01] [-1.67131374e-02 1.23698646e-03 9.99859561e-01 -3.72022869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.45, Y:-23.27, Z:-3.72 [[ 9.93026388e-01 1.16658911e-01 1.70085367e-02 2.83447848e+02] [-1.16619890e-01 9.93171233e-01 -3.27166154e-03 -2.32661549e+01] [-1.72740578e-02 1.26531257e-03 9.99849992e-01 -3.72023698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:-23.28, Z:-3.72 [[ 9.92481518e-01 1.21204971e-01 1.70232482e-02 2.83474684e+02] [-1.21166567e-01 9.92626792e-01 -3.27338637e-03 -2.32767674e+01] [-1.72944829e-02 1.18612695e-03 9.99849736e-01 -3.71994169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:-23.28, Z:-3.72 [[ 9.92082754e-01 1.24484193e-01 1.65980513e-02 2.83501117e+02] [-1.24448172e-01 9.92220983e-01 -3.18971124e-03 -2.32841138e+01] [-1.68660034e-02 1.09886036e-03 9.99857155e-01 -3.72031998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:-23.29, Z:-3.72 [[ 9.91630694e-01 1.28065544e-01 1.63641002e-02 2.83527672e+02] [-1.28031047e-01 9.91765180e-01 -3.14291518e-03 -2.32910595e+01] [-1.66318439e-02 1.02149828e-03 9.99861160e-01 -3.72028076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:-23.30, Z:-3.72 [[ 9.90629022e-01 1.35516710e-01 1.70106346e-02 2.83554624e+02] [-1.35480553e-01 9.90774624e-01 -3.26557222e-03 -2.32966970e+01] [-1.72962447e-02 9.30360441e-04 9.99849976e-01 -3.71993839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:-23.30, Z:-3.72 [[ 9.90184779e-01 1.38646036e-01 1.76459533e-02 2.83582325e+02] [-1.38607646e-01 9.90341584e-01 -3.38624591e-03 -2.33012678e+01] [-1.79450110e-02 9.07145108e-04 9.99838564e-01 -3.72081260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:-23.31, Z:-3.72 [[ 9.89851586e-01 1.40983749e-01 1.78162733e-02 2.83610207e+02] [-1.40945015e-01 9.90011526e-01 -3.41767103e-03 -2.33061987e+01] [-1.81201520e-02 8.71872187e-04 9.99835436e-01 -3.72191212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:-23.31, Z:-3.72 [[ 9.89681080e-01 1.42393871e-01 1.59795143e-02 2.83636579e+02] [-1.42362910e-01 9.89809785e-01 -3.06445888e-03 -2.33123621e+01] [-1.62530398e-02 7.57946824e-04 9.99867623e-01 -3.72313009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.66, Y:-23.32, Z:-3.72 [[ 9.89834329e-01 1.41440976e-01 1.49148359e-02 2.83662878e+02] [-1.41413912e-01 9.89946428e-01 -2.85917611e-03 -2.33180061e+01] [-1.51692932e-02 7.20945372e-04 9.99884680e-01 -3.72441568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.69, Y:-23.32, Z:-3.72 [[ 9.90241903e-01 1.38495950e-01 1.54869476e-02 2.83690381e+02] [-1.38466433e-01 9.90362682e-01 -2.96745778e-03 -2.33238127e+01] [-1.57486759e-02 7.94078640e-04 9.99875667e-01 -3.72465441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.72, Y:-23.33, Z:-3.73 [[ 9.90470371e-01 1.36688385e-01 1.68739560e-02 2.83716731e+02] [-1.36653103e-01 9.90613691e-01 -3.23193856e-03 -2.33302064e+01] [-1.71573403e-02 8.95260940e-04 9.99852401e-01 -3.72511024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:-23.34, Z:-3.72 [[ 9.90753307e-01 1.34556343e-01 1.73918309e-02 2.83743280e+02] [-1.34518558e-01 9.90905480e-01 -3.32979667e-03 -2.33372624e+01] [-1.76817059e-02 9.59483038e-04 9.99843206e-01 -3.72489541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.77, Y:-23.35, Z:-3.73 [[ 9.91393236e-01 1.29928630e-01 1.60624407e-02 2.83769745e+02] [-1.29895826e-01 9.91522883e-01 -3.07341411e-03 -2.33466409e+01] [-1.63256020e-02 9.60517955e-04 9.99866267e-01 -3.72662478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.80, Y:-23.35, Z:-3.73 [[ 9.91668035e-01 1.27990720e-01 1.45905482e-02 2.83796806e+02] [-1.27963457e-01 9.91774957e-01 -2.79090824e-03 -2.33540602e+01] [-1.48277506e-02 9.00597499e-04 9.99889657e-01 -3.72757521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.685898227 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:283.82, Y:-23.36, Z:-3.73 [[ 9.91934683e-01 1.25904128e-01 1.46196810e-02 2.83824698e+02] [-1.25876548e-01 9.92041976e-01 -2.79523486e-03 -2.33629978e+01] [-1.48552688e-02 9.32415422e-04 9.99889220e-01 -3.72780883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.85, Y:-23.37, Z:-3.73 [[ 9.91904968e-01 1.25951723e-01 1.61461613e-02 2.83851918e+02] [-1.25918102e-01 9.92035839e-01 -3.08630365e-03 -2.33698390e+01] [-1.64062960e-02 1.02822593e-03 9.99864879e-01 -3.72788331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.88, Y:-23.38, Z:-3.73 [[ 9.91760279e-01 1.26798528e-01 1.82669873e-02 2.83879170e+02] [-1.26755660e-01 9.91927830e-01 -3.49043838e-03 -2.33753043e+01] [-1.85621156e-02 1.14623410e-03 9.99827052e-01 -3.72745734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.91, Y:-23.38, Z:-3.73 [[ 9.91269085e-01 1.30070254e-01 2.16178087e-02 2.83907536e+02] [-1.30011022e-01 9.91503951e-01 -4.12920354e-03 -2.33797824e+01] [-2.19712293e-02 1.28259842e-03 9.99757781e-01 -3.72661926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.94, Y:-23.38, Z:-3.73 [[ 9.91046611e-01 1.31783763e-01 2.14395723e-02 2.83935955e+02] [-1.31725924e-01 9.91277720e-01 -4.09417616e-03 -2.33839418e+01] [-2.17921163e-02 1.23337193e-03 9.99761763e-01 -3.72732177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.96, Y:-23.39, Z:-3.73 [[ 9.90900617e-01 1.32931239e-01 2.11009983e-02 2.83963932e+02] [-1.32875492e-01 9.91124550e-01 -4.02857083e-03 -2.33879715e+01] [-2.14492404e-02 1.18810778e-03 9.99769233e-01 -3.72837160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.99, Y:-23.39, Z:-3.73 [[ 9.90849016e-01 1.33382761e-01 2.06704390e-02 2.83990862e+02] [-1.33329388e-01 9.91063928e-01 -3.94523864e-03 -2.33914494e+01] [-2.10119533e-02 1.15315884e-03 9.99778560e-01 -3.72901811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.895898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.02, Y:-23.39, Z:-3.73 [[ 9.91014124e-01 1.32243790e-01 2.00645221e-02 2.84018211e+02] [-1.32193300e-01 9.91216564e-01 -3.82807915e-03 -2.33938464e+01] [-2.03945264e-02 1.14128512e-03 9.99791359e-01 -3.73038690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.05, Y:-23.40, Z:-3.73 [[ 9.91263867e-01 1.30453657e-01 1.94368030e-02 2.84046530e+02] [-1.30405964e-01 9.91453753e-01 -3.70678868e-03 -2.33989536e+01] [-1.97542554e-02 1.13973065e-03 9.99804216e-01 -3.73165691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.07, Y:-23.41, Z:-3.73 [[ 9.92083628e-01 1.24133883e-01 1.89961607e-02 2.84074062e+02] [-1.24087189e-01 9.92264708e-01 -3.62191092e-03 -2.34060134e+01] [-1.92988218e-02 1.23605833e-03 9.99812996e-01 -3.73390897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.10, Y:-23.41, Z:-3.73 [[ 9.92609348e-01 1.19919908e-01 1.85983321e-02 2.84101326e+02] [-1.19874428e-01 9.92782732e-01 -3.54527673e-03 -2.34124447e+01] [-1.88892522e-02 1.28961040e-03 9.99820750e-01 -3.73473010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.13, Y:-23.42, Z:-3.74 [[ 9.93106691e-01 1.15847384e-01 1.78461028e-02 2.84129407e+02] [-1.15804873e-01 9.93266161e-01 -3.40084060e-03 -2.34194300e+01] [-1.81199085e-02 1.31073189e-03 9.99834962e-01 -3.73518551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.16, Y:-23.43, Z:-3.74 [[ 9.93705499e-01 1.10749257e-01 1.68518024e-02 2.84156042e+02] [-1.10710633e-01 9.93847497e-01 -3.21076202e-03 -2.34302951e+01] [-1.71037112e-02 1.32487816e-03 9.99852843e-01 -3.73590603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.18, Y:-23.44, Z:-3.74 [[ 9.93713206e-01 1.10668837e-01 1.69254949e-02 2.84183632e+02] [-1.10629883e-01 9.93856447e-01 -3.22364078e-03 -2.34388609e+01] [-1.71782688e-02 1.33090889e-03 9.99851557e-01 -3.73620246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.21, Y:-23.45, Z:-3.74 [[ 9.93488496e-01 1.12620791e-01 1.72384943e-02 2.84211590e+02] [-1.12580689e-01 9.93637164e-01 -3.28245852e-03 -2.34465866e+01] [-1.74984817e-02 1.32036321e-03 9.99846018e-01 -3.73629453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.24, Y:-23.45, Z:-3.74 [[ 9.92406240e-01 1.21734189e-01 1.76250315e-02 2.84239763e+02] [-1.21693710e-01 9.92562030e-01 -3.35524414e-03 -2.34530786e+01] [-1.79023850e-02 1.18490974e-03 9.99839037e-01 -3.73532578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.27, Y:-23.46, Z:-3.74 [[ 9.91734143e-01 1.27128821e-01 1.73681701e-02 2.84267041e+02] [-1.27090349e-01 9.91885636e-01 -3.30564956e-03 -2.34583813e+01] [-1.76474818e-02 1.07099872e-03 9.99843697e-01 -3.73537862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.30, Y:-23.46, Z:-3.74 [[ 9.91130499e-01 1.31783201e-01 1.71324728e-02 2.84295276e+02] [-1.31746476e-01 9.91278084e-01 -3.25977705e-03 -2.34639884e+01] [-1.74126287e-02 9.73721533e-04 9.99847915e-01 -3.73650211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22589822699996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.32, Y:-23.47, Z:-3.74 [[ 9.90404394e-01 1.37037837e-01 1.78820619e-02 2.84322375e+02] [-1.36998694e-01 9.90565387e-01 -3.40170353e-03 -2.34714170e+01] [-1.81795137e-02 9.19242992e-04 9.99834316e-01 -3.73785284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.35, Y:-23.48, Z:-3.74 [[ 9.90254027e-01 1.37973044e-01 1.89842405e-02 2.84348838e+02] [-1.37929127e-01 9.90435523e-01 -3.60986999e-03 -2.34792452e+01] [-1.93007309e-02 9.56208585e-04 9.99813266e-01 -3.73875786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.38, Y:-23.49, Z:-3.74 [[ 9.90122067e-01 1.38868005e-01 1.93383224e-02 2.84375955e+02] [-1.38822628e-01 9.90310439e-01 -3.67598672e-03 -2.34915672e+01] [-1.96614195e-02 9.55078829e-04 9.99806239e-01 -3.73907820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.40, Y:-23.50, Z:-3.74 [[ 9.90090983e-01 1.39084187e-01 1.93761088e-02 2.84402804e+02] [-1.39038691e-01 9.90280103e-01 -3.68230852e-03 -2.35003186e+01] [-1.96999259e-02 9.51791670e-04 9.99805485e-01 -3.73995252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.43, Y:-23.51, Z:-3.74 [[ 9.89960600e-01 1.40091948e-01 1.87684819e-02 2.84430158e+02] [-1.40049463e-01 9.90138088e-01 -3.56572476e-03 -2.35086500e+01] [-1.90829181e-02 9.01411212e-04 9.99817498e-01 -3.73940608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.46, Y:-23.52, Z:-3.74 [[ 9.89002931e-01 1.46806607e-01 1.79171054e-02 2.84456904e+02] [-1.46769000e-01 9.89164940e-01 -3.40326657e-03 -2.35175271e+01] [-1.82225945e-02 7.36164955e-04 9.99833684e-01 -3.73946046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.48, Y:-23.52, Z:-3.74 [[ 9.88128970e-01 1.52562524e-01 1.80503184e-02 2.84484013e+02] [-1.52525334e-01 9.88293618e-01 -3.42748083e-03 -2.35237887e+01] [-1.83619196e-02 6.33662264e-04 9.99831205e-01 -3.73954618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.435898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.51, Y:-23.53, Z:-3.74 [[ 9.87089805e-01 1.59099174e-01 1.84707860e-02 2.84510631e+02] [-1.59061397e-01 9.87262467e-01 -3.50605405e-03 -2.35297038e+01] [-1.87933241e-02 5.22801176e-04 9.99823253e-01 -3.73987595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.54, Y:-23.54, Z:-3.74 [[ 9.84942348e-01 1.71793349e-01 1.93808358e-02 2.84536611e+02] [-1.71754241e-01 9.85132965e-01 -3.67712403e-03 -2.35353113e+01] [-1.97244057e-02 2.93014436e-04 9.99805412e-01 -3.74042195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.56, Y:-23.54, Z:-3.74 [[ 9.83948043e-01 1.77297993e-01 2.02896674e-02 2.84563272e+02] [-1.77256333e-01 9.84157196e-01 -3.84795242e-03 -2.35401877e+01] [-2.06504564e-02 1.89713224e-04 9.99786739e-01 -3.74163816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.59, Y:-23.55, Z:-3.74 [[ 9.82618248e-01 1.84334139e-01 2.19614223e-02 2.84590817e+02] [-1.84287149e-01 9.82863634e-01 -4.16213004e-03 -2.35465192e+01] [-2.23523060e-02 4.25770308e-05 9.99750155e-01 -3.74322752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.62, Y:-23.55, Z:-3.74 [[ 9.82393564e-01 1.85490952e-01 2.22708912e-02 2.84617108e+02] [-1.85442963e-01 9.82645972e-01 -4.21912200e-03 -2.35525310e+01] [-2.26670105e-02 1.48582248e-05 9.99743070e-01 -3.74498376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.585898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.64, Y:-23.56, Z:-3.75 [[ 9.82427104e-01 1.85334152e-01 2.20961083e-02 2.84644152e+02] [-1.85286917e-01 9.82675558e-01 -4.18409912e-03 -2.35587989e+01] [-2.24887620e-02 1.64525983e-05 9.99747096e-01 -3.74615086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.67, Y:-23.57, Z:-3.75 [[ 9.82860419e-01 1.83171023e-01 2.08272380e-02 2.84671002e+02] [-1.83128600e-01 9.83081061e-01 -3.94247791e-03 -2.35662141e+01] [-2.11970109e-02 6.08425574e-05 9.99775316e-01 -3.74710365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.70, Y:-23.57, Z:-3.75 [[ 9.82934069e-01 1.82726290e-01 2.12536863e-02 2.84698106e+02] [-1.82682042e-01 9.83163821e-01 -4.02165160e-03 -2.35728896e+01] [-2.16307169e-02 7.03515681e-05 9.99766026e-01 -3.74766017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.73, Y:-23.58, Z:-3.75 [[ 9.82919724e-01 1.82680710e-01 2.22839334e-02 2.84725682e+02] [-1.82632094e-01 9.83172290e-01 -4.21491657e-03 -2.35796396e+01] [-2.26789298e-02 7.31632049e-05 9.99742797e-01 -3.74794145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.75, Y:-23.58, Z:-3.75 [[ 9.82930362e-01 1.82623431e-01 2.22842301e-02 2.84753695e+02] [-1.82574835e-01 9.83182932e-01 -4.21334759e-03 -2.35848060e+01] [-2.26789306e-02 7.28876296e-05 9.99742797e-01 -3.74862633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-23.59, Z:-3.75 [[ 9.82677002e-01 1.83689776e-01 2.45759236e-02 2.84780871e+02] [-1.83631044e-01 9.82984264e-01 -4.64500397e-03 -2.35915179e+01] [-2.50109859e-02 5.16360615e-05 9.99687175e-01 -3.74830596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.765898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:284.81, Y:-23.60, Z:-3.75 [[ 9.82546230e-01 1.84312354e-01 2.51368588e-02 2.84807295e+02] [-1.84251163e-01 9.82867720e-01 -4.74911053e-03 -2.35962883e+01] [-2.55815268e-02 3.47251766e-05 9.99672739e-01 -3.74903484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.83, Y:-23.60, Z:-3.75 [[ 9.82252133e-01 1.85873818e-01 2.51330848e-02 2.84834836e+02] [-1.85813222e-01 9.82573623e-01 -4.74582586e-03 -2.36024780e+01] [-2.55772310e-02 -8.46189615e-06 9.99672849e-01 -3.74926635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.86, Y:-23.61, Z:-3.75 [[ 9.81588809e-01 1.89365949e-01 2.49789237e-02 2.84861878e+02] [-1.89307270e-01 9.81906578e-01 -4.71490462e-03 -2.36068983e+01] [-2.54198118e-02 -1.00594224e-04 9.99676859e-01 -3.74975094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85589822699995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:284.89, Y:-23.61, Z:-3.75 [[ 9.81271576e-01 1.91014754e-01 2.48889273e-02 2.84889998e+02] [-1.90957080e-01 9.81587155e-01 -4.69585518e-03 -2.36100482e+01] [-2.53276289e-02 -1.44807650e-04 9.99679194e-01 -3.75024544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.92, Y:-23.61, Z:-3.75 [[ 9.80894616e-01 1.93012133e-01 2.43324525e-02 2.84918144e+02] [-1.92957665e-01 9.81196351e-01 -4.58915202e-03 -2.36139503e+01] [-2.47606756e-02 -1.93658706e-04 9.99693389e-01 -3.75091261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.95, Y:-23.62, Z:-3.75 [[ 9.80302097e-01 1.96168781e-01 2.29261314e-02 2.84945097e+02] [-1.96121327e-01 9.80570111e-01 -4.32237160e-03 -2.36159140e+01] [-2.33285936e-02 -2.59073377e-04 9.99727818e-01 -3.75301341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.945898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:284.97, Y:-23.62, Z:-3.75 [[ 9.80033662e-01 1.97579564e-01 2.22786070e-02 2.84972782e+02] [-1.97535157e-01 9.80286812e-01 -4.19853846e-03 -2.36195895e+01] [-2.26689700e-02 -2.86099112e-04 9.99742985e-01 -3.75369116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.00, Y:-23.62, Z:-3.75 [[ 9.79549128e-01 2.00088881e-01 2.11647376e-02 2.85000122e+02] [-2.00049440e-01 9.79777695e-01 -3.98626071e-03 -2.36207325e+01] [-2.15343443e-02 -3.29255707e-04 9.99768055e-01 -3.75394158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.03, Y:-23.62, Z:-3.75 [[ 9.79375222e-01 2.00994654e-01 2.06233786e-02 2.85028279e+02] [-2.00957464e-01 9.79592278e-01 -3.88152757e-03 -2.36238099e+01] [-2.09826687e-02 -3.42949937e-04 9.99779781e-01 -3.75480940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.06, Y:-23.63, Z:-3.76 [[ 9.79268325e-01 2.01569861e-01 2.00782959e-02 2.85056521e+02] [-2.01534761e-01 9.79474079e-01 -3.77752714e-03 -2.36271766e+01] [-2.04276060e-02 -3.47261879e-04 9.99791274e-01 -3.75557218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.08, Y:-23.63, Z:-3.76 [[ 9.79412755e-01 2.00912353e-01 1.96183761e-02 2.85083749e+02] [-2.00878738e-01 9.79609167e-01 -3.68966366e-03 -2.36293523e+01] [-1.99596401e-02 -3.27210983e-04 9.99800733e-01 -3.75657193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.11, Y:-23.63, Z:-3.76 [[ 9.79552329e-01 2.00273110e-01 1.91811241e-02 2.85111918e+02] [-2.00240886e-01 9.79740060e-01 -3.60580363e-03 -2.36329507e+01] [-1.95146612e-02 -3.08771942e-04 9.99809523e-01 -3.75718994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.125898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:285.14, Y:-23.64, Z:-3.76 [[ 9.79758661e-01 1.99288432e-01 1.88967483e-02 2.85139669e+02] [-1.99256999e-01 9.79940834e-01 -3.55100619e-03 -2.36363073e+01] [-1.92253697e-02 -2.86180279e-04 9.99815135e-01 -3.75839486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-23.64, Z:-3.76 [[ 9.79884947e-01 1.98668144e-01 1.88801052e-02 2.85166307e+02] [-1.98636676e-01 9.80066780e-01 -3.54656167e-03 -2.36418547e+01] [-1.92083527e-02 -2.75058941e-04 9.99815465e-01 -3.76003498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.19, Y:-23.65, Z:-3.76 [[ 9.79824464e-01 1.98810719e-01 2.04528351e-02 2.85193775e+02] [-1.98773861e-01 9.80037860e-01 -3.84006113e-03 -2.36484688e+01] [-2.08079981e-02 -3.02903174e-04 9.99783444e-01 -3.76065162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:-23.65, Z:-3.76 [[ 9.79627938e-01 1.99701290e-01 2.11777547e-02 2.85219918e+02] [-1.99662015e-01 9.79856766e-01 -3.97459532e-03 -2.36536079e+01] [-2.15448980e-02 -3.34768546e-04 9.99767826e-01 -3.76031168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.25, Y:-23.66, Z:-3.76 [[ 9.79131643e-01 2.02199883e-01 2.04066680e-02 2.85246518e+02] [-2.02163992e-01 9.79344201e-01 -3.82822560e-03 -2.36596034e+01] [-2.07592187e-02 -3.77156637e-04 9.99784433e-01 -3.75969021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-23.67, Z:-3.76 [[ 9.78822216e-01 2.03775354e-01 1.95620487e-02 2.85272617e+02] [-2.03742718e-01 9.79017594e-01 -3.66821573e-03 -2.36653470e+01] [-1.98990818e-02 -3.95093923e-04 9.99801916e-01 -3.76102141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30589822699994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:285.30, Y:-23.67, Z:-3.76 [[ 9.78109737e-01 2.07266994e-01 1.84861002e-02 2.85299647e+02] [-2.07238500e-01 9.78284313e-01 -3.46497986e-03 -2.36707797e+01] [-1.88028378e-02 -4.41901152e-04 9.99823113e-01 -3.76224793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.335898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.33, Y:-23.68, Z:-3.76 [[ 9.77646544e-01 2.09353382e-01 1.94524327e-02 2.85326437e+02] [-2.09322271e-01 9.77839917e-01 -3.64470429e-03 -2.36757451e+01] [-1.97843964e-02 -5.08594836e-04 9.99804140e-01 -3.76296196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-23.68, Z:-3.76 [[ 9.77211257e-01 2.11232422e-01 2.09528999e-02 2.85353935e+02] [-2.11196798e-01 9.77435683e-01 -3.92396954e-03 -2.36806107e+01] [-2.13089816e-02 -5.90638157e-04 9.99772763e-01 -3.76348859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.38, Y:-23.69, Z:-3.76 [[ 9.76400781e-01 2.14708646e-01 2.32747113e-02 2.85381521e+02] [-2.14665716e-01 9.76677862e-01 -4.35700624e-03 -2.36854212e+01] [-2.36673822e-02 -7.42098275e-04 9.99719613e-01 -3.76309746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:285.41, Y:-23.69, Z:-3.76 [[ 9.76130148e-01 2.15965911e-01 2.29925866e-02 2.85408037e+02] [-2.15924466e-01 9.76400602e-01 -4.29986241e-03 -2.36894210e+01] [-2.33785992e-02 -7.67436667e-04 9.99726389e-01 -3.76323458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.44, Y:-23.69, Z:-3.76 [[ 9.75930884e-01 2.16987409e-01 2.18030804e-02 2.85436006e+02] [-2.16950433e-01 9.76174113e-01 -4.07571009e-03 -2.36947966e+01] [-2.21679804e-02 -7.52576376e-04 9.99753977e-01 -3.76391824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-23.70, Z:-3.76 [[ 9.75775459e-01 2.17898524e-01 1.95572822e-02 2.85462581e+02] [-2.17868976e-01 9.75971183e-01 -3.65494019e-03 -2.36988455e+01] [-1.98837499e-02 -6.94524104e-04 9.99802057e-01 -3.76489694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-23.70, Z:-3.77 [[ 9.75673016e-01 2.18375687e-01 1.93449191e-02 2.85490054e+02] [-2.18346913e-01 9.75864525e-01 -3.61313522e-03 -2.37030696e+01] [-1.96670411e-02 -6.98664815e-04 9.99806341e-01 -3.76572378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.52, Y:-23.71, Z:-3.77 [[ 9.75422465e-01 2.19466480e-01 1.96336015e-02 2.85516277e+02] [-2.19437147e-01 9.75619763e-01 -3.66273469e-03 -2.37074055e+01] [-1.99587771e-02 -7.35627802e-04 9.99800533e-01 -3.76666774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-23.71, Z:-3.77 [[ 9.74750041e-01 2.22401604e-01 1.99971153e-02 2.85544724e+02] [-2.22371818e-01 9.74954803e-01 -3.72922196e-03 -2.37091536e+01] [-2.03256685e-02 -8.11735613e-04 9.99793083e-01 -3.76734105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-23.71, Z:-3.77 [[ 9.74350486e-01 2.24122854e-01 2.02503790e-02 2.85572062e+02] [-2.24092769e-01 9.74560518e-01 -3.77208472e-03 -2.37116887e+01] [-2.05806302e-02 -8.62630915e-04 9.99787824e-01 -3.76809844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.635898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.60, Y:-23.71, Z:-3.77 [[ 9.74023039e-01 2.25517430e-01 2.05184688e-02 2.85599949e+02] [-2.25486882e-01 9.74238713e-01 -3.82058447e-03 -2.37148200e+01] [-2.08514950e-02 -9.05308244e-04 9.99782174e-01 -3.76903505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-23.72, Z:-3.77 [[ 9.73706020e-01 2.26848247e-01 2.08916293e-02 2.85627094e+02] [-2.26816976e-01 9.73929649e-01 -3.88571329e-03 -2.37167925e+01] [-2.12284445e-02 -9.55033766e-04 9.99774195e-01 -3.76863423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:-23.72, Z:-3.77 [[ 9.73760318e-01 2.26616620e-01 2.08746441e-02 2.85654861e+02] [-2.26585378e-01 9.73983575e-01 -3.88109644e-03 -2.37212503e+01] [-2.12110814e-02 -9.50631406e-04 9.99774568e-01 -3.76946058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.68, Y:-23.73, Z:-3.77 [[ 9.74089806e-01 2.25226128e-01 2.05484960e-02 2.85682822e+02] [-2.25195618e-01 9.74306094e-01 -3.81693234e-03 -2.37253282e+01] [-2.08801977e-02 -9.09396379e-04 9.99781571e-01 -3.77046263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.755898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:285.71, Y:-23.73, Z:-3.77 [[ 9.74857404e-01 2.21949365e-01 1.97869046e-02 2.85711049e+02] [-2.21920474e-01 9.75057855e-01 -3.67184842e-03 -2.37287251e+01] [-2.01083412e-02 -8.11590643e-04 9.99797477e-01 -3.77206172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.74, Y:-23.73, Z:-3.77 [[ 9.75259516e-01 2.20162230e-01 1.99366096e-02 2.85738414e+02] [-2.20132605e-01 9.75462955e-01 -3.69582147e-03 -2.37336676e+01] [-2.02611044e-02 -7.84312753e-04 9.99794415e-01 -3.77312052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.815898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:285.77, Y:-23.74, Z:-3.77 [[ 9.75560582e-01 2.18838430e-01 1.97811012e-02 2.85765015e+02] [-2.18809081e-01 9.75760817e-01 -3.66262514e-03 -2.37388041e+01] [-2.01031466e-02 -7.55171850e-04 9.99797626e-01 -3.77362175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:-23.75, Z:-3.77 [[ 9.76067991e-01 2.16581610e-01 1.95878351e-02 2.85792364e+02] [-2.16552403e-01 9.76264263e-01 -3.62558276e-03 -2.37470330e+01] [-1.99081380e-02 -7.02977484e-04 9.99801566e-01 -3.77343464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-23.75, Z:-3.77 [[ 9.76122223e-01 2.16291436e-01 2.00853141e-02 2.85818944e+02] [-2.16260755e-01 9.76328581e-01 -3.71323829e-03 -2.37538818e+01] [-2.04130078e-02 -7.19090771e-04 9.99791374e-01 -3.77356576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:-23.76, Z:-3.77 [[ 9.76070890e-01 2.16517998e-01 2.01388903e-02 2.85846249e+02] [-2.16487229e-01 9.76278356e-01 -3.72183108e-03 -2.37602958e+01] [-2.04670061e-02 -7.27041578e-04 9.99790265e-01 -3.77324190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:-23.77, Z:-3.77 [[ 9.75270886e-01 2.20072125e-01 2.03705418e-02 2.85871923e+02] [-2.20041510e-01 9.75483262e-01 -3.76017463e-03 -2.37671386e+01] [-2.06986322e-02 -8.15175941e-04 9.99785428e-01 -3.77360748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.90, Y:-23.77, Z:-3.77 [[ 9.74672455e-01 2.22733759e-01 2.00817678e-02 2.85899589e+02] [-2.22704596e-01 9.74878932e-01 -3.70554247e-03 -2.37729042e+01] [-2.04026418e-02 -8.60611813e-04 9.99791474e-01 -3.77475517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:-23.78, Z:-3.78 [[ 9.74045293e-01 2.25476611e-01 1.99013664e-02 2.85926958e+02] [-2.25448618e-01 9.74248153e-01 -3.66844860e-03 -2.37776832e+01] [-2.02160189e-02 -9.13500465e-04 9.99795218e-01 -3.77563593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:-23.78, Z:-3.78 [[ 9.72826350e-01 2.30738770e-01 1.91966733e-02 2.85954543e+02] [-2.30713824e-01 9.73015231e-01 -3.53450926e-03 -2.37792123e+01] [-1.94942038e-02 -9.90474151e-04 9.99809479e-01 -3.77575644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.98, Y:-23.78, Z:-3.78 [[ 9.72314609e-01 2.32907879e-01 1.89267378e-02 2.85982370e+02] [-2.32884059e-01 9.72498267e-01 -3.48375766e-03 -2.37818026e+01] [-1.92176143e-02 -1.02042706e-03 9.99814804e-01 -3.77677208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.01, Y:-23.78, Z:-3.78 [[ 9.71819089e-01 2.34989263e-01 1.86468593e-02 2.86009850e+02] [-2.34966600e-01 9.71997399e-01 -3.42820461e-03 -2.37840904e+01] [-1.89302900e-02 -1.04979446e-03 9.99820255e-01 -3.77794779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-23.79, Z:-3.78 [[ 9.71495073e-01 2.36417229e-01 1.74418234e-02 2.86036549e+02] [-2.36397654e-01 9.71651108e-01 -3.20531549e-03 -2.37867841e+01] [-1.77051588e-02 -1.00925793e-03 9.99842742e-01 -3.77828176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.06, Y:-23.79, Z:-3.78 [[ 9.71688416e-01 2.35686123e-01 1.65430968e-02 2.86064384e+02] [-2.35668416e-01 9.71828770e-01 -3.03969722e-03 -2.37882538e+01] [-1.67934719e-02 -9.45046838e-04 9.99858533e-01 -3.77963224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-23.79, Z:-3.78 [[ 9.72163243e-01 2.33649411e-01 1.75094737e-02 2.86092110e+02] [-2.33629306e-01 9.72320430e-01 -3.21379967e-03 -2.37911294e+01] [-1.77757214e-02 -9.66388273e-04 9.99841532e-01 -3.77991387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.205898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:286.12, Y:-23.79, Z:-3.78 [[ 9.73454762e-01 2.28045540e-01 1.95206905e-02 2.86119091e+02] [-2.28019517e-01 9.73649986e-01 -3.57834736e-03 -2.37918790e+01] [-1.98223462e-02 -9.67739143e-04 9.99803050e-01 -3.77967430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-23.80, Z:-3.78 [[ 9.74170461e-01 2.24982142e-01 1.93636089e-02 2.86147226e+02] [-2.24955978e-01 9.74362471e-01 -3.54725157e-03 -2.37959081e+01] [-1.96652420e-02 -9.00331865e-04 9.99806215e-01 -3.78038477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.17, Y:-23.80, Z:-3.78 [[ 9.74761626e-01 2.22495482e-01 1.83175808e-02 2.86173534e+02] [-2.22471702e-01 9.74933386e-01 -3.35169968e-03 -2.37994056e+01] [-1.86041592e-02 -8.08035169e-04 9.99826601e-01 -3.78084583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:-23.80, Z:-3.78 [[ 9.75436810e-01 2.19683161e-01 1.61968630e-02 2.86200471e+02] [-2.19664195e-01 9.75571044e-01 -2.96286667e-03 -2.38010595e+01] [-1.64520825e-02 -6.67781674e-04 9.99864432e-01 -3.78100462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.23, Y:-23.80, Z:-3.78 [[ 9.75531544e-01 2.19264612e-01 1.61628485e-02 2.86228303e+02] [-2.19245696e-01 9.75665205e-01 -2.95493862e-03 -2.38044123e+01] [-1.64174424e-02 -6.60999145e-04 9.99865006e-01 -3.78114392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:-23.81, Z:-3.78 [[ 9.75479958e-01 2.19441300e-01 1.68632051e-02 2.86255808e+02] [-2.19420794e-01 9.75625457e-01 -3.07954813e-03 -2.38075571e+01] [-1.71279522e-02 -6.96100373e-04 9.99853064e-01 -3.78121034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:-23.81, Z:-3.78 [[ 9.75088325e-01 2.21020405e-01 1.87813367e-02 2.86283555e+02] [-2.20995350e-01 9.75268847e-01 -3.42517254e-03 -2.38075943e+01] [-1.90738856e-02 -8.10742325e-04 9.99817748e-01 -3.77988428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.31, Y:-23.81, Z:-3.78 [[ 9.74813936e-01 2.22171648e-01 1.94306010e-02 2.86310247e+02] [-2.22145084e-01 9.75007186e-01 -3.54232371e-03 -2.38093960e+01] [-1.97319795e-02 -8.63305973e-04 9.99804933e-01 -3.78033575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.34, Y:-23.81, Z:-3.78 [[ 9.74507049e-01 2.23558887e-01 1.89059768e-02 2.86338062e+02] [-2.23534065e-01 9.74690036e-01 -3.44325609e-03 -2.38111618e+01] [-1.91972377e-02 -8.70652509e-04 9.99815337e-01 -3.78052502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:-23.81, Z:-3.78 [[ 9.73694940e-01 2.27285730e-01 1.61047096e-02 2.86365758e+02] [-2.27268280e-01 9.73827780e-01 -2.92981120e-03 -2.38111212e+01] [-1.63491179e-02 -8.07347311e-04 9.99866018e-01 -3.78274599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.505898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:286.39, Y:-23.81, Z:-3.78 [[ 9.73500413e-01 2.28190102e-01 1.50407115e-02 2.86394135e+02] [-2.28174993e-01 9.73616293e-01 -2.73604477e-03 -2.38136743e+01] [-1.52682201e-02 -7.68373521e-04 9.99883139e-01 -3.78378627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.42, Y:-23.82, Z:-3.78 [[ 9.73319280e-01 2.28994368e-01 1.45312785e-02 2.86422108e+02] [-2.28980392e-01 9.73427453e-01 -2.64077930e-03 -2.38176049e+01] [-1.47498690e-02 -7.57056431e-04 9.99890928e-01 -3.78468695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.45, Y:-23.82, Z:-3.78 [[ 9.73222111e-01 2.29280486e-01 1.64067670e-02 2.86448911e+02] [-2.29262787e-01 9.73360011e-01 -2.97703174e-03 -2.38186606e+01] [-1.66522662e-02 -8.64148003e-04 9.99860968e-01 -3.78460950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-23.82, Z:-3.79 [[ 9.73260558e-01 2.29117219e-01 1.64068980e-02 2.86476947e+02] [-2.29099509e-01 9.73398457e-01 -2.97630990e-03 -2.38235466e+01] [-1.66523730e-02 -8.62087235e-04 9.99860968e-01 -3.78529388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:-23.83, Z:-3.79 [[ 9.73352707e-01 2.28642686e-01 1.75222703e-02 2.86504999e+02] [-2.28622465e-01 9.73509982e-01 -3.17548110e-03 -2.38257917e+01] [-1.77841555e-02 -9.15121501e-04 9.99841431e-01 -3.78558080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-23.83, Z:-3.79 [[ 9.73556126e-01 2.27646598e-01 1.91179500e-02 2.86533159e+02] [-2.27622417e-01 9.73743324e-01 -3.46044369e-03 -2.38265635e+01] [-1.94037344e-02 -9.82737832e-04 9.99811247e-01 -3.78622045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-23.83, Z:-3.79 [[ 9.73720333e-01 2.26947230e-01 1.90700616e-02 2.86561043e+02] [-2.26923108e-01 9.73906573e-01 -3.44804274e-03 -2.38298039e+01] [-1.93549821e-02 -9.70008331e-04 9.99812204e-01 -3.78712083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.59, Y:-23.83, Z:-3.79 [[ 9.73731385e-01 2.26870750e-01 1.94126719e-02 2.86587509e+02] [-2.26845821e-01 9.73924372e-01 -3.50578704e-03 -2.38329194e+01] [-1.97018349e-02 -9.89988641e-04 9.99805410e-01 -3.78857962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:-23.84, Z:-3.79 [[ 9.73617063e-01 2.27335079e-01 1.97123683e-02 2.86615633e+02] [-2.27309519e-01 9.73816064e-01 -3.55742362e-03 -2.38360412e+01] [-2.00049481e-02 -1.01724062e-03 9.99799364e-01 -3.78899892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77589822699997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:286.64, Y:-23.84, Z:-3.79 [[ 9.73103781e-01 2.29409537e-01 2.09832427e-02 2.86642842e+02] [-2.29381155e-01 9.73329328e-01 -3.78210754e-03 -2.38366964e+01] [-2.12912570e-02 -1.13277730e-03 9.99772674e-01 -3.78981174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:-23.84, Z:-3.79 [[ 9.72901675e-01 2.30273584e-01 2.08903743e-02 2.86669741e+02] [-2.30245689e-01 9.73125253e-01 -3.76361251e-03 -2.38399515e+01] [-2.11956113e-02 -1.14829368e-03 9.99774688e-01 -3.79014755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:-23.84, Z:-3.79 [[ 9.72716097e-01 2.31099069e-01 2.04111456e-02 2.86696994e+02] [-2.31072654e-01 9.72929555e-01 -3.67562392e-03 -2.38435640e+01] [-2.07080401e-02 -1.14111904e-03 9.99784914e-01 -3.79093692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-23.85, Z:-3.79 [[ 9.72489193e-01 2.32206357e-01 1.85735865e-02 2.86724306e+02] [-2.32184712e-01 9.72665966e-01 -3.34334637e-03 -2.38466535e+01] [-1.88422418e-02 -1.06113462e-03 9.99821906e-01 -3.79268388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-23.85, Z:-3.79 [[ 9.72427626e-01 2.32530341e-01 1.77243592e-02 2.86752133e+02] [-2.32510695e-01 9.72588609e-01 -3.18982361e-03 -2.38506724e+01] [-1.79802406e-02 -1.01923049e-03 9.99837823e-01 -3.79352074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.78, Y:-23.85, Z:-3.79 [[ 9.72174142e-01 2.33562088e-01 1.80606978e-02 2.86778651e+02] [-2.33541943e-01 9.72341310e-01 -3.24619201e-03 -2.38541616e+01] [-1.83193499e-02 -1.06206652e-03 9.99831623e-01 -3.79412044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-23.86, Z:-3.79 [[ 9.72044479e-01 2.33996187e-01 1.93730346e-02 2.86806306e+02] [-2.33973120e-01 9.72236835e-01 -3.48074595e-03 -2.38584290e+01] [-1.96496591e-02 -1.14932946e-03 9.99806266e-01 -3.79461660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:-23.86, Z:-3.79 [[ 9.71924732e-01 2.34431562e-01 2.01036701e-02 2.86834253e+02] [-2.34406894e-01 9.72131879e-01 -3.60811156e-03 -2.38631424e+01] [-2.03892738e-02 -1.20562601e-03 9.99791390e-01 -3.79477980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.86, Y:-23.87, Z:-3.80 [[ 9.71604891e-01 2.35679832e-01 2.09512096e-02 2.86860966e+02] [-2.35653424e-01 9.71829902e-01 -3.75581853e-03 -2.38675646e+01] [-2.12461827e-02 -1.28805262e-03 9.99773445e-01 -3.79531072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.89, Y:-23.87, Z:-3.80 [[ 9.71319188e-01 2.36894235e-01 2.04977319e-02 2.86888052e+02] [-2.36869261e-01 9.71534592e-01 -3.67289134e-03 -2.38721042e+01] [-2.07843424e-02 -1.28773277e-03 9.99783153e-01 -3.79626949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.92, Y:-23.88, Z:-3.80 [[ 9.71090455e-01 2.37907147e-01 1.95835957e-02 2.86915708e+02] [-2.37884576e-01 9.71287096e-01 -3.50802477e-03 -2.38762895e+01] [-1.98558780e-02 -1.25202600e-03 9.99802069e-01 -3.79729956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:-23.88, Z:-3.80 [[ 9.70275536e-01 2.41286578e-01 1.86056921e-02 2.86943441e+02] [-2.41266884e-01 9.70453092e-01 -3.32965576e-03 -2.38782170e+01] [-1.88593527e-02 -1.25825384e-03 9.99821355e-01 -3.79894860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.97, Y:-23.88, Z:-3.80 [[ 9.69948686e-01 2.42643711e-01 1.79882089e-02 2.86970114e+02] [-2.42625603e-01 9.70114673e-01 -3.21543978e-03 -2.38803338e+01] [-1.82308316e-02 -1.24558844e-03 9.99833029e-01 -3.80019873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-23.88, Z:-3.80 [[ 9.69742831e-01 2.43528557e-01 1.71080332e-02 2.86998100e+02] [-2.43512324e-01 9.69892984e-01 -3.05750548e-03 -2.38824330e+01] [-1.73375513e-02 -1.20102291e-03 9.99848972e-01 -3.80093979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-23.88, Z:-3.80 [[ 9.69714200e-01 2.43676351e-01 1.66194444e-02 2.87025671e+02] [-2.43661102e-01 9.69855898e-01 -2.96730970e-03 -2.38847692e+01] [-1.68415293e-02 -1.17206978e-03 9.99857484e-01 -3.80219727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:-23.88, Z:-3.80 [[ 9.69980588e-01 2.42751100e-01 1.44762498e-02 2.87053642e+02] [-2.42739472e-01 9.70088080e-01 -2.58167108e-03 -2.38837879e+01] [-1.46699409e-02 -1.00978641e-03 9.99891881e-01 -3.80315862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:-23.89, Z:-3.80 [[ 9.70172731e-01 2.42048021e-01 1.33277064e-02 2.87081580e+02] [-2.42038095e-01 9.70263835e-01 -2.37711669e-03 -2.38850202e+01] [-1.35067679e-02 -9.19598885e-04 9.99908357e-01 -3.80387827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:-23.89, Z:-3.81 [[ 9.70469430e-01 2.40864586e-01 1.31657571e-02 2.87108300e+02] [-2.40854839e-01 9.70558318e-01 -2.34463504e-03 -2.38861997e+01] [-1.33428746e-02 -8.95639677e-04 9.99910579e-01 -3.80507302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.14, Y:-23.89, Z:-3.80 [[ 9.71748582e-01 2.35525052e-01 1.52526485e-02 2.87135488e+02] [-2.35511335e-01 9.71867810e-01 -2.71502665e-03 -2.38858061e+01] [-1.54630149e-02 -9.53848303e-04 9.99879985e-01 -3.80442743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-23.89, Z:-3.80 [[ 9.72752628e-01 2.31239659e-01 1.67494603e-02 2.87163257e+02] [-2.31222516e-01 9.72896331e-01 -2.97952447e-03 -2.38890159e+01] [-1.69844726e-02 -9.74512086e-04 9.99855279e-01 -3.80405616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:-23.89, Z:-3.80 [[ 9.73885614e-01 2.26381755e-01 1.72659065e-02 2.87190934e+02] [-2.26362831e-01 9.74038220e-01 -3.06830672e-03 -2.38928039e+01] [-1.75122615e-02 -9.20179689e-04 9.99846225e-01 -3.80432374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:-23.90, Z:-3.81 [[ 9.75812707e-01 2.18100618e-01 1.48889941e-02 2.87218665e+02] [-2.18085615e-01 9.75926060e-01 -2.64370054e-03 -2.38987271e+01] [-1.51071500e-02 -6.67318850e-04 9.99885658e-01 -3.80530203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:-23.91, Z:-3.81 [[ 9.76551978e-01 2.14830168e-01 1.39367312e-02 2.87244550e+02] [-2.14816740e-01 9.76651249e-01 -2.47116080e-03 -2.39051215e+01] [-1.41422058e-02 -5.80626178e-04 9.99899825e-01 -3.80679767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-23.91, Z:-3.81 [[ 9.77609061e-01 2.09849769e-01 1.56076404e-02 2.87271361e+02] [-2.09832303e-01 9.77733476e-01 -2.76678737e-03 -2.39143548e+01] [-1.58407222e-02 -5.70150732e-04 9.99874365e-01 -3.80658273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-23.92, Z:-3.81 [[ 9.77813925e-01 2.08702620e-01 1.79762420e-02 2.87297120e+02] [-2.08679346e-01 9.77978940e-01 -3.18179140e-03 -2.39211261e+01] [-1.82444343e-02 -6.40070479e-04 9.99833352e-01 -3.80664655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-23.93, Z:-3.81 [[ 9.77735790e-01 2.08888973e-01 1.99530058e-02 2.87324231e+02] [-2.08860370e-01 9.77939101e-01 -3.53008901e-03 -2.39286399e+01] [-2.02502212e-02 -7.15897805e-04 9.99794687e-01 -3.80570800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:-23.94, Z:-3.81 [[ 9.77428399e-01 2.10180121e-01 2.14019047e-02 2.87351533e+02] [-2.10147611e-01 9.77662353e-01 -3.78234317e-03 -2.39356850e+01] [-2.17188099e-02 -8.00589508e-04 9.99763798e-01 -3.80617925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.38, Y:-23.94, Z:-3.81 [[ 9.76292593e-01 2.15330603e-01 2.20341448e-02 2.87378694e+02] [-2.15297547e-01 9.76540750e-01 -3.88977828e-03 -2.39430470e+01] [-2.23548286e-02 -9.46335606e-04 9.99749652e-01 -3.80604940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.41, Y:-23.95, Z:-3.81 [[ 9.75566766e-01 2.18680511e-01 2.11735391e-02 2.87405303e+02] [-2.18650861e-01 9.75796013e-01 -3.73377560e-03 -2.39483337e+01] [-2.14775590e-02 -9.87065170e-04 9.99768843e-01 -3.80707427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.43, Y:-23.96, Z:-3.81 [[ 9.74240123e-01 2.24829598e-01 1.75452011e-02 2.87431984e+02] [-2.24810258e-01 9.74397652e-01 -3.09252073e-03 -2.39553473e+01] [-1.77912929e-02 -9.31483400e-04 9.99841289e-01 -3.80912466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67589822699995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:287.46, Y:-23.96, Z:-3.81 [[ 9.73763881e-01 2.26991533e-01 1.60856179e-02 2.87459751e+02] [-2.26975614e-01 9.73896322e-01 -2.83263980e-03 -2.39614420e+01] [-1.63087093e-02 -8.92720670e-04 9.99866606e-01 -3.80982580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:-23.97, Z:-3.81 [[ 9.73222002e-01 2.29298857e-01 1.61545589e-02 2.87485898e+02] [-2.29283183e-01 9.73355614e-01 -2.84074131e-03 -2.39692007e+01] [-1.63755093e-02 -9.39296738e-04 9.99865471e-01 -3.81038061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-23.98, Z:-3.81 [[ 9.72718435e-01 2.31391450e-01 1.66386248e-02 2.87511351e+02] [-2.31375154e-01 9.72860209e-01 -2.92434648e-03 -2.39798866e+01] [-1.68637248e-02 -1.00519865e-03 9.99857292e-01 -3.81035759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:-23.99, Z:-3.81 [[ 9.72799569e-01 2.30964736e-01 1.77845436e-02 2.87537119e+02] [-2.30946075e-01 9.72961536e-01 -3.12416661e-03 -2.39880454e+01] [-1.80252492e-02 -1.06808261e-03 9.99836962e-01 -3.81129069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:-24.00, Z:-3.81 [[ 9.73112605e-01 2.29572538e-01 1.86629826e-02 2.87562744e+02] [-2.29551764e-01 9.73290938e-01 -3.27687329e-03 -2.39955422e+01] [-1.89167919e-02 -1.09535387e-03 9.99820461e-01 -3.81180431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-24.00, Z:-3.81 [[ 9.73510272e-01 2.27857438e-01 1.89403956e-02 2.87589546e+02] [-2.27835738e-01 9.73693907e-01 -3.32451234e-03 -2.40028525e+01] [-1.91996626e-02 -1.07885209e-03 9.99815087e-01 -3.81219611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-24.01, Z:-3.81 [[ 9.74016629e-01 2.25877959e-01 1.64545822e-02 2.87616135e+02] [-2.25861341e-01 9.74155186e-01 -2.88573999e-03 -2.40137949e+01] [-1.66811417e-02 -9.05695263e-04 9.99860450e-01 -3.81218412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:-24.02, Z:-3.81 [[ 9.74145999e-01 2.25416286e-01 1.50688796e-02 2.87643364e+02] [-2.25402330e-01 9.74262192e-01 -2.64032502e-03 -2.40218582e+01] [-1.52762120e-02 -8.24498520e-04 9.99882972e-01 -3.81299549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:-24.03, Z:-3.81 [[ 9.73971093e-01 2.26300174e-01 1.29823812e-02 2.87669619e+02] [-2.26289917e-01 9.74057343e-01 -2.27295858e-03 -2.40342256e+01] [-1.31599546e-02 -7.23986003e-04 9.99913142e-01 -3.81301206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-24.04, Z:-3.81 [[ 9.73807028e-01 2.27023313e-01 1.26604628e-02 2.87696744e+02] [-2.27013646e-01 9.73889060e-01 -2.21456682e-03 -2.40424642e+01] [-1.28326445e-02 -7.17537085e-04 9.99917401e-01 -3.81317310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:-24.05, Z:-3.81 [[ 9.73563986e-01 2.28020252e-01 1.34138067e-02 2.87722447e+02] [-2.28009543e-01 9.73656079e-01 -2.34276510e-03 -2.40509828e+01] [-1.35946323e-02 -7.77644198e-04 9.99907286e-01 -3.81427892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:-24.06, Z:-3.81 [[ 9.73445790e-01 2.28459820e-01 1.44707852e-02 2.87747931e+02] [-2.28447444e-01 9.73552973e-01 -2.52469445e-03 -2.40640382e+01] [-1.46648672e-02 -8.48160711e-04 9.99892105e-01 -3.81456520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-24.07, Z:-3.82 [[ 9.73525647e-01 2.28129336e-01 1.43115235e-02 2.87775137e+02] [-2.28117196e-01 9.73630479e-01 -2.49687870e-03 -2.40734034e+01] [-1.45037468e-02 -8.33929157e-04 9.99894467e-01 -3.81519024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-24.08, Z:-3.82 [[ 9.73449633e-01 2.28407574e-01 1.50263785e-02 2.87800762e+02] [-2.28394286e-01 9.73565200e-01 -2.61752101e-03 -2.40823683e+01] [-1.52270208e-02 -8.83914124e-04 9.99883672e-01 -3.81597488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.83, Y:-24.09, Z:-3.82 [[ 9.73010354e-01 2.30182957e-01 1.63296408e-02 2.87826044e+02] [-2.30167538e-01 9.73146866e-01 -2.84298870e-03 -2.40941971e+01] [-1.65455463e-02 -9.92295773e-04 9.99862621e-01 -3.81652582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:-24.10, Z:-3.82 [[ 9.72711856e-01 2.31460283e-01 1.60556181e-02 2.87853416e+02] [-2.31445558e-01 9.72843843e-01 -2.79483472e-03 -2.41012513e+01] [-1.62665025e-02 -9.97432633e-04 9.99867194e-01 -3.81682416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-24.11, Z:-3.82 [[ 9.72328089e-01 2.33116555e-01 1.53218147e-02 2.87881059e+02] [-2.33103392e-01 9.72448307e-01 -2.66441918e-03 -2.41079516e+01] [-1.55207930e-02 -9.80877376e-04 9.99879064e-01 -3.81740708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.185898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:287.91, Y:-24.12, Z:-3.82 [[ 9.71054759e-01 2.38388127e-01 1.49584903e-02 2.87907629e+02] [-2.38376244e-01 9.71169405e-01 -2.59852136e-03 -2.41157330e+01] [-1.51466848e-02 -1.04244221e-03 9.99884739e-01 -3.81795587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-24.12, Z:-3.82 [[ 9.70210478e-01 2.41795467e-01 1.50525783e-02 2.87934989e+02] [-2.41783885e-01 9.70326610e-01 -2.61201454e-03 -2.41218614e+01] [-1.52374905e-02 -1.10526697e-03 9.99883292e-01 -3.81841117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-24.13, Z:-3.82 [[ 9.69225228e-01 2.45747708e-01 1.45093761e-02 2.87961083e+02] [-2.45737438e-01 9.69333168e-01 -2.51420739e-03 -2.41270085e+01] [-1.46822802e-02 -1.12866368e-03 9.99891573e-01 -3.81863010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-24.13, Z:-3.82 [[ 9.68272053e-01 2.49515239e-01 1.38338835e-02 2.87989000e+02] [-2.49506285e-01 9.68370212e-01 -2.39713743e-03 -2.41308976e+01] [-1.39944430e-02 -1.13055970e-03 9.99901434e-01 -3.81892339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-24.13, Z:-3.82 [[ 9.66096371e-01 2.57798586e-01 1.40602760e-02 2.88016138e+02] [-2.57790257e-01 9.66197840e-01 -2.43269903e-03 -2.41303193e+01] [-1.42121547e-02 -1.27438046e-03 9.99898190e-01 -3.81992234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-24.13, Z:-3.82 [[ 9.64971443e-01 2.61954655e-01 1.44870100e-02 2.88043155e+02] [-2.61946296e-01 9.65079200e-01 -2.50529495e-03 -2.41312756e+01] [-1.46373857e-02 -1.37728054e-03 9.99891919e-01 -3.82072750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-24.13, Z:-3.82 [[ 9.64109464e-01 2.65114659e-01 1.43929946e-02 2.88071571e+02] [-2.65106759e-01 9.64215853e-01 -2.48887146e-03 -2.41321486e+01] [-1.45377899e-02 -1.41613562e-03 9.99893318e-01 -3.82198352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-24.13, Z:-3.82 [[ 9.63494550e-01 2.67363705e-01 1.39607340e-02 2.88098957e+02] [-2.67356552e-01 9.63594657e-01 -2.41075919e-03 -2.41327532e+01] [-1.40970382e-02 -1.40974037e-03 9.99899638e-01 -3.82322556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-24.13, Z:-3.82 [[ 9.63416396e-01 2.67651382e-01 1.38414277e-02 2.88128333e+02] [-2.67644382e-01 9.63514801e-01 -2.39007457e-03 -2.41277464e+01] [-1.39761272e-02 -1.40194332e-03 9.99901346e-01 -3.82369250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-24.13, Z:-3.82 [[ 9.63818611e-01 2.66169571e-01 1.44029497e-02 2.88156676e+02] [-2.66161867e-01 9.63925147e-01 -2.48430915e-03 -2.41267401e+01] [-1.45446129e-02 -1.43909260e-03 9.99893186e-01 -3.82449218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-24.12, Z:-3.83 [[ 9.64818825e-01 2.62519183e-01 1.44331038e-02 2.88185279e+02] [-2.62511087e-01 9.64925773e-01 -2.48640833e-03 -2.41197834e+01] [-1.45796037e-02 -1.38991621e-03 9.99892746e-01 -3.82551484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-24.12, Z:-3.83 [[ 9.64861048e-01 2.62363938e-01 1.44333288e-02 2.88213357e+02] [-2.62355845e-01 9.64967997e-01 -2.48510133e-03 -2.41244299e+01] [-1.45797014e-02 -1.38889071e-03 9.99892746e-01 -3.82619934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:-24.12, Z:-3.83 [[ 9.65434570e-01 2.60284324e-01 1.37171957e-02 2.88242199e+02] [-2.60276832e-01 9.65531150e-01 -2.35990740e-03 -2.41229978e+01] [-1.38586267e-02 -1.29193207e-03 9.99903130e-01 -3.82685679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.27, Y:-24.12, Z:-3.83 [[ 9.66116550e-01 2.57773163e-01 1.31075888e-02 2.88270803e+02] [-2.57766121e-01 9.66204715e-01 -2.25292081e-03 -2.41214916e+01] [-1.32453566e-02 -1.20210823e-03 9.99911554e-01 -3.82750448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:-24.11, Z:-3.83 [[ 9.67571933e-01 2.52184105e-01 1.44128913e-02 2.88299807e+02] [-2.52175022e-01 9.67678478e-01 -2.47400200e-03 -2.41146215e+01] [-1.45709487e-02 -1.24079629e-03 9.99893068e-01 -3.82746572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.635898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:288.33, Y:-24.11, Z:-3.83 [[ 9.68352115e-01 2.49087317e-01 1.58015919e-02 2.88326888e+02] [-2.49076054e-01 9.68480141e-01 -2.70837214e-03 -2.41139755e+01] [-1.59781491e-02 -1.31314027e-03 9.99871479e-01 -3.82876323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:-24.11, Z:-3.83 [[ 9.69820104e-01 2.43263652e-01 1.64852154e-02 2.88354962e+02] [-2.43250596e-01 9.69959369e-01 -2.82317060e-03 -2.41109403e+01] [-1.66767639e-02 -1.27207087e-03 9.99860124e-01 -3.82774352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.38, Y:-24.11, Z:-3.83 [[ 9.70631351e-01 2.40072524e-01 1.54907881e-02 2.88383526e+02] [-2.40060610e-01 9.70754280e-01 -2.65164557e-03 -2.41119976e+01] [-1.56743361e-02 -1.14495771e-03 9.99876495e-01 -3.82896917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.41, Y:-24.11, Z:-3.83 [[ 9.71382926e-01 2.37068564e-01 1.46187483e-02 2.88410445e+02] [-2.37057669e-01 9.71492366e-01 -2.49875140e-03 -2.41132869e+01] [-1.47943778e-02 -1.03824193e-03 9.99890018e-01 -3.82978167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.44, Y:-24.12, Z:-3.83 [[ 9.72112919e-01 2.34056178e-01 1.46348063e-02 2.88437938e+02] [-2.34044922e-01 9.72222566e-01 -2.50124043e-03 -2.41155527e+01] [-1.48137197e-02 -9.93713963e-04 9.99889777e-01 -3.83033478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.47, Y:-24.12, Z:-3.83 [[ 9.72698160e-01 2.31568445e-01 1.53083034e-02 2.88465164e+02] [-2.31555887e-01 9.72818096e-01 -2.61221312e-03 -2.41185860e+01] [-1.54971007e-02 -1.00383288e-03 9.99879409e-01 -3.83093871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.815898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:288.49, Y:-24.12, Z:-3.83 [[ 9.73584358e-01 2.27742734e-01 1.63323323e-02 2.88493403e+02] [-2.27727914e-01 9.73720819e-01 -2.78624581e-03 -2.41210521e+01] [-1.65376792e-02 -1.00668262e-03 9.99862736e-01 -3.83144922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-24.12, Z:-3.83 [[ 9.73833365e-01 2.26732622e-01 1.55207793e-02 2.88520442e+02] [-2.26719170e-01 9.73956584e-01 -2.64405257e-03 -2.41247836e+01] [-1.57160581e-02 -9.43991572e-04 9.99876050e-01 -3.83149966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-24.13, Z:-3.83 [[ 9.74067159e-01 2.25827854e-01 1.39624289e-02 2.88547828e+02] [-2.25816875e-01 9.74166865e-01 -2.37862029e-03 -2.41283012e+01] [-1.41388943e-02 -8.36016137e-04 9.99899691e-01 -3.83263044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.58, Y:-24.13, Z:-3.83 [[ 9.74364489e-01 2.24614699e-01 1.27310747e-02 2.88575210e+02] [-2.24605493e-01 9.74447370e-01 -2.16683260e-03 -2.41327443e+01] [-1.28924648e-02 -7.48184590e-04 9.99916609e-01 -3.83478025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-24.14, Z:-3.84 [[ 9.74593801e-01 2.23602731e-01 1.29900381e-02 2.88601767e+02] [-2.23593101e-01 9.74680077e-01 -2.20761032e-03 -2.41385094e+01] [-1.31547591e-02 -7.52959569e-04 9.99913189e-01 -3.83539441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:-24.14, Z:-3.84 [[ 9.74967751e-01 2.21935580e-01 1.35086108e-02 2.88628195e+02] [-2.21925039e-01 9.75061033e-01 -2.29331858e-03 -2.41444386e+01] [-1.36806890e-02 -7.61987330e-04 9.99906125e-01 -3.83565443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-24.15, Z:-3.84 [[ 9.75797854e-01 2.18248486e-01 1.36435158e-02 2.88655236e+02] [-2.18237374e-01 9.75892967e-01 -2.31623322e-03 -2.41514324e+01] [-1.38201255e-02 -7.17349653e-04 9.99904240e-01 -3.83607285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:-24.16, Z:-3.84 [[ 9.76181340e-01 2.16499649e-01 1.40674542e-02 2.88681797e+02] [-2.16487712e-01 9.76282432e-01 -2.38413940e-03 -2.41575350e+01] [-1.42499737e-02 -7.18078575e-04 9.99898206e-01 -3.83733279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-24.16, Z:-3.84 [[ 9.76524129e-01 2.14939480e-01 1.42002208e-02 2.88709349e+02] [-2.14927156e-01 9.76627118e-01 -2.40635229e-03 -2.41644816e+01] [-1.43855408e-02 -7.02151993e-04 9.99896276e-01 -3.83785858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-24.17, Z:-3.84 [[ 9.76786187e-01 2.13722576e-01 1.45398106e-02 2.88736382e+02] [-2.13709563e-01 9.76894143e-01 -2.46106902e-03 -2.41716054e+01] [-1.47298418e-02 -7.03358338e-04 9.99891263e-01 -3.83832607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-24.18, Z:-3.84 [[ 9.76895541e-01 2.13194846e-01 1.49352067e-02 2.88762241e+02] [-2.13181114e-01 9.77009438e-01 -2.52401973e-03 -2.41783910e+01] [-1.51299459e-02 -7.18200387e-04 9.99885278e-01 -3.83837921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-24.19, Z:-3.84 [[ 9.77041449e-01 2.12482215e-01 1.55342911e-02 2.88789478e+02] [-2.12467278e-01 9.77164657e-01 -2.62478144e-03 -2.41871504e+01] [-1.57372796e-02 -7.36008278e-04 9.99875890e-01 -3.83845788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-24.19, Z:-3.84 [[ 9.77095480e-01 2.12183786e-01 1.62007633e-02 2.88815334e+02] [-2.12167561e-01 9.77229479e-01 -2.73356134e-03 -2.41932627e+01] [-1.64118809e-02 -7.66326021e-04 9.99865022e-01 -3.83909141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-24.20, Z:-3.84 [[ 9.77015284e-01 2.12480102e-01 1.71272286e-02 2.88842259e+02] [-2.12462050e-01 9.77165052e-01 -2.88782269e-03 -2.42024019e+01] [-1.73497341e-02 -8.17439191e-04 9.99849148e-01 -3.83914279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-24.21, Z:-3.84 [[ 9.76841521e-01 2.13211855e-01 1.79261671e-02 2.88868375e+02] [-2.13192281e-01 9.77005600e-01 -3.01819356e-03 -2.42094312e+01] [-1.81574803e-02 -8.73423672e-04 9.99834758e-01 -3.83921130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:-24.22, Z:-3.84 [[ 9.76523411e-01 2.14616665e-01 1.84855055e-02 2.88894895e+02] [-2.14596132e-01 9.76697918e-01 -3.11074081e-03 -2.42166866e+01] [-1.87223716e-02 -9.29206756e-04 9.99824289e-01 -3.83957936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.92, Y:-24.22, Z:-3.84 [[ 9.76201432e-01 2.16085889e-01 1.83753507e-02 2.88921777e+02] [-2.16065876e-01 9.76373894e-01 -3.09126512e-03 -2.42237813e+01] [-1.86091915e-02 -9.52588808e-04 9.99826380e-01 -3.83996068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:-24.23, Z:-3.84 [[ 9.75587110e-01 2.19033504e-01 1.59410065e-02 2.88947994e+02] [-2.19018883e-01 9.75716943e-01 -2.67881017e-03 -2.42331414e+01] [-1.61406593e-02 -8.77968758e-04 9.99869346e-01 -3.84075269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-24.24, Z:-3.84 [[ 9.75377999e-01 2.20074802e-01 1.43122334e-02 2.88974321e+02] [-2.20063156e-01 9.75482666e-01 -2.40311414e-03 -2.42397565e+01] [-1.44902005e-02 -8.05650587e-04 9.99894687e-01 -3.84157402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-24.25, Z:-3.84 [[ 9.75179035e-01 2.20987242e-01 1.38017391e-02 2.89001108e+02] [-2.20976504e-01 9.75276379e-01 -2.31737563e-03 -2.42464676e+01] [-1.39726206e-02 -7.90003922e-04 9.99902066e-01 -3.84226066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-24.25, Z:-3.84 [[ 9.74951234e-01 2.21974333e-01 1.40530302e-02 2.89028571e+02] [-2.21963340e-01 9.75052163e-01 -2.35685390e-03 -2.42538129e+01] [-1.42255986e-02 -8.21439899e-04 9.99898474e-01 -3.84297978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.05, Y:-24.26, Z:-3.84 [[ 9.74288944e-01 2.24818336e-01 1.47570169e-02 2.89054411e+02] [-2.24806598e-01 9.74400271e-01 -2.47099543e-03 -2.42629581e+01] [-1.49347663e-02 -9.10011241e-04 9.99888056e-01 -3.84206576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:-24.27, Z:-3.84 [[ 9.73879031e-01 2.26595284e-01 1.46359229e-02 2.89081697e+02] [-2.26583940e-01 9.73988559e-01 -2.45051500e-03 -2.42685800e+01] [-1.48104966e-02 -9.29759911e-04 9.99889886e-01 -3.84205054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.505898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:289.11, Y:-24.27, Z:-3.84 [[ 9.73307437e-01 2.29055087e-01 1.43666698e-02 2.89109708e+02] [-2.29044462e-01 9.73412996e-01 -2.40280425e-03 -2.42736295e+01] [-1.45350776e-02 -9.51938903e-04 9.99893907e-01 -3.84208671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:-24.28, Z:-3.84 [[ 9.72176427e-01 2.33817428e-01 1.42269344e-02 2.89135954e+02] [-2.33807567e-01 9.72279989e-01 -2.37581875e-03 -2.42794254e+01] [-1.43880714e-02 -1.01664994e-03 9.99895970e-01 -3.84214182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.565898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:289.16, Y:-24.28, Z:-3.84 [[ 9.71537689e-01 2.36449704e-01 1.43546565e-02 2.89163384e+02] [-2.36439954e-01 9.71643146e-01 -2.39696913e-03 -2.42839629e+01] [-1.45143662e-02 -1.06526847e-03 9.99894094e-01 -3.84245435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-24.29, Z:-3.84 [[ 9.70999985e-01 2.38598204e-01 1.51633009e-02 2.89191367e+02] [-2.38587632e-01 9.71117679e-01 -2.52890767e-03 -2.42882424e+01] [-1.53287424e-02 -1.16220674e-03 9.99881832e-01 -3.84309434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-24.29, Z:-3.84 [[ 9.70638901e-01 2.40050896e-01 1.53522480e-02 2.89218693e+02] [-2.40040285e-01 9.70759559e-01 -2.55751649e-03 -2.42920072e+01] [-1.55172757e-02 -1.20273300e-03 9.99878876e-01 -3.84354029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-24.30, Z:-3.84 [[ 9.70082061e-01 2.42253895e-01 1.59325204e-02 2.89245102e+02] [-2.42242822e-01 9.70212034e-01 -2.65040791e-03 -2.42960904e+01] [-1.60999946e-02 -1.28842553e-03 9.99869557e-01 -3.84446211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-24.30, Z:-3.84 [[ 9.69872737e-01 2.43037113e-01 1.67282701e-02 2.89273101e+02] [-2.43025056e-01 9.70016025e-01 -2.78078061e-03 -2.43008716e+01] [-1.69025230e-02 -1.36838547e-03 9.99856206e-01 -3.84460564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-24.31, Z:-3.84 [[ 9.69567258e-01 2.44203534e-01 1.74346065e-02 2.89299271e+02] [-2.44190699e-01 9.69722913e-01 -2.89404202e-03 -2.43050543e+01] [-1.76134727e-02 -1.45140035e-03 9.99843817e-01 -3.84437919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-24.31, Z:-3.84 [[ 9.69291728e-01 2.45234116e-01 1.82694891e-02 2.89325962e+02] [-2.45220233e-01 9.69462661e-01 -3.03100865e-03 -2.43088744e+01] [-1.84548942e-02 -1.54211676e-03 9.99828505e-01 -3.84487647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-24.31, Z:-3.85 [[ 9.68936844e-01 2.46604409e-01 1.86456051e-02 2.89353194e+02] [-2.46590218e-01 9.69114906e-01 -3.09248127e-03 -2.43145692e+01] [-1.88323534e-02 -1.60140479e-03 9.99821373e-01 -3.84595162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-24.32, Z:-3.85 [[ 9.69053433e-01 2.46160445e-01 1.84520801e-02 2.89379866e+02] [-2.46146541e-01 9.69227805e-01 -3.05640121e-03 -2.43213318e+01] [-1.86366342e-02 -1.58009961e-03 9.99825074e-01 -3.84748163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:-24.33, Z:-3.85 [[ 9.69427892e-01 2.44752563e-01 1.74855576e-02 2.89407050e+02] [-2.44739862e-01 9.69584455e-01 -2.89564150e-03 -2.43285271e+01] [-1.76624405e-02 -1.47229731e-03 9.99842923e-01 -3.84855820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:-24.34, Z:-3.85 [[ 9.70336293e-01 2.41317065e-01 1.46134660e-02 2.89432730e+02] [-2.41307850e-01 9.70445609e-01 -2.41702844e-03 -2.43393165e+01] [-1.47648441e-02 -1.18101365e-03 9.99890296e-01 -3.84992439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.46, Y:-24.35, Z:-3.85 [[ 9.70735230e-01 2.39724128e-01 1.43337542e-02 2.89459006e+02] [-2.39715106e-01 9.70840385e-01 -2.36962849e-03 -2.43474874e+01] [-1.44838445e-02 -1.13573555e-03 9.99894459e-01 -3.85065342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-24.36, Z:-3.85 [[ 9.71034775e-01 2.38474447e-01 1.48796781e-02 2.89485899e+02] [-2.38464584e-01 9.71148080e-01 -2.45954178e-03 -2.43556833e+01] [-1.50369087e-02 -1.15997567e-03 9.99886266e-01 -3.85092979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-24.37, Z:-3.85 [[ 9.71064183e-01 2.38327803e-01 1.53039753e-02 2.89512481e+02] [-2.38317398e-01 9.71184037e-01 -2.52671579e-03 -2.43658946e+01] [-1.54651631e-02 -1.19360036e-03 9.99879695e-01 -3.85187999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.54, Y:-24.37, Z:-3.85 [[ 9.70810158e-01 2.39392501e-01 1.47941530e-02 2.89538762e+02] [-2.39382948e-01 9.70922167e-01 -2.43931557e-03 -2.43720242e+01] [-1.49479249e-02 -1.17335562e-03 9.99887585e-01 -3.85228192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:-24.38, Z:-3.85 [[ 9.70435444e-01 2.40933004e-01 1.43644521e-02 2.89566170e+02] [-2.40924184e-01 9.70541052e-01 -2.36717762e-03 -2.43778405e+01] [-1.45116217e-02 -1.16355084e-03 9.99894024e-01 -3.85291738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.59, Y:-24.38, Z:-3.85 [[ 9.70176134e-01 2.41997264e-01 1.39854504e-02 2.89593474e+02] [-2.41989048e-01 9.70276249e-01 -2.30229557e-03 -2.43822411e+01] [-1.41268995e-02 -1.15069360e-03 9.99899548e-01 -3.85388072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.075898227 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:289.62, Y:-24.39, Z:-3.85 [[ 9.70094419e-01 2.42354327e-01 1.34610336e-02 2.89620150e+02] [-2.42346796e-01 9.70187165e-01 -2.21249156e-03 -2.43856708e+01] [-1.35959289e-02 -1.11591265e-03 9.99906948e-01 -3.85405014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.65, Y:-24.39, Z:-3.85 [[ 9.70450609e-01 2.40917174e-01 1.35842314e-02 2.89646413e+02] [-2.40909382e-01 9.70545048e-01 -2.23158079e-03 -2.43897704e+01] [-1.37217347e-02 -1.10692986e-03 9.99905240e-01 -3.85450722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:289.67, Y:-24.39, Z:-3.86 [[ 9.71074657e-01 2.38377687e-01 1.37872680e-02 2.89674429e+02] [-2.38369407e-01 9.71171919e-01 -2.26481300e-03 -2.43946972e+01] [-1.39296885e-02 -1.08716040e-03 9.99902386e-01 -3.85501863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.70, Y:-24.40, Z:-3.86 [[ 9.71931177e-01 2.34853346e-01 1.39174012e-02 2.89701437e+02] [-2.34844585e-01 9.72030249e-01 -2.28365524e-03 -2.44000492e+01] [-1.40644591e-02 -1.04887059e-03 9.99900540e-01 -3.85550825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.73, Y:-24.41, Z:-3.86 [[ 9.74041115e-01 2.25920739e-01 1.42732400e-02 2.89728872e+02] [-2.25910606e-01 9.74145228e-01 -2.33944072e-03 -2.44076391e+01] [-1.44327368e-02 -9.45764850e-04 9.99895395e-01 -3.85610906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.76, Y:-24.41, Z:-3.86 [[ 9.75337478e-01 2.20211867e-01 1.49511749e-02 2.89755582e+02] [-2.20200139e-01 9.75451646e-01 -2.44664167e-03 -2.44136856e+01] [-1.51229277e-02 -9.05949462e-04 9.99885232e-01 -3.85655640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:-24.42, Z:-3.86 [[ 9.77910462e-01 2.08353785e-01 1.67280760e-02 2.89782216e+02] [-2.08337397e-01 9.78053191e-01 -2.73575862e-03 -2.44223215e+01] [-1.69309538e-02 -8.09756834e-04 9.99856333e-01 -3.85665241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.81, Y:-24.43, Z:-3.86 [[ 9.78973577e-01 2.03235678e-01 1.74926844e-02 2.89807943e+02] [-2.03216964e-01 9.79129557e-01 -2.85955561e-03 -2.44296005e+01] [-1.77087680e-02 -7.55380831e-04 9.99842902e-01 -3.85684923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-24.44, Z:-3.86 [[ 9.79895096e-01 1.98732805e-01 1.76315969e-02 2.89834624e+02] [-1.98713092e-01 9.80053472e-01 -2.88072065e-03 -2.44373971e+01] [-1.78524014e-02 -6.80825094e-04 9.99840401e-01 -3.85713126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-24.45, Z:-3.86 [[ 9.80631839e-01 1.95098650e-01 1.72543533e-02 2.89860440e+02] [-1.95079229e-01 9.80783439e-01 -2.81795479e-03 -2.44456361e+01] [-1.74725632e-02 -6.02589750e-04 9.99847162e-01 -3.85801540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-24.45, Z:-3.86 [[ 9.81223717e-01 1.92108921e-01 1.71516379e-02 2.89887694e+02] [-1.92089300e-01 9.81373457e-01 -2.79967068e-03 -2.44533770e+01] [-1.73700039e-02 -5.47542844e-04 9.99848980e-01 -3.85867562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-24.46, Z:-3.86 [[ 9.81234910e-01 1.92051727e-01 1.71518463e-02 2.89915827e+02] [-1.92032119e-01 9.81384651e-01 -2.79839316e-03 -2.44578370e+01] [-1.73699950e-02 -5.47824343e-04 9.99848980e-01 -3.85936050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.94, Y:-24.47, Z:-3.86 [[ 9.81871998e-01 1.88740432e-01 1.74478834e-02 2.89941299e+02] [-1.88719635e-01 9.82026884e-01 -2.84577206e-03 -2.44686426e+01] [-1.76714029e-02 -4.98574308e-04 9.99843724e-01 -3.86038889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-24.48, Z:-3.86 [[ 9.82067947e-01 1.87681079e-01 1.78426766e-02 2.89968671e+02] [-1.87659185e-01 9.82229897e-01 -2.90854830e-03 -2.44772547e+01] [-1.80714899e-02 -4.91950094e-04 9.99836576e-01 -3.86086211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.00, Y:-24.49, Z:-3.86 [[ 9.82281909e-01 1.86506581e-01 1.83724452e-02 2.89995680e+02] [-1.86483186e-01 9.82453592e-01 -2.99360771e-03 -2.44862215e+01] [-1.86084023e-02 -4.85585425e-04 9.99826731e-01 -3.86152800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-24.50, Z:-3.86 [[ 9.82434589e-01 1.85579652e-01 1.95568823e-02 2.90021719e+02] [-1.85581529e-01 9.82627339e-01 -1.73476071e-03 -2.44954562e+01] [-1.95390635e-02 -1.92510719e-03 9.99807241e-01 -3.86229791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-24.51, Z:-3.86 [[ 9.83070191e-01 1.82169782e-01 1.96766308e-02 2.90049036e+02] [-1.82114013e-01 9.83266637e-01 -4.60504173e-03 -2.45071225e+01] [-2.01862740e-02 9.43689068e-04 9.99795791e-01 -3.86327531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:-24.52, Z:-3.86 [[ 9.83421319e-01 1.80211596e-01 2.01566424e-02 2.90074586e+02] [-1.80182201e-01 9.83627783e-01 -3.28005859e-03 -2.45160884e+01] [-2.04177381e-02 -4.06188655e-04 9.99791454e-01 -3.86412752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-24.53, Z:-3.87 [[ 9.83803196e-01 1.78163793e-01 1.97214033e-02 2.90101925e+02] [-1.78135288e-01 9.84000780e-01 -3.20698103e-03 -2.45251301e+01] [-1.99772441e-02 -3.58039667e-04 9.99800371e-01 -3.86528703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.13, Y:-24.53, Z:-3.87 [[ 9.84259660e-01 1.75693551e-01 1.90970426e-02 2.90129138e+02] [-1.75666373e-01 9.84444862e-01 -3.10462884e-03 -2.45338909e+01] [-1.93454488e-02 -2.98947294e-04 9.99812815e-01 -3.86622056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.16, Y:-24.54, Z:-3.87 [[ 9.84645413e-01 1.73522411e-01 1.90626161e-02 2.90156758e+02] [-1.73494947e-01 9.84829887e-01 -3.09784793e-03 -2.45421672e+01] [-1.93109801e-02 -2.56985814e-04 9.99813493e-01 -3.86687498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:-24.55, Z:-3.87 [[ 9.84991277e-01 1.71475388e-01 1.97072375e-02 2.90182958e+02] [-1.71445643e-01 9.85188378e-01 -3.20166638e-03 -2.45545847e+01] [-1.99643483e-02 -2.25106552e-04 9.99800667e-01 -3.86738240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-24.56, Z:-3.87 [[ 9.84971978e-01 1.71615184e-01 1.94532917e-02 2.90210754e+02] [-1.71586252e-01 9.85164036e-01 -3.15921561e-03 -2.45636828e+01] [-1.97068527e-02 -2.26178563e-04 9.99805776e-01 -3.86801967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-24.57, Z:-3.87 [[ 9.84916521e-01 1.72101547e-01 1.79026285e-02 2.90238342e+02] [-1.72077138e-01 9.85079190e-01 -2.90662613e-03 -2.45720347e+01] [-1.81357416e-02 -2.17848973e-04 9.99835510e-01 -3.86870717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-24.58, Z:-3.87 [[ 9.84847531e-01 1.72643495e-01 1.64183835e-02 2.90264835e+02] [-1.72623052e-01 9.84984355e-01 -2.66504748e-03 -2.45793766e+01] [-1.66319539e-02 -2.09526021e-04 9.99861658e-01 -3.86996372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.825898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:290.29, Y:-24.59, Z:-3.87 [[ 9.84664971e-01 1.73602939e-01 1.72312147e-02 2.90292686e+02] [-1.73580587e-01 9.84815700e-01 -2.79582384e-03 -2.45890335e+01] [-1.74549340e-02 -2.38054573e-04 9.99847623e-01 -3.87226425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.32, Y:-24.60, Z:-3.87 [[ 9.84562667e-01 1.73867102e-01 2.01639818e-02 2.90319673e+02] [-1.73930214e-01 9.84756977e-01 1.40617201e-03 -2.45992730e+01] [-1.96121347e-02 -4.89159015e-03 9.99795697e-01 -3.87295233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.35, Y:-24.60, Z:-3.87 [[ 9.84557975e-01 1.74093812e-01 1.83558752e-02 2.90348957e+02] [-1.73980667e-01 9.84719719e-01 -7.60278939e-03 -2.46041170e+01] [-1.93989909e-02 4.29181951e-03 9.99802610e-01 -3.87341876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.38, Y:-24.61, Z:-3.87 [[ 9.84647193e-01 1.73520244e-01 1.89902689e-02 2.90376317e+02] [-1.73493081e-01 9.84830268e-01 -3.08120929e-03 -2.46142796e+01] [-1.92368438e-02 -2.60776183e-04 9.99814921e-01 -3.87403566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.945898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:290.40, Y:-24.63, Z:-3.88 [[ 9.84947877e-01 1.71952424e-01 1.76080587e-02 2.90403248e+02] [-1.71928833e-01 9.85105232e-01 -2.85630210e-03 -2.46251583e+01] [-1.78369389e-02 -2.14024297e-04 9.99840886e-01 -3.87593756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.43, Y:-24.63, Z:-3.88 [[ 9.84970849e-01 1.71796677e-01 1.78417719e-02 2.90432781e+02] [-1.71772440e-01 9.85132405e-01 -2.89365792e-03 -2.46331740e+01] [-1.80736285e-02 -2.14555999e-04 9.99836636e-01 -3.87676032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-24.64, Z:-3.88 [[ 9.84777165e-01 1.72828972e-01 1.85494221e-02 2.90460663e+02] [-1.72802956e-01 9.84951820e-01 -3.00849043e-03 -2.46432495e+01] [-1.87902413e-02 -2.42702282e-04 9.99823418e-01 -3.87605719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-24.65, Z:-3.88 [[ 9.84476269e-01 1.74562304e-01 1.82887239e-02 2.90490286e+02] [-1.74537317e-01 9.84646093e-01 -2.96592911e-03 -2.46495831e+01] [-1.85256600e-02 -2.72177992e-04 9.99828348e-01 -3.87622336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-24.65, Z:-3.88 [[ 9.84029361e-01 1.77105153e-01 1.78880293e-02 2.90519975e+02] [-1.77081670e-01 9.84191885e-01 -2.90094744e-03 -2.46549359e+01] [-1.81190260e-02 -3.13024648e-04 9.99835788e-01 -3.87722814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-24.66, Z:-3.88 [[ 9.83423924e-01 1.80467270e-01 1.75769515e-02 2.90549063e+02] [-1.80445131e-01 9.83580921e-01 -2.85057498e-03 -2.46593875e+01] [-1.78027896e-02 -3.68351686e-04 9.99841450e-01 -3.87743016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-24.66, Z:-3.88 [[ 9.81748535e-01 1.89201833e-01 1.92997292e-02 2.90577292e+02] [-1.89176828e-01 9.81938049e-01 -3.12986649e-03 -2.46634338e+01] [-1.95433149e-02 -5.78319707e-04 9.99808844e-01 -3.87769969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:290.61, Y:-24.67, Z:-3.88 [[ 9.81052374e-01 1.92766343e-01 1.94261890e-02 2.90607191e+02] [-1.92741726e-01 9.81244469e-01 -3.14934132e-03 -2.46668223e+01] [-1.96689275e-02 -6.54568430e-04 9.99806334e-01 -3.87849319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-24.67, Z:-3.88 [[ 9.80573568e-01 1.95200088e-01 1.92977409e-02 2.90635756e+02] [-1.95176275e-01 9.80763191e-01 -3.12811434e-03 -2.46701322e+01] [-1.95371222e-02 -6.99114944e-04 9.99808888e-01 -3.87910865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:-24.67, Z:-3.88 [[ 9.80378009e-01 1.96220204e-01 1.88836314e-02 2.90664349e+02] [-1.96197602e-01 9.80559603e-01 -3.06039427e-03 -2.46730244e+01] [-1.91170373e-02 -7.04579950e-04 9.99817004e-01 -3.87968192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.69, Y:-24.68, Z:-3.88 [[ 9.80405561e-01 1.96160297e-01 1.80575361e-02 2.90693483e+02] [-1.96139634e-01 9.80571611e-01 -2.92570923e-03 -2.46752829e+01] [-1.82806152e-02 -6.73416909e-04 9.99832669e-01 -3.88150816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27589822699997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.72, Y:-24.68, Z:-3.88 [[ 9.80731996e-01 1.94524065e-01 1.80316703e-02 2.90720773e+02] [-1.94503199e-01 9.80897535e-01 -2.92073106e-03 -2.46787282e+01] [-1.82553734e-02 -6.42763142e-04 9.99833150e-01 -3.88194354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:-24.68, Z:-3.88 [[ 9.81185697e-01 1.92195750e-01 1.83145342e-02 2.90749216e+02] [-1.92173841e-01 9.81356419e-01 -2.96537326e-03 -2.46831622e+01] [-1.85430178e-02 -6.09992544e-04 9.99827877e-01 -3.88221388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.78, Y:-24.69, Z:-3.88 [[ 9.82409056e-01 1.85874096e-01 1.79796304e-02 2.90778970e+02] [-1.85851939e-01 9.82573451e-01 -2.91021365e-03 -2.46876507e+01] [-1.82072408e-02 -4.82528931e-04 9.99834118e-01 -3.88229709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36589822699995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:290.81, Y:-24.69, Z:-3.88 [[ 9.83014481e-01 1.82667138e-01 1.77552088e-02 2.90808401e+02] [-1.82645016e-01 9.83174726e-01 -2.87338756e-03 -2.46919890e+01] [-1.79813461e-02 -4.18318823e-04 9.99838235e-01 -3.88369885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.84, Y:-24.70, Z:-3.88 [[ 9.83561381e-01 1.79766455e-01 1.70596499e-02 2.90837303e+02] [-1.79745599e-01 9.83709255e-01 -2.76070440e-03 -2.46970124e+01] [-1.72780175e-02 -3.51074749e-04 9.99850662e-01 -3.88412759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:-24.70, Z:-3.88 [[ 9.84087914e-01 1.76851591e-01 1.71607555e-02 2.90865746e+02] [-1.76830049e-01 9.84237483e-01 -2.77673217e-03 -2.47017280e+01] [-1.73813283e-02 -3.01988669e-04 9.99848888e-01 -3.88475512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:-24.71, Z:-3.88 [[ 9.84864374e-01 1.72360052e-01 1.82805136e-02 2.90893972e+02] [-1.72334847e-01 9.85033987e-01 -2.95714100e-03 -2.47052353e+01] [-1.85166202e-02 -2.37986695e-04 9.99828524e-01 -3.88459222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:-24.71, Z:-3.88 [[ 9.85111479e-01 1.70854208e-01 1.90843711e-02 2.90922974e+02] [-1.70826464e-01 9.85296296e-01 -3.08670479e-03 -2.47094857e+01] [-1.93311366e-02 -2.19367306e-04 9.99813112e-01 -3.88475081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-24.71, Z:-3.89 [[ 9.85267710e-01 1.69909881e-01 1.94466283e-02 2.90951850e+02] [-1.69880900e-01 9.85459583e-01 -3.14477241e-03 -2.47140498e+01] [-1.96981941e-02 -2.05167995e-04 9.99805951e-01 -3.88569468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-24.72, Z:-3.89 [[ 9.85538670e-01 1.68453817e-01 1.83532357e-02 2.90982202e+02] [-1.68427756e-01 9.85709533e-01 -2.96769146e-03 -2.47183775e+01] [-1.85908783e-02 -1.66419599e-04 9.99827161e-01 -3.88633683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.575898227 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:291.01, Y:-24.72, Z:-3.89 [[ 9.85682355e-01 1.67635497e-01 1.81282747e-02 2.91011289e+02] [-1.67609931e-01 9.85849034e-01 -2.93138342e-03 -2.47217453e+01] [-1.83631460e-02 -1.49065967e-04 9.99831372e-01 -3.88709870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:291.04, Y:-24.73, Z:-3.89 [[ 9.85887622e-01 1.66387649e-01 1.84593126e-02 2.91040947e+02] [-1.66360926e-01 9.86060411e-01 -2.98468724e-03 -2.47261813e+01] [-1.86986124e-02 -1.28342132e-04 9.99825157e-01 -3.88776408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:-24.73, Z:-3.89 [[ 9.86216654e-01 1.64370464e-01 1.89489383e-02 2.91070667e+02] [-1.64341938e-01 9.86398673e-01 -3.06356651e-03 -2.47310563e+01] [-1.91947674e-02 -9.27649297e-05 9.99815759e-01 -3.88775430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-24.74, Z:-3.89 [[ 9.86691589e-01 1.61383709e-01 1.98747921e-02 2.91100729e+02] [-1.61351721e-01 9.86891735e-01 -3.21325378e-03 -2.47358307e+01] [-2.01328349e-02 -3.63414379e-05 9.99797313e-01 -3.88803449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.13, Y:-24.74, Z:-3.89 [[ 9.87613673e-01 1.55397347e-01 2.17001978e-02 2.91131634e+02] [-1.55357773e-01 9.87852042e-01 -3.50803961e-03 -2.47407664e+01] [-2.19817247e-02 9.32934855e-05 9.99758368e-01 -3.88857372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-24.75, Z:-3.89 [[ 9.88085036e-01 1.52294566e-01 2.22334792e-02 2.91162094e+02] [-1.52252156e-01 9.88335134e-01 -3.59787020e-03 -2.47455433e+01] [-2.25220647e-02 1.69906566e-04 9.99746332e-01 -3.88957366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-24.75, Z:-3.89 [[ 9.88956166e-01 1.46555037e-01 2.20753772e-02 2.91194488e+02] [-1.46511722e-01 9.89202472e-01 -3.57566783e-03 -2.47502159e+01] [-2.23610498e-02 3.01877227e-04 9.99749915e-01 -3.89094902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78589822699996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:291.23, Y:-24.76, Z:-3.89 [[ 9.89296652e-01 1.44260961e-01 2.19296634e-02 2.91226903e+02] [-1.44217560e-01 9.89539615e-01 -3.55620482e-03 -2.47551687e+01] [-2.22132922e-02 3.55498968e-04 9.99753191e-01 -3.89169535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-24.76, Z:-3.89 [[ 9.89519359e-01 1.42740458e-01 2.18311784e-02 2.91259493e+02] [-1.42696985e-01 9.89760076e-01 -3.54435187e-03 -2.47610136e+01] [-2.21135512e-02 3.91961447e-04 9.99755389e-01 -3.89200757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-24.77, Z:-3.89 [[ 9.89704092e-01 1.41532176e-01 2.13179072e-02 2.91291162e+02] [-1.41490353e-01 9.89933570e-01 -3.46519264e-03 -2.47661596e+01] [-2.15937482e-02 4.13237129e-04 9.99766742e-01 -3.89298084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.32, Y:-24.77, Z:-3.89 [[ 9.89834983e-01 1.40750105e-01 2.03988842e-02 2.91323070e+02] [-1.40711570e-01 9.90045067e-01 -3.31944146e-03 -2.47715612e+01] [-2.06630264e-02 4.15340260e-04 9.99786411e-01 -3.89367113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.36, Y:-24.78, Z:-3.89 [[ 9.89942444e-01 1.40149088e-01 1.92922412e-02 2.91355892e+02] [-1.40114447e-01 9.90130328e-01 -3.14243162e-03 -2.47775820e+01] [-1.95422420e-02 4.07704743e-04 9.99808949e-01 -3.89447063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.39, Y:-24.78, Z:-3.90 [[ 9.89993340e-01 1.39798937e-01 1.92209115e-02 2.91387429e+02] [-1.39764415e-01 9.90179824e-01 -3.13444040e-03 -2.47833516e+01] [-1.94703502e-02 4.16675666e-04 9.99810348e-01 -3.89575028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.42, Y:-24.79, Z:-3.90 [[ 9.90029040e-01 1.39522450e-01 1.93903318e-02 2.91418783e+02] [-1.39487196e-01 9.90218815e-01 -3.16553282e-03 -2.47891599e+01] [-1.96423343e-02 4.29266412e-04 9.99806979e-01 -3.89692043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99589822699994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:291.45, Y:-24.79, Z:-3.90 [[ 9.90032219e-01 1.39475681e-01 1.95637595e-02 2.91450502e+02] [-1.39439720e-01 9.90225400e-01 -3.19704145e-03 -2.47943958e+01] [-1.98184412e-02 4.37208879e-04 9.99803500e-01 -3.89796635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.48, Y:-24.80, Z:-3.90 [[ 9.89767514e-01 1.41471111e-01 1.86062870e-02 2.91480934e+02] [-1.41438865e-01 9.89942311e-01 -3.04440468e-03 -2.48009026e+01] [-1.88498460e-02 3.81600738e-04 9.99822253e-01 -3.89827481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.51, Y:-24.81, Z:-3.90 [[ 9.89514187e-01 1.43324407e-01 1.78826305e-02 2.91512910e+02] [-1.43294931e-01 9.89675706e-01 -2.92552618e-03 -2.48074076e+01] [-1.81173042e-02 3.32359360e-04 9.99835813e-01 -3.89948163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.54, Y:-24.81, Z:-3.90 [[ 9.89205039e-01 1.45462506e-01 1.77214352e-02 2.91543232e+02] [-1.45433849e-01 9.89363721e-01 -2.90214941e-03 -2.48135515e+01] [-1.79550990e-02 2.93524294e-04 9.99838751e-01 -3.90051215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.57, Y:-24.82, Z:-3.90 [[ 9.88837185e-01 1.47934580e-01 1.77871374e-02 2.91573547e+02] [-1.47906046e-01 9.88997116e-01 -2.91644018e-03 -2.48195674e+01] [-1.80228700e-02 2.53059335e-04 9.99837543e-01 -3.90096468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.60, Y:-24.82, Z:-3.90 [[ 9.87867476e-01 1.54236859e-01 1.81339978e-02 2.91603054e+02] [-1.54208250e-01 9.88033892e-01 -2.97396275e-03 -2.48245957e+01] [-1.83756991e-02 1.41469010e-04 9.99831143e-01 -3.90124289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.63, Y:-24.83, Z:-3.90 [[ 9.87261367e-01 1.58109791e-01 1.77844666e-02 2.91633480e+02] [-1.58082909e-01 9.87421536e-01 -2.91621493e-03 -2.48296887e+01] [-1.80218474e-02 6.76461143e-05 9.99837591e-01 -3.90161672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.66, Y:-24.83, Z:-3.90 [[ 9.86650076e-01 1.61906664e-01 1.75459336e-02 2.91663582e+02] [-1.61881089e-01 9.86806076e-01 -2.87766761e-03 -2.48342971e+01] [-1.77803474e-02 -1.10385982e-06 9.99841917e-01 -3.90190992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.69, Y:-24.84, Z:-3.90 [[ 9.86110544e-01 1.65125654e-01 1.78749127e-02 2.91693974e+02] [-1.65099639e-01 9.86272536e-01 -2.93162272e-03 -2.48391767e+01] [-1.81136216e-02 -6.02375611e-05 9.99835933e-01 -3.90302496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.72, Y:-24.84, Z:-3.90 [[ 9.85314665e-01 1.69778266e-01 1.81755561e-02 2.91723593e+02] [-1.69752159e-01 9.85482277e-01 -2.98093054e-03 -2.48444190e+01] [-1.84177857e-02 -1.48185319e-04 9.99830367e-01 -3.90293976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.75, Y:-24.85, Z:-3.90 [[ 9.85170647e-01 1.70545595e-01 1.87881727e-02 2.91752854e+02] [-1.70517837e-01 9.85349771e-01 -3.08146610e-03 -2.48492863e+01] [-1.90384521e-02 -1.67948625e-04 9.99818738e-01 -3.90323372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.78, Y:-24.85, Z:-3.90 [[ 9.85168613e-01 1.70557341e-01 1.87882292e-02 2.91783436e+02] [-1.70529592e-01 9.85347738e-01 -3.08112116e-03 -2.48543074e+01] [-1.90384470e-02 -1.68525199e-04 9.99818738e-01 -3.90398177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.81, Y:-24.86, Z:-3.90 [[ 9.85103789e-01 1.70874294e-01 1.93002614e-02 2.91812933e+02] [-1.70845066e-01 9.85292821e-01 -3.16544519e-03 -2.48586332e+01] [-1.95573022e-02 -1.79062374e-04 9.99808722e-01 -3.90435654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.385898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:291.84, Y:-24.86, Z:-3.90 [[ 9.85035964e-01 1.71170543e-01 2.01194964e-02 2.91842632e+02] [-1.71138847e-01 9.85241396e-01 -3.29955010e-03 -2.48620759e+01] [-2.03873465e-02 -1.93051898e-04 9.99792138e-01 -3.90473948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:-24.86, Z:-3.90 [[ 9.84883157e-01 1.72010794e-01 2.04316828e-02 2.91873265e+02] [-1.71978294e-01 9.85095042e-01 -3.35045635e-03 -2.48636702e+01] [-2.07034640e-02 -2.13997917e-04 9.99785637e-01 -3.90498479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-24.87, Z:-3.91 [[ 9.84764669e-01 1.72731627e-01 2.00582073e-02 2.91903813e+02] [-1.72700453e-01 9.84968900e-01 -3.28921259e-03 -2.48678693e+01] [-2.03248615e-02 -2.24961160e-04 9.99793403e-01 -3.90597810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-24.87, Z:-3.91 [[ 9.84603415e-01 1.73681446e-01 1.97704548e-02 2.91933328e+02] [-1.73651351e-01 9.84801857e-01 -3.24207435e-03 -2.48724472e+01] [-2.00330687e-02 -2.41008712e-04 9.99799289e-01 -3.90654623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.96, Y:-24.88, Z:-3.91 [[ 9.84084649e-01 1.76570242e-01 2.00088482e-02 2.91962494e+02] [-1.76540018e-01 9.84287995e-01 -3.28096982e-03 -2.48765778e+01] [-2.02737907e-02 -3.03610376e-04 9.99794419e-01 -3.90725654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:-24.88, Z:-3.91 [[ 9.83828778e-01 1.77987397e-01 2.00355351e-02 2.91990572e+02] [-1.77957394e-01 9.84032710e-01 -3.28490991e-03 -2.48809477e+01] [-2.03002945e-02 -3.33682717e-04 9.99793872e-01 -3.90801624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.02, Y:-24.89, Z:-3.91 [[ 9.83614058e-01 1.79147319e-01 2.02391250e-02 2.92020182e+02] [-1.79116964e-01 9.83822193e-01 -3.31751953e-03 -2.48858653e+01] [-2.05060251e-02 -3.62011783e-04 9.99789664e-01 -3.90883852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:-24.89, Z:-3.91 [[ 9.83404631e-01 1.80284484e-01 2.03183847e-02 2.92049320e+02] [-1.80254144e-01 9.83614434e-01 -3.33003012e-03 -2.48908686e+01] [-2.05858093e-02 -3.87706018e-04 9.99788015e-01 -3.90901106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.08, Y:-24.90, Z:-3.91 [[ 9.82931982e-01 1.82936571e-01 1.94660981e-02 2.92077259e+02] [-1.82909250e-01 9.83124626e-01 -3.18996279e-03 -2.48951318e+01] [-1.97211612e-02 -4.25012952e-04 9.99805429e-01 -3.90989972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65589822699997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:292.11, Y:-24.90, Z:-3.91 [[ 9.82606958e-01 1.84763291e-01 1.86035727e-02 2.92105279e+02] [-1.84738676e-01 9.82782952e-01 -3.04806268e-03 -2.48997583e+01] [-1.88464442e-02 -4.41751783e-04 9.99822292e-01 -3.91114790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:-24.91, Z:-3.91 [[ 9.82253454e-01 1.86687457e-01 1.80539313e-02 2.92133265e+02] [-1.86664615e-01 9.82419247e-01 -2.95718689e-03 -2.49050583e+01] [-1.82885993e-02 -4.65323096e-04 9.99832641e-01 -3.91160923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-24.91, Z:-3.91 [[ 9.81491022e-01 1.90666263e-01 1.79373870e-02 2.92161776e+02] [-1.90644393e-01 9.81654770e-01 -2.93726075e-03 -2.49112459e+01] [-1.81683580e-02 -5.36767186e-04 9.99834798e-01 -3.91206511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:-24.92, Z:-3.91 [[ 9.81207150e-01 1.92104015e-01 1.81266689e-02 2.92189683e+02] [-1.92081941e-01 9.81374405e-01 -2.96745550e-03 -2.49159754e+01] [-1.83591090e-02 -5.70117191e-04 9.99831295e-01 -3.91289314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:-24.92, Z:-3.91 [[ 9.80889313e-01 1.93704322e-01 1.82973115e-02 2.92217389e+02] [-1.93682128e-01 9.81059767e-01 -2.99430443e-03 -2.49206570e+01] [-1.85307659e-02 -6.06781018e-04 9.99828106e-01 -3.91346195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.25, Y:-24.92, Z:-3.91 [[ 9.80201778e-01 1.97261728e-01 1.70963487e-02 2.92245275e+02] [-1.97242907e-01 9.80350658e-01 -2.79686547e-03 -2.49248576e+01] [-1.73121312e-02 -6.30641008e-04 9.99849935e-01 -3.91403598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:-24.93, Z:-3.92 [[ 9.79834161e-01 1.99192892e-01 1.57228898e-02 2.92273922e+02] [-1.99177236e-01 9.79960110e-01 -2.57131768e-03 -2.49291747e+01] [-1.59199930e-02 -6.12176832e-04 9.99873081e-01 -3.91509906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.30, Y:-24.93, Z:-3.92 [[ 9.79492262e-01 2.00922314e-01 1.50044205e-02 2.92301322e+02] [-2.00908268e-01 9.79606987e-01 -2.45325515e-03 -2.49325289e+01] [-1.51913488e-02 -6.11567694e-04 9.99884418e-01 -3.91609637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.33, Y:-24.94, Z:-3.92 [[ 9.79177473e-01 2.02471435e-01 1.47239038e-02 2.92329600e+02] [-2.02458098e-01 9.79287970e-01 -2.40642433e-03 -2.49352853e+01] [-1.49061740e-02 -6.24657055e-04 9.99888702e-01 -3.91670601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.36, Y:-24.93, Z:-3.92 [[ 9.78627958e-01 2.05030450e-01 1.58061293e-02 2.92356732e+02] [-2.05015422e-01 9.78755335e-01 -2.58275727e-03 -2.49345787e+01] [-1.59998773e-02 -7.12941797e-04 9.99871740e-01 -3.91763444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.955898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:292.38, Y:-24.94, Z:-3.92 [[ 9.78477765e-01 2.05710757e-01 1.62587793e-02 2.92384201e+02] [-2.05694970e-01 9.78612553e-01 -2.65546203e-03 -2.49367674e+01] [-1.64573026e-02 -7.46038557e-04 9.99864291e-01 -3.91841379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.41, Y:-24.94, Z:-3.92 [[ 9.78344323e-01 2.06346582e-01 1.62318534e-02 2.92412407e+02] [-2.06330964e-01 9.78478674e-01 -2.64924590e-03 -2.49402273e+01] [-1.64291852e-02 -7.57259289e-04 9.99864745e-01 -3.91864352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.44, Y:-24.94, Z:-3.92 [[ 9.78421419e-01 2.06026947e-01 1.56340581e-02 2.92440887e+02] [-2.06012433e-01 9.78546050e-01 -2.55069976e-03 -2.49416033e+01] [-1.58241587e-02 -7.25151078e-04 9.99874527e-01 -3.91813531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:-24.94, Z:-3.92 [[ 9.78562779e-01 2.05336206e-01 1.58722767e-02 2.92467438e+02] [-2.05321173e-01 9.78691226e-01 -2.58849506e-03 -2.49438239e+01] [-1.60655697e-02 -7.25909555e-04 9.99870677e-01 -3.91859745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-24.95, Z:-3.92 [[ 9.78739713e-01 2.04393121e-01 1.70887829e-02 2.92494433e+02] [-2.04375579e-01 9.78888586e-01 -2.78530606e-03 -2.49464442e+01] [-1.72973120e-02 -7.66440261e-04 9.99850097e-01 -3.91914587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-24.95, Z:-3.92 [[ 9.79049651e-01 2.02786812e-01 1.84197974e-02 2.92521630e+02] [-2.02766178e-01 9.79222586e-01 -3.00057954e-03 -2.49496826e+01] [-1.86455596e-02 -7.97195573e-04 9.99825839e-01 -3.91996412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:-24.95, Z:-3.92 [[ 9.79419397e-01 2.00935376e-01 1.90425516e-02 2.92549617e+02] [-2.00913004e-01 9.79604181e-01 -3.10047372e-03 -2.49537049e+01] [-1.92771580e-02 -7.89232144e-04 9.99813867e-01 -3.92074084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:-24.96, Z:-3.92 [[ 9.80070342e-01 1.97650704e-01 1.99078634e-02 2.92577252e+02] [-1.97625606e-01 9.80272219e-01 -3.23987960e-03 -2.49584086e+01] [-2.01554899e-02 -7.58993656e-04 9.99796569e-01 -3.92137032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:-24.96, Z:-3.92 [[ 9.80354205e-01 1.96243625e-01 1.98512834e-02 2.92605179e+02] [-1.96218402e-01 9.80554898e-01 -3.22958903e-03 -2.49627375e+01] [-2.00990594e-02 -7.29045937e-04 9.99797728e-01 -3.92135205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-24.97, Z:-3.92 [[ 9.80531181e-01 1.95355702e-01 1.98683976e-02 2.92633162e+02] [-1.95330283e-01 9.80732197e-01 -3.23094313e-03 -2.49672051e+01] [-2.01167603e-02 -7.12859244e-04 9.99797383e-01 -3.92206421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.66, Y:-24.97, Z:-3.92 [[ 9.80456479e-01 1.95595448e-01 2.11545001e-02 2.92661987e+02] [-1.95566709e-01 9.80684371e-01 -3.43907197e-03 -2.49715142e+01] [-2.14185545e-02 -7.65255572e-04 9.99770304e-01 -3.92250942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-24.97, Z:-3.92 [[ 9.80175710e-01 1.96851346e-01 2.24749972e-02 2.92689525e+02] [-1.96819262e-01 9.80432984e-01 -3.65260191e-03 -2.49749586e+01] [-2.27542482e-02 -8.43320699e-04 9.99740733e-01 -3.92301876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-24.98, Z:-3.92 [[ 9.79795841e-01 1.98733102e-01 2.24780711e-02 2.92717630e+02] [-1.98701535e-01 9.80053246e-01 -3.65175409e-03 -2.49781245e+01] [-2.27554309e-02 -8.88453755e-04 9.99740667e-01 -3.92393629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.74, Y:-24.98, Z:-3.93 [[ 9.78735782e-01 2.04212249e-01 1.93294368e-02 2.92744993e+02] [-2.04189988e-01 9.78926245e-01 -3.13936754e-03 -2.49792174e+01] [-1.95631903e-02 -8.74266117e-04 9.99808240e-01 -3.92633395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:-24.98, Z:-3.93 [[ 9.78216037e-01 2.06823251e-01 1.78192939e-02 2.92773017e+02] [-2.06804788e-01 9.78377949e-01 -2.89282984e-03 -2.49821763e+01] [-1.80323087e-02 -8.55302751e-04 9.99837039e-01 -3.92714238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:-24.99, Z:-3.93 [[ 9.77820626e-01 2.08717907e-01 1.74258057e-02 2.92800060e+02] [-2.08700568e-01 9.77975499e-01 -2.82792402e-03 -2.49855986e+01] [-1.76322494e-02 -8.71573124e-04 9.99844160e-01 -3.92795500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-24.99, Z:-3.93 [[ 9.77670681e-01 2.09400402e-01 1.76496901e-02 2.92827568e+02] [-2.09382760e-01 9.77829569e-01 -2.86234776e-03 -2.49894819e+01] [-1.78577657e-02 -8.97107346e-04 9.99840135e-01 -3.92887510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-24.99, Z:-3.93 [[ 9.77661637e-01 2.09415190e-01 1.79722711e-02 2.92853996e+02] [-2.09396922e-01 9.77826386e-01 -2.91343017e-03 -2.49938298e+01] [-1.81838774e-02 -9.14989337e-04 9.99834241e-01 -3.92949197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.88, Y:-25.00, Z:-3.93 [[ 9.77968757e-01 2.08016115e-01 1.75044508e-02 2.92881269e+02] [-2.07998588e-01 9.78125014e-01 -2.83609721e-03 -2.49997666e+01] [-1.77114951e-02 -8.67286599e-04 9.99842763e-01 -3.93084444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-25.00, Z:-3.93 [[ 9.78169157e-01 2.07167747e-01 1.63286436e-02 2.92908385e+02] [-2.07152393e-01 9.78305112e-01 -2.64467945e-03 -2.50049328e+01] [-1.65222878e-02 -7.95573728e-04 9.99863181e-01 -3.93219844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:-25.01, Z:-3.93 [[ 9.78244502e-01 2.06946147e-01 1.45253844e-02 2.92935825e+02] [-2.06933984e-01 9.78352081e-01 -2.35181598e-03 -2.50114442e+01] [-1.46976393e-02 -7.05144612e-04 9.99891735e-01 -3.93356211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:-25.02, Z:-3.93 [[ 9.78196300e-01 2.07150212e-01 1.48589175e-02 2.92962305e+02] [-2.07137523e-01 9.78308879e-01 -2.40481530e-03 -2.50168010e+01] [-1.50347689e-02 -7.25457942e-04 9.99886708e-01 -3.93397265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:-25.02, Z:-3.93 [[ 9.78036490e-01 2.07855451e-01 1.55156900e-02 2.92990091e+02] [-2.07841727e-01 9.78159250e-01 -2.50963261e-03 -2.50228455e+01] [-1.56984565e-02 -7.70295528e-04 9.99876475e-01 -3.93396893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.02, Y:-25.03, Z:-3.93 [[ 9.77878843e-01 2.08600483e-01 1.54533781e-02 2.93016393e+02] [-2.08586976e-01 9.78000629e-01 -2.49871539e-03 -2.50288474e+01] [-1.56346467e-02 -7.79932491e-04 9.99877467e-01 -3.93412460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:-25.04, Z:-3.93 [[ 9.77467093e-01 2.10630933e-01 1.38813494e-02 2.93043755e+02] [-2.10620259e-01 9.77565382e-01 -2.24301757e-03 -2.50360175e+01] [-1.40423755e-02 -7.31217555e-04 9.99901134e-01 -3.93499175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-25.04, Z:-3.94 [[ 9.77158693e-01 2.12081637e-01 1.35006364e-02 2.93070253e+02] [-2.12071689e-01 9.77251679e-01 -2.18073853e-03 -2.50408544e+01] [-1.36560142e-02 -7.32175150e-04 9.99906484e-01 -3.93572325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-25.05, Z:-3.94 [[ 9.76843180e-01 2.13485746e-01 1.41858633e-02 2.93098384e+02] [-2.13474929e-01 9.76945858e-01 -2.29006919e-03 -2.50450975e+01] [-1.43477176e-02 -7.91287698e-04 9.99896753e-01 -3.93652073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.765898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:293.13, Y:-25.05, Z:-3.94 [[ 9.76615946e-01 2.14425397e-01 1.55898613e-02 2.93126282e+02] [-2.14412471e-01 9.76739968e-01 -2.51555060e-03 -2.50490618e+01] [-1.57666385e-02 -8.85933843e-04 9.99875306e-01 -3.93709767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:-25.05, Z:-3.94 [[ 9.76317952e-01 2.15572257e-01 1.82169817e-02 2.93154434e+02] [-2.15554835e-01 9.76487318e-01 -2.93789991e-03 -2.50529247e+01] [-1.84219813e-02 -1.05843405e-03 9.99829741e-01 -3.93684389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:-25.06, Z:-3.94 [[ 9.76333311e-01 2.15472872e-01 1.85663092e-02 2.93180920e+02] [-2.15454780e-01 9.76509232e-01 -2.99305667e-03 -2.50561430e+01] [-1.87750948e-02 -1.07797912e-03 9.99823151e-01 -3.93748310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:-25.06, Z:-3.94 [[ 9.76414328e-01 2.15124766e-01 1.83410688e-02 2.93209159e+02] [-2.15107086e-01 9.76585998e-01 -2.95475057e-03 -2.50593387e+01] [-1.85472710e-02 -1.06023307e-03 9.99827422e-01 -3.93809745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:-25.06, Z:-3.94 [[ 9.76660518e-01 2.13987158e-01 1.85399160e-02 2.93236576e+02] [-2.13968915e-01 9.76835908e-01 -2.98539910e-03 -2.50623174e+01] [-1.87492927e-02 -1.05124427e-03 9.99823664e-01 -3.93902594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-25.07, Z:-3.94 [[ 9.76941378e-01 2.12682190e-01 1.87571142e-02 2.93264160e+02] [-2.12663297e-01 9.77120876e-01 -3.01931298e-03 -2.50671577e+01] [-1.89701220e-02 -1.03925797e-03 9.99819511e-01 -3.93951228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:-25.07, Z:-3.94 [[ 9.77364840e-01 2.10696483e-01 1.91039977e-02 2.93292027e+02] [-2.10676531e-01 9.77550997e-01 -3.07381666e-03 -2.50724302e+01] [-1.93227743e-02 -1.02052364e-03 9.99812777e-01 -3.94088672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-25.08, Z:-3.94 [[ 9.78610549e-01 2.04810812e-01 1.93371100e-02 2.93319972e+02] [-2.04789253e-01 9.78801150e-01 -3.10979749e-03 -2.50780779e+01] [-1.95641057e-02 -9.16751700e-04 9.99808184e-01 -3.94265561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-25.08, Z:-3.94 [[ 9.79229441e-01 2.01845730e-01 1.91834253e-02 2.93348007e+02] [-2.01823956e-01 9.79416958e-01 -3.08446446e-03 -2.50839126e+01] [-1.94111581e-02 -8.51276394e-04 9.99811223e-01 -3.94387795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-25.09, Z:-3.94 [[ 9.79757271e-01 1.99285653e-01 1.89978569e-02 2.93375179e+02] [-1.99263835e-01 9.79941120e-01 -3.05378883e-03 -2.50909704e+01] [-1.92253575e-02 -7.93614009e-04 9.99814861e-01 -3.94458815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.065898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:293.40, Y:-25.10, Z:-3.94 [[ 9.80259469e-01 1.96875765e-01 1.82018110e-02 2.93403040e+02] [-1.96855342e-01 9.80428182e-01 -2.92474474e-03 -2.51016668e+01] [-1.84213798e-02 -7.16114993e-04 9.99830056e-01 -3.94413773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:-25.11, Z:-3.94 [[ 9.80237362e-01 1.97031537e-01 1.76999225e-02 2.93430630e+02] [-1.97012264e-01 9.80396901e-01 -2.84329989e-03 -2.51087097e+01] [-1.79131689e-02 -6.99993038e-04 9.99839301e-01 -3.94463479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-25.12, Z:-3.95 [[ 9.80086348e-01 1.97807975e-01 1.73998704e-02 2.93459180e+02] [-1.97789486e-01 9.80240537e-01 -2.79430107e-03 -2.51154547e+01] [-1.76087933e-02 -7.02855083e-04 9.99844706e-01 -3.94555042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-25.13, Z:-3.95 [[ 9.79368442e-01 2.01228678e-01 1.85600093e-02 2.93485771e+02] [-2.01208271e-01 9.79543952e-01 -2.97971840e-03 -2.51265264e+01] [-1.87799496e-02 -8.16185216e-04 9.99823308e-01 -3.94628074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-25.14, Z:-3.95 [[ 9.78915315e-01 2.03358152e-01 1.92423727e-02 2.93513800e+02] [-2.03336651e-01 9.79104014e-01 -3.08803235e-03 -2.51351000e+01] [-1.94682609e-02 -8.89757477e-04 9.99810080e-01 -3.94663736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-25.14, Z:-3.95 [[ 9.78922220e-01 2.03324893e-01 1.92425212e-02 2.93542767e+02] [-2.03303404e-01 9.79110921e-01 -3.08710707e-03 -2.51396639e+01] [-1.94682483e-02 -8.90032341e-04 9.99810080e-01 -3.94734511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24589822699994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:293.57, Y:-25.15, Z:-3.95 [[ 9.78446495e-01 2.05586898e-01 1.94031659e-02 2.93570391e+02] [-2.05565505e-01 9.78638410e-01 -3.11224820e-03 -2.51475109e+01] [-1.96285209e-02 -9.43453259e-04 9.99806897e-01 -3.94826334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:-25.16, Z:-3.95 [[ 9.77382665e-01 2.10613058e-01 1.91119545e-02 2.93597830e+02] [-2.10593276e-01 9.77568964e-01 -3.06466523e-03 -2.51572392e+01] [-1.93287121e-02 -1.02949843e-03 9.99812653e-01 -3.94916911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:-25.16, Z:-3.95 [[ 9.76916416e-01 2.12772052e-01 1.90360149e-02 2.93626005e+02] [-2.12752852e-01 9.77101280e-01 -3.05161470e-03 -2.51641026e+01] [-1.92494129e-02 -1.06879398e-03 9.99814142e-01 -3.95091995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-25.17, Z:-3.95 [[ 9.76530574e-01 2.14581689e-01 1.85131806e-02 2.93653150e+02] [-2.14563867e-01 9.76705454e-01 -2.96705143e-03 -2.51710939e+01] [-1.87185994e-02 -1.07484318e-03 9.99824214e-01 -3.95211116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-25.18, Z:-3.95 [[ 9.76192348e-01 2.16162632e-01 1.79503968e-02 2.93681445e+02] [-2.16146165e-01 9.76356782e-01 -2.87568420e-03 -2.51783956e+01] [-1.81476071e-02 -1.07268852e-03 9.99834743e-01 -3.95324215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:-25.19, Z:-3.95 [[ 9.75647587e-01 2.18701019e-01 1.67824316e-02 2.93708252e+02] [-2.18687010e-01 9.75791354e-01 -2.68795852e-03 -2.51870122e+01] [-1.69640110e-02 -1.04759954e-03 9.99855552e-01 -3.95445380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42589822699995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.74, Y:-25.19, Z:-3.96 [[ 9.75390581e-01 2.19876530e-01 1.63562250e-02 2.93737163e+02] [-2.19863406e-01 9.75527153e-01 -2.61855945e-03 -2.51930749e+01] [-1.65317014e-02 -1.04201712e-03 9.99862799e-01 -3.95593563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:-25.20, Z:-3.96 [[ 9.75059985e-01 2.21327193e-01 1.65015101e-02 2.93764811e+02] [-2.21314047e-01 9.75199013e-01 -2.64150065e-03 -2.52000398e+01] [-1.66768923e-02 -1.07639441e-03 9.99860352e-01 -3.95622188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-25.21, Z:-3.96 [[ 9.75003151e-01 2.21467373e-01 1.79181061e-02 2.93793126e+02] [-2.21451911e-01 9.75167077e-01 -2.86746511e-03 -2.52109503e+01] [-1.81081972e-02 -1.17221133e-03 9.99835346e-01 -3.95659336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:-25.22, Z:-3.96 [[ 9.75272371e-01 2.20219260e-01 1.86354661e-02 2.93821340e+02] [-2.20202316e-01 9.75449665e-01 -2.98187431e-03 -2.52190845e+01] [-1.88346253e-02 -1.19543317e-03 9.99821898e-01 -3.95719386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:-25.23, Z:-3.96 [[ 9.75583705e-01 2.18794072e-01 1.91203780e-02 2.93850815e+02] [-2.18775978e-01 9.75770319e-01 -3.05862754e-03 -2.52267991e+01] [-1.93263069e-02 -1.19913221e-03 9.99812510e-01 -3.95792615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:-25.23, Z:-3.96 [[ 9.75803726e-01 2.17810377e-01 1.91240212e-02 2.93881200e+02] [-2.17792090e-01 9.75990393e-01 -3.05909898e-03 -2.52344282e+01] [-1.93311645e-02 -1.17998036e-03 9.99812439e-01 -3.95829232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.91, Y:-25.24, Z:-3.96 [[ 9.75689869e-01 2.18388114e-01 1.83278940e-02 2.93910837e+02] [-2.18371411e-01 9.75861327e-01 -2.93222543e-03 -2.52428769e+01] [-1.85258462e-02 -1.14134544e-03 9.99827730e-01 -3.95958961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-25.25, Z:-3.96 [[ 9.75524769e-01 2.19205238e-01 1.73346289e-02 2.93940284e+02] [-2.19190421e-01 9.75678158e-01 -2.77350709e-03 -2.52487883e+01] [-1.75209861e-02 -1.09395975e-03 9.99845897e-01 -3.96012344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.97, Y:-25.25, Z:-3.96 [[ 9.75366117e-01 2.19982689e-01 1.63876196e-02 2.93969656e+02] [-2.19969549e-01 9.75503214e-01 -2.62241261e-03 -2.52539504e+01] [-1.65630609e-02 -1.04696488e-03 9.99862275e-01 -3.96039537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-25.26, Z:-3.96 [[ 9.74886995e-01 2.22135300e-01 1.58510376e-02 2.93999213e+02] [-2.22123295e-01 9.75015287e-01 -2.53621206e-03 -2.52589478e+01] [-1.60183862e-02 -1.04836455e-03 9.99871148e-01 -3.96041611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-25.26, Z:-3.96 [[ 9.74657556e-01 2.23157606e-01 1.55991112e-02 2.94029728e+02] [-2.23146119e-01 9.74781813e-01 -2.49536368e-03 -2.52636829e+01] [-1.57625893e-02 -1.04875606e-03 9.99875213e-01 -3.96109048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-25.27, Z:-3.96 [[ 9.74494842e-01 2.23882210e-01 1.53804666e-02 2.94060841e+02] [-2.23871135e-01 9.74615649e-01 -2.46018931e-03 -2.52686294e+01] [-1.55408361e-02 -1.04580072e-03 9.99878687e-01 -3.96216852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.09, Y:-25.27, Z:-3.96 [[ 9.74583458e-01 2.23515681e-01 1.50938449e-02 2.94090374e+02] [-2.23504965e-01 9.74699800e-01 -2.41478895e-03 -2.52745129e+01] [-1.52517108e-02 -1.02013590e-03 9.99883165e-01 -3.96344038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-25.28, Z:-3.96 [[ 9.74876998e-01 2.22217132e-01 1.53096308e-02 2.94121540e+02] [-2.22205947e-01 9.74996676e-01 -2.44939430e-03 -2.52802205e+01] [-1.54711365e-02 -1.01403284e-03 9.99879801e-01 -3.96465070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84589822699996 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:294.15, Y:-25.29, Z:-3.97 [[ 9.75316308e-01 2.20252916e-01 1.57083519e-02 2.94153207e+02] [-2.20240899e-01 9.75442276e-01 -2.51238253e-03 -2.52858278e+01] [-1.58759501e-02 -1.00925388e-03 9.99873460e-01 -3.96585472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-25.29, Z:-3.97 [[ 9.75688965e-01 2.18521295e-01 1.67178405e-02 2.94184620e+02] [-2.18507380e-01 9.75831625e-01 -2.67684987e-03 -2.52919823e+01] [-1.68987462e-02 -1.04119864e-03 9.99856664e-01 -3.96564704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-25.30, Z:-3.97 [[ 9.76105471e-01 2.16581688e-01 1.76205021e-02 2.94215774e+02] [-2.16565836e-01 9.76263926e-01 -2.82580449e-03 -2.52972238e+01] [-1.78142780e-02 -1.05771554e-03 9.99840754e-01 -3.96623219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.25, Y:-25.30, Z:-3.97 [[ 9.76495797e-01 2.14763363e-01 1.82388707e-02 2.94247824e+02] [-2.14746068e-01 9.76665538e-01 -2.92463286e-03 -2.53021763e+01] [-1.84413805e-02 -1.06083408e-03 9.99829381e-01 -3.96559696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-25.31, Z:-3.97 [[ 9.76418400e-01 2.15117755e-01 1.82060214e-02 2.94278518e+02] [-2.15100529e-01 9.76587539e-01 -2.92240792e-03 -2.53069088e+01] [-1.84084354e-02 -1.06263195e-03 9.99829986e-01 -3.96566044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-25.31, Z:-3.97 [[ 9.76233917e-01 2.15918144e-01 1.86197470e-02 2.94309166e+02] [-2.15900203e-01 9.76410850e-01 -2.99238580e-03 -2.53112012e+01] [-1.88266334e-02 -1.09873864e-03 9.99822160e-01 -3.96685544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-25.31, Z:-3.97 [[ 9.75684933e-01 2.18411108e-01 1.83166347e-02 2.94340392e+02] [-2.18394176e-01 9.75856196e-01 -2.94409134e-03 -2.53148176e+01] [-1.85174237e-02 -1.12774078e-03 9.99827902e-01 -3.96779761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-25.32, Z:-3.97 [[ 9.75468364e-01 2.19446192e-01 1.74596840e-02 2.94371010e+02] [-2.19430966e-01 9.75623992e-01 -2.80673093e-03 -2.53186309e+01] [-1.76500130e-02 -1.09331810e-03 9.99843629e-01 -3.96838857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-25.32, Z:-3.97 [[ 9.75320308e-01 2.20194927e-01 1.62631903e-02 2.94399969e+02] [-2.20181810e-01 9.75455346e-01 -2.61499003e-03 -2.53219653e+01] [-1.64398235e-02 -1.03040581e-03 9.99864326e-01 -3.96892609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.43, Y:-25.33, Z:-3.97 [[ 9.75092778e-01 2.21256609e-01 1.54786014e-02 2.94429508e+02] [-2.21244863e-01 9.75215113e-01 -2.48866932e-03 -2.53258304e+01] [-1.56456006e-02 -9.97877579e-04 9.99877102e-01 -3.96954927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-25.33, Z:-3.97 [[ 9.74574062e-01 2.23423920e-01 1.69454960e-02 2.94459545e+02] [-2.23410170e-01 9.74720716e-01 -2.72437453e-03 -2.53286347e+01] [-1.71258164e-02 -1.13069138e-03 9.99852703e-01 -3.96997513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-25.33, Z:-3.97 [[ 9.74310355e-01 2.24513947e-01 1.76867204e-02 2.94489279e+02] [-2.24499154e-01 9.74470136e-01 -2.84312399e-03 -2.53316070e+01] [-1.78735018e-02 -1.20056863e-03 9.99839535e-01 -3.97071831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-25.33, Z:-3.97 [[ 9.74134027e-01 2.25270813e-01 1.77752217e-02 2.94517856e+02] [-2.25256004e-01 9.74295422e-01 -2.85700916e-03 -2.53337418e+01] [-1.79619180e-02 -1.22086558e-03 9.99837926e-01 -3.97153819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:-25.33, Z:-3.97 [[ 9.73928924e-01 2.26290400e-01 1.59720297e-02 2.94547696e+02] [-2.26278588e-01 9.74059245e-01 -2.56663370e-03 -2.53336180e+01] [-1.61385078e-02 -1.11440953e-03 9.99869145e-01 -3.97275310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-25.34, Z:-3.97 [[ 9.73990551e-01 2.26076498e-01 1.52257675e-02 2.94577621e+02] [-2.26065743e-01 9.74108975e-01 -2.44638772e-03 -2.53370310e+01] [-1.53846275e-02 -1.05926591e-03 9.99881089e-01 -3.97314581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-25.34, Z:-3.97 [[ 9.74117340e-01 2.25490031e-01 1.58004035e-02 2.94607564e+02] [-2.25478379e-01 9.74244865e-01 -2.53832242e-03 -2.53407872e+01] [-1.59658284e-02 -1.09002548e-03 9.99871944e-01 -3.97362649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-25.34, Z:-3.97 [[ 9.74426722e-01 2.23885752e-01 1.91763818e-02 2.94636289e+02] [-2.23868290e-01 9.74614540e-01 -3.08011480e-03 -2.53446292e+01] [-1.93791744e-02 -1.29163764e-03 9.99811372e-01 -3.97341139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-25.35, Z:-3.97 [[ 9.74554434e-01 2.23217161e-01 2.04390554e-02 2.94665866e+02] [-2.23197190e-01 9.74767788e-01 -3.28231664e-03 -2.53485979e+01] [-2.06560022e-02 -1.36314350e-03 9.99785713e-01 -3.97373831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.385898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:294.70, Y:-25.35, Z:-3.97 [[ 9.74535535e-01 2.23295248e-01 2.04871233e-02 2.94695021e+02] [-2.23275210e-01 9.74749896e-01 -3.28955633e-03 -2.53525212e+01] [-2.07043636e-02 -1.36847722e-03 9.99784705e-01 -3.97457945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.72, Y:-25.36, Z:-3.97 [[ 9.74494048e-01 2.23544009e-01 1.97338766e-02 2.94724441e+02] [-2.23525477e-01 9.74692938e-01 -3.16817027e-03 -2.53571685e+01] [-1.99426957e-02 -1.32366112e-03 9.99800248e-01 -3.97497234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-25.36, Z:-3.98 [[ 9.74410260e-01 2.24111213e-01 1.72861124e-02 2.94754317e+02] [-2.24097087e-01 9.74562874e-01 -2.77486495e-03 -2.53610768e+01] [-1.74682817e-02 -1.16991056e-03 9.99846733e-01 -3.97658074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:-25.36, Z:-3.98 [[ 9.74316221e-01 2.24556640e-01 1.67993224e-02 2.94782321e+02] [-2.24543369e-01 9.74460366e-01 -2.69642455e-03 -2.53648556e+01] [-1.69757738e-02 -1.14500627e-03 9.99855246e-01 -3.97701307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-25.37, Z:-3.98 [[ 9.74080011e-01 2.25577747e-01 1.68170430e-02 2.94811120e+02] [-2.25564609e-01 9.74224473e-01 -2.69875283e-03 -2.53692557e+01] [-1.69923534e-02 -1.16452853e-03 9.99854941e-01 -3.97782059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:-25.37, Z:-3.98 [[ 9.73649555e-01 2.27387274e-01 1.73657976e-02 2.94838839e+02] [-2.27373564e-01 9.73803625e-01 -2.78605389e-03 -2.53734034e+01] [-1.75443899e-02 -1.23588316e-03 9.99845322e-01 -3.97907270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.87, Y:-25.38, Z:-3.98 [[ 9.73662297e-01 2.27306133e-01 1.77102774e-02 2.94867807e+02] [-2.27291880e-01 9.73822538e-01 -2.84021534e-03 -2.53779849e+01] [-1.78922656e-02 -1.25999165e-03 9.99839127e-01 -3.97958689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-25.38, Z:-3.98 [[ 9.74184153e-01 2.25022458e-01 1.81694747e-02 2.94895335e+02] [-2.25007076e-01 9.74352775e-01 -2.91306196e-03 -2.53832937e+01] [-1.83589824e-02 -1.25040157e-03 9.99830678e-01 -3.97987950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-25.39, Z:-3.98 [[ 9.74653783e-01 2.22945135e-01 1.85868172e-02 2.94924286e+02] [-2.22928686e-01 9.74830205e-01 -2.97871155e-03 -2.53891105e+01] [-1.87830801e-02 -1.24032225e-03 9.99822813e-01 -3.98066027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.95, Y:-25.40, Z:-3.98 [[ 9.75270382e-01 2.20165097e-01 1.93652116e-02 2.94954322e+02] [-2.20146706e-01 9.75461839e-01 -3.10288414e-03 -2.53953526e+01] [-1.95731718e-02 -1.23703656e-03 9.99807662e-01 -3.98155794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-25.40, Z:-3.98 [[ 9.75784610e-01 2.17818659e-01 1.99856442e-02 2.94983190e+02] [-2.17798580e-01 9.75988485e-01 -3.20234080e-03 -2.54024085e+01] [-2.02032881e-02 -1.22805005e-03 9.99795139e-01 -3.98226752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-25.41, Z:-3.98 [[ 9.76358306e-01 2.15123696e-01 2.11247056e-02 2.95012592e+02] [-2.15100640e-01 9.76586022e-01 -3.38456071e-03 -2.54118419e+01] [-2.13581914e-02 -1.23939373e-03 9.99771120e-01 -3.98312434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-25.42, Z:-3.98 [[ 9.76308022e-01 2.15313612e-01 2.15103457e-02 2.95042638e+02] [-2.15289754e-01 9.76544134e-01 -3.44629333e-03 -2.54192175e+01] [-2.17478357e-02 -1.26631321e-03 9.99762686e-01 -3.98362391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-25.43, Z:-3.98 [[ 9.76122339e-01 2.16150539e-01 2.15435299e-02 2.95072422e+02] [-2.16126801e-01 9.76359201e-01 -3.45204187e-03 -2.54265009e+01] [-2.17803844e-02 -1.28651901e-03 9.99761952e-01 -3.98445942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-25.44, Z:-3.99 [[ 9.75625446e-01 2.18503206e-01 2.02814722e-02 2.95102453e+02] [-2.18482651e-01 9.75835418e-01 -3.25094510e-03 -2.54356635e+01] [-2.05017208e-02 -1.25944505e-03 9.99789024e-01 -3.98538307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:-25.44, Z:-3.99 [[ 9.75380552e-01 2.19671978e-01 1.94165104e-02 2.95132283e+02] [-2.19653363e-01 9.75573017e-01 -3.11259499e-03 -2.54415236e+01] [-1.96259735e-02 -1.22893718e-03 9.99806637e-01 -3.98613678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:-25.45, Z:-3.99 [[ 9.75192218e-01 2.20544745e-01 1.89776867e-02 2.95160875e+02] [-2.20527101e-01 9.75376099e-01 -3.04356795e-03 -2.54480019e+01] [-1.91816249e-02 -1.21703045e-03 9.99815275e-01 -3.98758208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.19, Y:-25.46, Z:-3.99 [[ 9.75352862e-01 2.19847642e-01 1.88098263e-02 2.95190066e+02] [-2.19830186e-01 9.75533491e-01 -3.01632642e-03 -2.54574930e+01] [-1.90127478e-02 -1.19298500e-03 9.99818530e-01 -3.98860968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:-25.47, Z:-3.99 [[ 9.75465530e-01 2.19337867e-01 1.89182514e-02 2.95221953e+02] [-2.19320127e-01 9.75648237e-01 -3.03304872e-03 -2.54655091e+01] [-1.91228211e-02 -1.19051883e-03 9.99816433e-01 -3.98920431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-25.47, Z:-3.99 [[ 9.75629392e-01 2.18555155e-01 1.95175130e-02 2.95253213e+02] [-2.18536039e-01 9.75823849e-01 -3.13302655e-03 -2.54732301e+01] [-1.97303937e-02 -1.20860719e-03 9.99804606e-01 -3.99058327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-25.48, Z:-3.99 [[ 9.75710713e-01 2.18143615e-01 2.00491388e-02 2.95285271e+02] [-2.18123284e-01 9.75915904e-01 -3.22199990e-03 -2.54802922e+01] [-2.02691321e-02 -1.22944418e-03 9.99793804e-01 -3.99134965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:-25.49, Z:-3.99 [[ 9.75641148e-01 2.18467032e-01 1.99124613e-02 2.95316299e+02] [-2.18446970e-01 9.75843562e-01 -3.20372483e-03 -2.54863774e+01] [-2.01313554e-02 -1.22413105e-03 9.99796594e-01 -3.99254855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.35, Y:-25.49, Z:-3.99 [[ 9.75464293e-01 2.19304154e-01 1.93675552e-02 2.95349250e+02] [-2.19285277e-01 9.75655799e-01 -3.11920244e-03 -2.54913589e+01] [-1.95801216e-02 -1.20434912e-03 9.99807566e-01 -3.99314955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:-25.50, Z:-3.99 [[ 9.75280343e-01 2.20126600e-01 1.93011116e-02 2.95381959e+02] [-2.20107943e-01 9.75470557e-01 -3.11211897e-03 -2.54959531e+01] [-1.95127263e-02 -1.21313952e-03 9.99808873e-01 -3.99433408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:-25.50, Z:-4.00 [[ 9.75128470e-01 2.20858175e-01 1.86046755e-02 2.95414144e+02] [-2.20840910e-01 9.75305221e-01 -3.00315573e-03 -2.55008328e+01] [-1.88085086e-02 -1.18021080e-03 9.99822408e-01 -3.99545184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-25.51, Z:-4.00 [[ 9.75109322e-01 2.20942750e-01 1.86040451e-02 2.95446365e+02] [-2.20925426e-01 9.75286068e-01 -3.00705495e-03 -2.55061417e+01] [-1.88086530e-02 -1.17789928e-03 9.99822408e-01 -3.99624055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-25.51, Z:-4.00 [[ 9.75182237e-01 2.20736404e-01 1.71768744e-02 2.95478361e+02] [-2.20721583e-01 9.75332901e-01 -2.77755170e-03 -2.55106091e+01] [-1.73662775e-02 -1.08268783e-03 9.99848609e-01 -3.99770697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.51, Y:-25.52, Z:-4.00 [[ 9.75278425e-01 2.20368425e-01 1.64241136e-02 2.95510085e+02] [-2.20354799e-01 9.75416168e-01 -2.65729310e-03 -2.55152733e+01] [-1.66059294e-02 -1.02753162e-03 9.99861584e-01 -3.99822149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-25.52, Z:-4.00 [[ 9.75510340e-01 2.19401197e-01 1.55785483e-02 2.95541971e+02] [-2.19388778e-01 9.75634255e-01 -2.52282660e-03 -2.55176507e+01] [-1.57524765e-02 -9.56715244e-04 9.99875464e-01 -3.99920845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:-25.52, Z:-4.00 [[ 9.75458131e-01 2.19626559e-01 1.56719409e-02 2.95571901e+02] [-2.19613965e-01 9.75583542e-01 -2.54141998e-03 -2.55210083e+01] [-1.58474510e-02 -9.62728301e-04 9.99873958e-01 -4.00030838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-25.52, Z:-4.00 [[ 9.75364632e-01 2.20073527e-01 1.52143681e-02 2.95603390e+02] [-2.20061695e-01 9.75482833e-01 -2.46826685e-03 -2.55242507e+01] [-1.53845551e-02 -9.40639444e-04 9.99881208e-01 -4.00067315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-25.53, Z:-4.00 [[ 9.75191959e-01 2.20832940e-01 1.52792736e-02 2.95633896e+02] [-2.20821092e-01 9.75311180e-01 -2.47926178e-03 -2.55275733e+01] [-1.54495490e-02 -9.56229735e-04 9.99880191e-01 -4.00194869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:-25.53, Z:-4.00 [[ 9.74792394e-01 2.22700780e-01 1.35702134e-02 2.95663106e+02] [-2.22691607e-01 9.74886453e-01 -2.20254446e-03 -2.55278019e+01] [-1.37199255e-02 -8.74949031e-04 9.99905495e-01 -4.00192616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:-25.53, Z:-4.00 [[ 9.74575296e-01 2.23703845e-01 1.26325578e-02 2.95692576e+02] [-2.23695986e-01 9.74656813e-01 -2.04984922e-03 -2.55304938e+01] [-1.27709677e-02 -8.28120067e-04 9.99918105e-01 -4.00216462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.72, Y:-25.53, Z:-4.00 [[ 9.74378258e-01 2.24536056e-01 1.30602169e-02 2.95722347e+02] [-2.24527734e-01 9.74465395e-01 -2.11893846e-03 -2.55336625e+01] [-1.32025075e-02 -8.67733340e-04 9.99912467e-01 -4.00279910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-25.53, Z:-4.00 [[ 9.74183751e-01 2.25207784e-01 1.57312641e-02 2.95752132e+02] [-2.25195805e-01 9.74310186e-01 -2.55182216e-03 -2.55347892e+01] [-1.59018211e-02 -1.05667100e-03 9.99873000e-01 -4.00351606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-25.54, Z:-4.00 [[ 9.74232424e-01 2.24949404e-01 1.63997046e-02 2.95781781e+02] [-2.24936356e-01 9.74369828e-01 -2.65984731e-03 -2.55375503e+01] [-1.65777084e-02 -1.09758029e-03 9.99861978e-01 -4.00422482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-25.54, Z:-4.00 [[ 9.74452944e-01 2.24008169e-01 1.61802410e-02 2.95810212e+02] [-2.23995344e-01 9.74586682e-01 -2.62396956e-03 -2.55407617e+01] [-1.63568380e-02 -1.06736378e-03 9.99865648e-01 -4.00480175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-25.54, Z:-4.01 [[ 9.74971652e-01 2.21773438e-01 1.57105150e-02 2.95839906e+02] [-2.21761067e-01 9.75097708e-01 -2.54717498e-03 -2.55443798e+01] [-1.58841829e-02 -1.00055716e-03 9.99873338e-01 -4.00500386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-25.55, Z:-4.01 [[ 9.75169610e-01 2.20865623e-01 1.62052035e-02 2.95868292e+02] [-2.20852341e-01 9.75303718e-01 -2.62707481e-03 -2.55484219e+01] [-1.63852257e-02 -1.01711361e-03 9.99865236e-01 -4.00550974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-25.55, Z:-4.01 [[ 9.75152952e-01 2.20890991e-01 1.68490456e-02 2.95896913e+02] [-2.20876645e-01 9.75297929e-01 -2.73090568e-03 -2.55526431e+01] [-1.70360717e-02 -1.05850993e-03 9.99854315e-01 -4.00557525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-25.56, Z:-4.01 [[ 9.74757598e-01 2.22575545e-01 1.75428862e-02 2.95924149e+02] [-2.22560278e-01 9.74914787e-01 -2.84260945e-03 -2.55569147e+01] [-1.77355145e-02 -1.13349448e-03 9.99842071e-01 -4.00628302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-25.56, Z:-4.01 [[ 9.74513957e-01 2.23577936e-01 1.83153928e-02 2.95951486e+02] [-2.23561493e-01 9.74685312e-01 -2.96663157e-03 -2.55610953e+01] [-1.85150177e-02 -1.20359269e-03 9.99827858e-01 -4.00697914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-25.57, Z:-4.01 [[ 9.74272477e-01 2.24527889e-01 1.95030375e-02 2.95980847e+02] [-2.24509460e-01 9.74466793e-01 -3.15769091e-03 -2.55651098e+01] [-1.97140521e-02 -1.30216506e-03 9.99804811e-01 -4.00767137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-25.57, Z:-4.01 [[ 9.74001507e-01 2.25627268e-01 2.03322652e-02 2.96009500e+02] [-2.25607486e-01 9.74212722e-01 -3.29149889e-03 -2.55687873e+01] [-2.05506034e-02 -1.38118638e-03 9.99787860e-01 -4.00857473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-25.57, Z:-4.01 [[ 9.73121449e-01 2.29493875e-01 1.91626278e-02 2.96038816e+02] [-2.29477062e-01 9.73309128e-01 -3.10149314e-03 -2.55724807e+01] [-1.93629342e-02 -1.37925403e-03 9.99811569e-01 -4.00991523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-25.58, Z:-4.01 [[ 9.72594067e-01 2.31839045e-01 1.76476248e-02 2.96066892e+02] [-2.31825175e-01 9.72753274e-01 -2.85594082e-03 -2.55769433e+01] [-1.78289034e-02 -1.31349262e-03 9.99840190e-01 -4.01151912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79589822699995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:296.10, Y:-25.58, Z:-4.01 [[ 9.71510190e-01 2.36391646e-01 1.69393506e-02 2.96095751e+02] [-2.36379559e-01 9.71656931e-01 -2.74101256e-03 -2.55800242e+01] [-1.71071899e-02 -1.34119458e-03 9.99852762e-01 -4.01300579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:-25.58, Z:-4.01 [[ 9.71177199e-01 2.37690007e-01 1.78412035e-02 2.96123681e+02] [-2.37676835e-01 9.71339999e-01 -2.88590624e-03 -2.55843756e+01] [-1.80158256e-02 -1.43771443e-03 9.99836668e-01 -4.01339720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:-25.59, Z:-4.01 [[ 9.71144054e-01 2.37717401e-01 1.92266555e-02 2.96151742e+02] [-2.37702120e-01 9.71333122e-01 -3.10949133e-03 -2.55890435e+01] [-1.94146675e-02 -1.55045276e-03 9.99810315e-01 -4.01394792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.885898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:296.18, Y:-25.59, Z:-4.02 [[ 9.71970709e-01 2.34209771e-01 2.04627511e-02 2.96180597e+02] [-2.34191711e-01 9.72184806e-01 -3.30831863e-03 -2.55938224e+01] [-2.06684162e-02 -1.57661788e-03 9.99785142e-01 -4.01578686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-25.60, Z:-4.02 [[ 9.72757428e-01 2.30976088e-01 1.98250813e-02 2.96209159e+02] [-2.30958476e-01 9.72958330e-01 -3.20481903e-03 -2.55979977e+01] [-2.00292146e-02 -1.46125905e-03 9.99798327e-01 -4.01736757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-25.60, Z:-4.02 [[ 9.73694953e-01 2.27050500e-01 1.91366064e-02 2.96237784e+02] [-2.27033348e-01 9.73882073e-01 -3.09288081e-03 -2.56026325e+01] [-1.93390381e-02 -1.33312538e-03 9.99812095e-01 -4.01951583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-25.61, Z:-4.02 [[ 9.76077322e-01 2.16576916e-01 1.91703103e-02 2.96268073e+02] [-2.16557706e-01 9.76264906e-01 -3.09732976e-03 -2.56105774e+01] [-1.93861113e-02 -1.12824508e-03 9.99811435e-01 -4.02116303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-25.62, Z:-4.02 [[ 9.77368420e-01 2.10591536e-01 2.00543280e-02 2.96299122e+02] [-2.10569240e-01 9.77573573e-01 -3.24095392e-03 -2.56180042e+01] [-2.02870985e-02 -1.05521858e-03 9.99793639e-01 -4.02116657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-25.63, Z:-4.02 [[ 9.78683309e-01 2.04350053e-01 2.04948042e-02 2.96330662e+02] [-2.04325400e-01 9.78897421e-01 -3.31212404e-03 -2.56257682e+01] [-2.07391437e-02 -9.46088563e-04 9.99784473e-01 -4.02164020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-25.64, Z:-4.02 [[ 9.81127997e-01 1.92336727e-01 1.98604524e-02 2.96361998e+02] [-1.92311041e-01 9.81328762e-01 -3.21320168e-03 -2.56371552e+01] [-2.01076499e-02 -6.66822164e-04 9.99797598e-01 -4.02322080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:-25.65, Z:-4.02 [[ 9.82122882e-01 1.87211060e-01 1.96637536e-02 2.96393819e+02] [-1.87184799e-01 9.82319557e-01 -3.18413397e-03 -2.56463294e+01] [-1.99121948e-02 -5.53544924e-04 9.99801579e-01 -4.02391106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:-25.66, Z:-4.03 [[ 9.82857128e-01 1.83283851e-01 1.99724024e-02 2.96424531e+02] [-1.83255920e-01 9.83059917e-01 -3.23544856e-03 -2.56558592e+01] [-2.02270737e-02 -4.80077312e-04 9.99795297e-01 -4.02522724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-25.67, Z:-4.03 [[ 9.83313630e-01 1.80802287e-01 2.01205717e-02 2.96455440e+02] [-1.80773347e-01 9.83519369e-01 -3.26308947e-03 -2.56652120e+01] [-2.03789461e-02 -4.28622741e-04 9.99792236e-01 -4.02567709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-25.68, Z:-4.03 [[ 9.83566534e-01 1.79448343e-01 1.98787567e-02 2.96486670e+02] [-1.79419749e-01 9.83767319e-01 -3.22730164e-03 -2.56781223e+01] [-2.01352051e-02 -3.92375636e-04 9.99797189e-01 -4.02685919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-25.69, Z:-4.03 [[ 9.83345674e-01 1.80679982e-01 1.96476460e-02 2.96517827e+02] [-1.80652221e-01 9.83541853e-01 -3.19349840e-03 -2.56863011e+01] [-1.99012834e-02 -4.09078048e-04 9.99801866e-01 -4.02734517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-25.69, Z:-4.03 [[ 9.82918591e-01 1.82978447e-01 1.97466541e-02 2.96549585e+02] [-1.82950799e-01 9.83116820e-01 -3.21305780e-03 -2.56943078e+01] [-2.00011881e-02 -4.54491897e-04 9.99799853e-01 -4.02829865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-25.70, Z:-4.03 [[ 9.82352138e-01 1.85972915e-01 1.99587461e-02 2.96582265e+02] [-1.85945211e-01 9.82554735e-01 -3.25135450e-03 -2.57015413e+01] [-2.02152244e-02 -5.17258209e-04 9.99795518e-01 -4.02893217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.61, Y:-25.71, Z:-4.03 [[ 9.81173506e-01 1.92110501e-01 1.98016766e-02 2.96613084e+02] [-1.92084404e-01 9.81373095e-01 -3.22947959e-03 -2.57089053e+01] [-2.00532496e-02 -6.34913417e-04 9.99798712e-01 -4.02998131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:-25.72, Z:-4.03 [[ 9.80612029e-01 1.95006262e-01 1.93030196e-02 2.96645866e+02] [-1.94981960e-01 9.80801766e-01 -3.15135730e-03 -2.57154632e+01] [-1.95469701e-02 -6.73481724e-04 9.99808713e-01 -4.03115713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-25.72, Z:-4.03 [[ 9.79795000e-01 1.99192380e-01 1.80042596e-02 2.96677108e+02] [-1.99171888e-01 9.79960153e-01 -2.94238653e-03 -2.57227826e+01] [-1.82295580e-02 -7.03006758e-04 9.99833581e-01 -4.03237971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-25.73, Z:-4.03 [[ 9.79632389e-01 2.00075213e-01 1.70379320e-02 2.96709182e+02] [-2.00056950e-01 9.79780307e-01 -2.78707887e-03 -2.57291231e+01] [-1.72510556e-02 -6.78243966e-04 9.99850959e-01 -4.03322920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-25.74, Z:-4.03 [[ 9.79580774e-01 2.00371502e-01 1.65156816e-02 2.96740805e+02] [-2.00354334e-01 9.79719769e-01 -2.70458733e-03 -2.57352302e+01] [-1.67226620e-02 -6.59626633e-04 9.99859949e-01 -4.03434565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-25.74, Z:-4.03 [[ 9.79667972e-01 2.00017364e-01 1.56114838e-02 2.96773611e+02] [-2.00001944e-01 9.79792159e-01 -2.55875002e-03 -2.57411248e+01] [-1.58078039e-02 -6.15601665e-04 9.99874859e-01 -4.03479723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:-25.75, Z:-4.04 [[ 9.79692699e-01 1.99914274e-01 1.53785471e-02 2.96805528e+02] [-1.99899251e-01 9.79813207e-01 -2.52354388e-03 -2.57459532e+01] [-1.55725960e-02 -6.01862542e-04 9.99878559e-01 -4.03575515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-25.75, Z:-4.04 [[ 9.79739712e-01 1.99693804e-01 1.52473077e-02 2.96838100e+02] [-1.99678970e-01 9.79858171e-01 -2.50468873e-03 -2.57508407e+01] [-1.54403699e-02 -5.90623682e-04 9.99880616e-01 -4.03588966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-25.76, Z:-4.04 [[ 9.79783947e-01 1.99465471e-01 1.53929596e-02 2.96871002e+02] [-1.99450268e-01 9.79904678e-01 -2.53215255e-03 -2.57559162e+01] [-1.55887102e-02 -5.89167510e-04 9.99878315e-01 -4.03668615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-25.76, Z:-4.04 [[ 9.79775653e-01 1.99350592e-01 1.72919650e-02 2.96903107e+02] [-1.99331371e-01 9.79928011e-01 -2.84552890e-03 -2.57618146e+01] [-1.75121387e-02 -6.58851150e-04 9.99846434e-01 -4.03691101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-25.77, Z:-4.04 [[ 9.79757152e-01 1.99397778e-01 1.77890123e-02 2.96934522e+02] [-1.99377379e-01 9.79918400e-01 -2.93092650e-03 -2.57679112e+01] [-1.80162007e-02 -6.75130453e-04 9.99837467e-01 -4.03688759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-25.78, Z:-4.04 [[ 9.79761360e-01 1.99468652e-01 1.67312222e-02 2.96966886e+02] [-1.99450572e-01 9.79904003e-01 -2.75929481e-03 -2.57752860e+01] [-1.69453845e-02 -6.33601414e-04 9.99856216e-01 -4.03636272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-25.78, Z:-4.04 [[ 9.79549930e-01 2.00548705e-01 1.61910805e-02 2.96999079e+02] [-2.00531874e-01 9.79683532e-01 -2.67309972e-03 -2.57818394e+01] [-1.63982216e-02 -6.28393078e-04 9.99865343e-01 -4.03724430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:-25.79, Z:-4.04 [[ 9.79132489e-01 2.02547049e-01 1.65608891e-02 2.97031141e+02] [-2.02529672e-01 9.79272301e-01 -2.73731176e-03 -2.57881721e+01] [-1.67720544e-02 -6.73880559e-04 9.99859112e-01 -4.03834985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72589822699996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:297.06, Y:-25.79, Z:-4.04 [[ 9.78513035e-01 2.05451536e-01 1.73754686e-02 2.97063864e+02] [-2.05432803e-01 9.78666999e-01 -2.87544278e-03 -2.57943424e+01] [-1.75955619e-02 -7.55832988e-04 9.99844900e-01 -4.03785172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.10, Y:-25.80, Z:-4.04 [[ 9.77235348e-01 2.11362918e-01 1.83518998e-02 2.97096879e+02] [-2.11342989e-01 9.77407231e-01 -3.04087368e-03 -2.57997143e+01] [-1.85800075e-02 -9.06896112e-04 9.99826965e-01 -4.03884628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:-25.81, Z:-4.04 [[ 9.76603443e-01 2.14326530e-01 1.76026483e-02 2.97128574e+02] [-2.14308615e-01 9.76761635e-01 -2.92006575e-03 -2.58051613e+01] [-1.78194391e-02 -9.20652900e-04 9.99840797e-01 -4.03920234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.16, Y:-25.81, Z:-4.04 [[ 9.76066742e-01 2.16809492e-01 1.69516558e-02 2.97160002e+02] [-2.16793199e-01 9.76213493e-01 -2.81508223e-03 -2.58109330e+01] [-1.71587717e-02 -9.27295547e-04 9.99852347e-01 -4.03984185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:-25.82, Z:-4.04 [[ 9.75494871e-01 2.19404680e-01 1.64724797e-02 2.97192108e+02] [-2.19389621e-01 9.75633485e-01 -2.73807942e-03 -2.58180860e+01] [-1.66718503e-02 -9.42908654e-04 9.99860570e-01 -4.03994454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:-25.82, Z:-4.04 [[ 9.75348290e-01 2.19988964e-01 1.73369141e-02 2.97223591e+02] [-2.19972311e-01 9.75501849e-01 -2.88537565e-03 -2.58245807e+01] [-1.75469426e-02 -9.99394855e-04 9.99845541e-01 -4.04010022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90589822699997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:297.26, Y:-25.83, Z:-4.04 [[ 9.75245961e-01 2.20361543e-01 1.83331722e-02 2.97255802e+02] [-2.20342924e-01 9.75417688e-01 -3.05459216e-03 -2.58309725e+01] [-1.85556151e-02 -1.06060610e-03 9.99827267e-01 -4.04020702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.29, Y:-25.84, Z:-4.04 [[ 9.74967433e-01 2.21530098e-01 1.90504488e-02 2.97287920e+02] [-2.21510143e-01 9.75152890e-01 -3.17785087e-03 -2.58370563e+01] [-1.92810898e-02 -1.12156651e-03 9.99813473e-01 -4.03969654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:-25.84, Z:-4.04 [[ 9.74532279e-01 2.23471447e-01 1.86373005e-02 2.97319431e+02] [-2.23452636e-01 9.74709820e-01 -3.11242354e-03 -2.58427255e+01] [-1.88614976e-02 -1.13139672e-03 9.99821466e-01 -4.04043223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.35, Y:-25.85, Z:-4.04 [[ 9.73996542e-01 2.25841699e-01 1.80627570e-02 2.97350811e+02] [-2.25824379e-01 9.74163350e-01 -3.01955453e-03 -2.58476024e+01] [-1.82780172e-02 -1.13797521e-03 9.99832295e-01 -4.04080344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:-25.85, Z:-4.04 [[ 9.73979354e-01 2.25915863e-01 1.80621682e-02 2.97383817e+02] [-2.25898491e-01 9.74146156e-01 -3.02307186e-03 -2.58532624e+01] [-1.82781516e-02 -1.13580695e-03 9.99832295e-01 -4.04161229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-25.86, Z:-4.04 [[ 9.72967376e-01 2.30254622e-01 1.78127625e-02 2.97416874e+02] [-2.30238436e-01 9.73129678e-01 -2.98207870e-03 -2.58583843e+01] [-1.80207652e-02 -1.19971728e-03 9.99836893e-01 -4.04252540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-25.86, Z:-4.04 [[ 9.72696307e-01 2.31428654e-01 1.73975027e-02 2.97449841e+02] [-2.31413347e-01 9.72851151e-01 -2.91558584e-03 -2.58641834e+01] [-1.75999307e-02 -1.19003477e-03 9.99844401e-01 -4.04333342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-25.87, Z:-4.04 [[ 9.72617742e-01 2.31817162e-01 1.65991304e-02 2.97482177e+02] [-2.31803237e-01 9.72758709e-01 -2.78466804e-03 -2.58703032e+01] [-1.67924825e-02 -1.13931462e-03 9.99858347e-01 -4.04431100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-25.88, Z:-4.05 [[ 9.72884130e-01 2.30803231e-01 1.50445217e-02 2.97514158e+02] [-2.30791634e-01 9.72999918e-01 -2.52624439e-03 -2.58765258e+01] [-1.52213837e-02 -1.01440667e-03 9.99883633e-01 -4.04542302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-25.88, Z:-4.05 [[ 9.73068056e-01 2.30084715e-01 1.41273703e-02 2.97545334e+02] [-2.30074378e-01 9.73170150e-01 -2.37473101e-03 -2.58816395e+01] [-1.42947244e-02 -9.39571048e-04 9.99897384e-01 -4.04614164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-25.89, Z:-4.05 [[ 9.73286279e-01 2.29203705e-01 1.33970414e-02 2.97576999e+02] [-2.29194298e-01 9.73378083e-01 -2.25410003e-03 -2.58865996e+01] [-1.35570346e-02 -8.76640874e-04 9.99907715e-01 -4.04765104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-25.89, Z:-4.05 [[ 9.73611766e-01 2.27783252e-01 1.39613380e-02 2.97609101e+02] [-2.27772855e-01 9.73711455e-01 -2.35143237e-03 -2.58915547e+01] [-1.41299317e-02 -8.90631598e-04 9.99899771e-01 -4.04878892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-25.90, Z:-4.05 [[ 9.73655371e-01 2.27536881e-01 1.49059439e-02 2.97640690e+02] [-2.27524951e-01 9.73769006e-01 -2.51383012e-03 -2.58972995e+01] [-1.50869353e-02 -9.43869967e-04 9.99885740e-01 -4.05001629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-25.90, Z:-4.05 [[ 9.73686283e-01 2.27379087e-01 1.52896654e-02 2.97672385e+02] [-2.27366471e-01 9.73805845e-01 -2.58148868e-03 -2.59035787e+01] [-1.54761421e-02 -9.62797147e-04 9.99879774e-01 -4.05036929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:-25.91, Z:-4.05 [[ 9.73921591e-01 2.26402953e-01 1.47796594e-02 2.97704637e+02] [-2.26391019e-01 9.74033299e-01 -2.49763106e-03 -2.59110555e+01] [-1.49613515e-02 -9.13485339e-04 9.99887655e-01 -4.05163125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.74, Y:-25.92, Z:-4.05 [[ 9.73954413e-01 2.26277605e-01 1.45343193e-02 2.97736228e+02] [-2.26266009e-01 9.74062445e-01 -2.45891871e-03 -2.59171916e+01] [-1.47137328e-02 -8.93747681e-04 9.99891348e-01 -4.05303200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:-25.92, Z:-4.05 [[ 9.73896029e-01 2.26559898e-01 1.40405457e-02 2.97768285e+02] [-2.26549074e-01 9.73996850e-01 -2.37763537e-03 -2.59232328e+01] [-1.42141241e-02 -8.65302966e-04 9.99898600e-01 -4.05383219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:-25.93, Z:-4.06 [[ 9.73547001e-01 2.28033694e-01 1.43830099e-02 2.97799523e+02] [-2.28022454e-01 9.73652820e-01 -2.43845225e-03 -2.59283666e+01] [-1.45601074e-02 -9.05701343e-04 9.99893586e-01 -4.05508125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:-25.93, Z:-4.06 [[ 9.73199568e-01 2.29486734e-01 1.47796901e-02 2.97831878e+02] [-2.29474996e-01 9.73311325e-01 -2.50812427e-03 -2.59334424e+01] [-1.49608210e-02 -9.50663875e-04 9.99887629e-01 -4.05571880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:-25.94, Z:-4.06 [[ 9.72755475e-01 2.31319254e-01 1.54333843e-02 2.97863366e+02] [-2.31306627e-01 9.72877364e-01 -2.62280289e-03 -2.59379544e+01] [-1.56214951e-02 -1.01849820e-03 9.99877458e-01 -4.05713683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.90, Y:-25.94, Z:-4.06 [[ 9.72180896e-01 2.33651775e-01 1.64667422e-02 2.97895538e+02] [-2.33637702e-01 9.72319692e-01 -2.80025603e-03 -2.59412506e+01] [-1.66652225e-02 -1.12489638e-03 9.99860493e-01 -4.05873975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.93, Y:-25.95, Z:-4.06 [[ 9.72057879e-01 2.34158076e-01 1.65371187e-02 2.97928467e+02] [-2.34143914e-01 9.72197873e-01 -2.81471829e-03 -2.59454496e+01] [-1.67364407e-02 -1.13599662e-03 9.99859291e-01 -4.05924466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.96, Y:-25.95, Z:-4.06 [[ 9.71927426e-01 2.34687236e-01 1.67026956e-02 2.97961396e+02] [-2.34672816e-01 9.72070250e-01 -2.84593575e-03 -2.59495745e+01] [-1.69040983e-02 -1.15362560e-03 9.99856450e-01 -4.06025043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.99, Y:-25.95, Z:-4.06 [[ 9.71670412e-01 2.35697152e-01 1.74201907e-02 2.97993059e+02] [-2.35681563e-01 9.71825792e-01 -2.97185750e-03 -2.59532833e+01] [-1.76298489e-02 -1.21795175e-03 9.99843840e-01 -4.06102981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:-25.96, Z:-4.06 [[ 9.70846030e-01 2.38889554e-01 1.97425205e-02 2.98025145e+02] [-2.38870104e-01 9.71045674e-01 -3.37223417e-03 -2.59550168e+01] [-1.99764806e-02 -1.44197776e-03 9.99799410e-01 -4.06187666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65589822699997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:298.06, Y:-25.96, Z:-4.06 [[ 9.70372244e-01 2.40746603e-01 2.04641644e-02 2.98057634e+02] [-2.40726039e-01 9.70586797e-01 -3.49919919e-03 -2.59584574e+01] [-2.07046681e-02 -1.53073147e-03 9.99784464e-01 -4.06343298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-25.96, Z:-4.06 [[ 9.69922481e-01 2.42489256e-01 2.11976743e-02 2.98089291e+02] [-2.42467513e-01 9.70152739e-01 -3.62885225e-03 -2.59617777e+01] [-2.14449395e-02 -1.62004202e-03 9.99768718e-01 -4.06434492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:-25.96, Z:-4.07 [[ 9.68823249e-01 2.46906885e-01 2.04573295e-02 2.98121254e+02] [-2.46887533e-01 9.69037798e-01 -3.50595961e-03 -2.59624221e+01] [-2.06895711e-02 -1.65400443e-03 9.99784580e-01 -4.06537206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:-25.97, Z:-4.07 [[ 9.68285105e-01 2.49120419e-01 1.90518265e-02 2.98153637e+02] [-2.49104009e-01 9.68471226e-01 -3.26770690e-03 -2.59653927e+01] [-1.92651983e-02 -1.58181445e-03 9.99813158e-01 -4.06700820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-25.97, Z:-4.07 [[ 9.67855583e-01 2.50879022e-01 1.77563237e-02 2.98183858e+02] [-2.50865002e-01 9.68017281e-01 -3.04882835e-03 -2.59676422e+01] [-1.79533153e-02 -1.50361464e-03 9.99837696e-01 -4.06833714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:-25.97, Z:-4.07 [[ 9.67150786e-01 2.53703224e-01 1.59383421e-02 2.98213324e+02] [-2.53692284e-01 9.67281101e-01 -2.73819186e-03 -2.59654713e+01] [-1.61115452e-02 -1.39519001e-03 9.99869227e-01 -4.06955632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.24, Y:-25.97, Z:-4.07 [[ 9.66953073e-01 2.54434094e-01 1.62802299e-02 2.98241826e+02] [-2.54422794e-01 9.67089046e-01 -2.79619022e-03 -2.59673302e+01] [-1.64558782e-02 -1.43827686e-03 9.99863558e-01 -4.07035830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:-25.97, Z:-4.07 [[ 9.66877571e-01 2.54668325e-01 1.70823621e-02 2.98269496e+02] [-2.54655934e-01 9.67027276e-01 -2.93319225e-03 -2.59693748e+01] [-1.72661012e-02 -1.51408706e-03 9.99849783e-01 -4.07072201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.30, Y:-25.97, Z:-4.07 [[ 9.67244790e-01 2.53301022e-01 1.66165256e-02 2.98298475e+02] [-2.53289114e-01 9.67386422e-01 -2.85221656e-03 -2.59689756e+01] [-1.67970706e-02 -1.44999342e-03 9.99857868e-01 -4.07137757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-25.97, Z:-4.07 [[ 9.67550388e-01 2.52185644e-01 1.57685672e-02 2.98325955e+02] [-2.52174783e-01 9.67677920e-01 -2.70608086e-03 -2.59709350e+01] [-1.59413290e-02 -1.35816542e-03 9.99872007e-01 -4.07264409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.35, Y:-25.97, Z:-4.07 [[ 9.67849196e-01 2.51081289e-01 1.50373088e-02 2.98354302e+02] [-2.51071289e-01 9.67965160e-01 -2.57995659e-03 -2.59740210e+01] [-1.52033699e-02 -1.27842759e-03 9.99883605e-01 -4.07318066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:-25.98, Z:-4.07 [[ 9.68316390e-01 2.49277784e-01 1.49651350e-02 2.98381926e+02] [-2.49267685e-01 9.68431224e-01 -2.56626025e-03 -2.59775460e+01] [-1.51324157e-02 -1.24537270e-03 9.99884723e-01 -4.07273383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.015898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:298.41, Y:-25.98, Z:-4.07 [[ 9.68534928e-01 2.48408632e-01 1.52723389e-02 2.98410245e+02] [-2.48398023e-01 9.68654515e-01 -2.61787859e-03 -2.59812331e+01] [-1.54439236e-02 -1.25811193e-03 9.99879944e-01 -4.07345829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:-25.98, Z:-4.07 [[ 9.68652415e-01 2.47931279e-01 1.55749715e-02 2.98438441e+02] [-2.47920194e-01 9.68776782e-01 -2.66913416e-03 -2.59845493e+01] [-1.57504326e-02 -1.27588670e-03 9.99875140e-01 -4.07268347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.47, Y:-25.99, Z:-4.07 [[ 9.68533130e-01 2.48401370e-01 1.55027583e-02 2.98466985e+02] [-2.48390464e-01 9.68656350e-01 -2.65569914e-03 -2.59869045e+01] [-1.56765246e-02 -1.27860471e-03 9.99876298e-01 -4.07273520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.50, Y:-25.99, Z:-4.07 [[ 9.68376375e-01 2.49000573e-01 1.56815717e-02 2.98495946e+02] [-2.48989503e-01 9.68502460e-01 -2.68560137e-03 -2.59909116e+01] [-1.58563570e-02 -1.30387383e-03 9.99873430e-01 -4.07297095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.52, Y:-25.99, Z:-4.07 [[ 9.68191238e-01 2.49704332e-01 1.59208610e-02 2.98524809e+02] [-2.49693029e-01 9.68321208e-01 -2.72582817e-03 -2.59946276e+01] [-1.60971585e-02 -1.33620507e-03 9.99869540e-01 -4.07297860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.55, Y:-26.00, Z:-4.07 [[ 9.67989989e-01 2.50458152e-01 1.63124126e-02 2.98552996e+02] [-2.50446404e-01 9.68126439e-01 -2.79218757e-03 -2.59970571e+01] [-1.64918041e-02 -1.38257546e-03 9.99863045e-01 -4.07302790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:-26.00, Z:-4.07 [[ 9.67482367e-01 2.52402712e-01 1.64541852e-02 2.98581949e+02] [-2.52391054e-01 9.67621222e-01 -2.81546854e-03 -2.59954543e+01] [-1.66320507e-02 -1.42897298e-03 9.99860657e-01 -4.07317674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.61, Y:-26.00, Z:-4.07 [[ 9.67306782e-01 2.53029050e-01 1.71431948e-02 2.98609651e+02] [-2.53016514e-01 9.67457517e-01 -2.93209568e-03 -2.59968001e+01] [-1.73272181e-02 -1.50127537e-03 9.99848745e-01 -4.07385886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.64, Y:-26.00, Z:-4.07 [[ 9.67327338e-01 2.52922943e-01 1.75443941e-02 2.98637661e+02] [-2.52909820e-01 9.67485207e-01 -2.99937934e-03 -2.59986243e+01] [-1.77325536e-02 -1.53576794e-03 9.99841586e-01 -4.07410177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.67, Y:-26.00, Z:-4.08 [[ 9.67697380e-01 2.51455718e-01 1.82154381e-02 2.98666072e+02] [-2.51441334e-01 9.67867535e-01 -3.11306584e-03 -2.60006850e+01] [-1.84129294e-02 -1.56760840e-03 9.99829239e-01 -4.07513575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.69, Y:-26.00, Z:-4.08 [[ 9.68633162e-01 2.47315028e-01 2.41882945e-02 2.98694526e+02] [-2.47514829e-01 9.68867916e-01 5.60089974e-03 -2.60046936e+01] [-2.20500758e-02 -1.14121788e-02 9.99691731e-01 -4.07596869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.72, Y:-26.00, Z:-4.08 [[ 9.68934796e-01 2.46577769e-01 1.90988388e-02 2.98724163e+02] [-2.46361866e-01 9.69091107e-01 -1.29714153e-02 -2.59988600e+01] [-2.17069775e-02 7.86323003e-03 9.99733453e-01 -4.07631443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.75, Y:-26.01, Z:-4.08 [[ 9.69111115e-01 2.45739935e-01 2.08693790e-02 2.98751220e+02] [-2.45719838e-01 9.69334346e-01 -3.56179239e-03 -2.60052854e+01] [-2.11046804e-02 -1.67624783e-03 9.99775866e-01 -4.07599654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:-26.00, Z:-4.08 [[ 9.68926889e-01 2.46509632e-01 2.03392663e-02 2.98779139e+02] [-2.46490739e-01 9.69138935e-01 -3.47000585e-03 -2.60047144e+01] [-2.05669648e-02 -1.65125880e-03 9.99787114e-01 -4.07685903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.81, Y:-26.01, Z:-4.08 [[ 9.68741063e-01 2.47265805e-01 2.00093728e-02 2.98807307e+02] [-2.47247712e-01 9.68946297e-01 -3.41212959e-03 -2.60060094e+01] [-2.02317107e-02 -1.64180162e-03 9.99793970e-01 -4.07812705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.83, Y:-26.01, Z:-4.08 [[ 9.68535950e-01 2.48093562e-01 1.96900694e-02 2.98834873e+02] [-2.48076238e-01 9.68734698e-01 -3.35639115e-03 -2.60070349e+01] [-1.99071524e-02 -1.63385284e-03 9.99800498e-01 -4.07944279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.86, Y:-26.01, Z:-4.08 [[ 9.68232570e-01 2.49447736e-01 1.73642607e-02 2.98862544e+02] [-2.49434499e-01 9.68387152e-01 -2.95875913e-03 -2.60056687e+01] [-1.75533827e-02 -1.46647870e-03 9.99844852e-01 -4.08120984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.89, Y:-26.01, Z:-4.08 [[ 9.68100164e-01 2.50048923e-01 1.60502013e-02 2.98890461e+02] [-2.50037715e-01 9.68232239e-01 -2.73366684e-03 -2.60068363e+01] [-1.62238728e-02 -1.36669233e-03 9.99867450e-01 -4.08218965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.92, Y:-26.01, Z:-4.08 [[ 9.67977122e-01 2.50578913e-01 1.51822119e-02 2.98919158e+02] [-2.50568964e-01 9.68095302e-01 -2.58486519e-03 -2.60074615e+01] [-1.53455407e-02 -1.30210072e-03 9.99881402e-01 -4.08284501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.95, Y:-26.01, Z:-4.08 [[ 9.67860101e-01 2.51044238e-01 1.49537544e-02 2.98946962e+02] [-2.51034655e-01 9.67974754e-01 -2.54505518e-03 -2.60075374e+01] [-1.51137782e-02 -1.29065321e-03 9.99884947e-01 -4.08419888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.98, Y:-26.00, Z:-4.08 [[ 9.67901413e-01 2.50908955e-01 1.45447796e-02 2.98975826e+02] [-2.50899891e-01 9.68009877e-01 -2.47420328e-03 -2.60033604e+01] [-1.47002901e-02 -1.25449877e-03 9.99891158e-01 -4.08445471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.00, Y:-26.00, Z:-4.09 [[ 9.68284832e-01 2.49411166e-01 1.47836061e-02 2.99003668e+02] [-2.49401644e-01 9.68396871e-01 -2.51383923e-03 -2.60046331e+01] [-1.49433774e-02 -1.25294327e-03 9.99887556e-01 -4.08594898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.03, Y:-26.01, Z:-4.09 [[ 9.68961212e-01 2.46748337e-01 1.51469064e-02 2.99031660e+02] [-2.46738035e-01 9.69078797e-01 -2.57454070e-03 -2.60070884e+01] [-1.53138095e-02 -1.24268784e-03 9.99881965e-01 -4.08661279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.06, Y:-26.01, Z:-4.09 [[ 9.70811008e-01 2.39231980e-01 1.71477515e-02 2.99058562e+02] [-2.39217633e-01 9.70961604e-01 -2.91328827e-03 -2.60101775e+01] [-1.73467600e-02 -1.27379220e-03 9.99848722e-01 -4.08685197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.08, Y:-26.02, Z:-4.09 [[ 9.71688053e-01 2.35142011e-01 2.30339407e-02 2.99084830e+02] [-2.35345290e-01 9.71889996e-01 6.51379171e-03 -2.60194580e+01] [-2.08547905e-02 -1.17503030e-02 9.99713463e-01 -4.08830283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.11, Y:-26.02, Z:-4.09 [[ 9.72544574e-01 2.32090331e-01 1.70625349e-02 2.99113660e+02] [-2.31883294e-01 9.72653015e-01 -1.32759173e-02 -2.60164126e+01] [-1.96771380e-02 8.95490459e-03 9.99766283e-01 -4.08723320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.14, Y:-26.03, Z:-4.09 [[ 9.73588298e-01 2.27467028e-01 1.96106242e-02 2.99139909e+02] [-2.27446009e-01 9.73785015e-01 -3.32527422e-03 -2.60279070e+01] [-1.98529222e-02 -1.22291013e-03 9.99802163e-01 -4.08792577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.17, Y:-26.03, Z:-4.09 [[ 9.73727026e-01 2.26819580e-01 2.02127977e-02 2.99166124e+02] [-2.26797140e-01 9.73935994e-01 -3.42594977e-03 -2.60332602e+01] [-2.04630437e-02 -1.24826484e-03 9.99789831e-01 -4.08797288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.19, Y:-26.04, Z:-4.09 [[ 9.73611585e-01 2.27265244e-01 2.07603102e-02 2.99193042e+02] [-2.27241711e-01 9.73832037e-01 -3.51696268e-03 -2.60390121e+01] [-2.10163385e-02 -1.29345279e-03 9.99778296e-01 -4.08862407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.22, Y:-26.04, Z:-4.09 [[ 9.73392478e-01 2.28214065e-01 2.06258307e-02 2.99219780e+02] [-2.28191077e-01 9.73610103e-01 -3.49278247e-03 -2.60448921e+01] [-2.08786192e-02 -1.30678233e-03 9.99781164e-01 -4.08932930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.25, Y:-26.05, Z:-4.09 [[ 9.72718307e-01 2.31208957e-01 1.90135019e-02 2.99247006e+02] [-2.31190019e-01 9.72903293e-01 -3.21831597e-03 -2.60526140e+01] [-1.92424020e-02 -1.26521699e-03 9.99814047e-01 -4.09058106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.28, Y:-26.06, Z:-4.09 [[ 9.72732043e-01 2.31151143e-01 1.90137401e-02 2.99275115e+02] [-2.31132222e-01 9.72917030e-01 -3.21690773e-03 -2.60572478e+01] [-1.92423835e-02 -1.26549877e-03 9.99814047e-01 -4.09126819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.30, Y:-26.06, Z:-4.09 [[ 9.72416693e-01 2.32535331e-01 1.82508866e-02 2.99301152e+02] [-2.32518157e-01 9.72587157e-01 -3.08691720e-03 -2.60630836e+01] [-1.84683952e-02 -1.24189271e-03 9.99828673e-01 -4.09251582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.33, Y:-26.07, Z:-4.09 [[ 9.72194901e-01 2.33530907e-01 1.73317374e-02 2.99328089e+02] [-2.33515602e-01 9.72348641e-01 -2.92998019e-03 -2.60692881e+01] [-1.75367322e-02 -1.19871931e-03 9.99845501e-01 -4.09358332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.35, Y:-26.08, Z:-4.10 [[ 9.72068160e-01 2.33783833e-01 2.07029462e-02 2.99354689e+02] [-2.33932904e-01 9.72239555e-01 5.06390240e-03 -2.60796828e+01] [-1.89443647e-02 -9.76555863e-03 9.99772847e-01 -4.09512513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.38, Y:-26.08, Z:-4.10 [[ 9.72198498e-01 2.33597779e-01 1.61912770e-02 2.99383240e+02] [-2.33441419e-01 9.72308863e-01 -1.09808345e-02 -2.60820815e+01] [-1.83080207e-02 6.89583612e-03 9.99808614e-01 -4.09516125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.41, Y:-26.09, Z:-4.10 [[ 9.72443923e-01 2.32492989e-01 1.73154759e-02 2.99408810e+02] [-2.32477602e-01 9.72597354e-01 -2.92424469e-03 -2.60922995e+01] [-1.75208524e-02 -1.18179633e-03 9.99845800e-01 -4.09571445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.44, Y:-26.10, Z:-4.10 [[ 9.72689661e-01 2.31447998e-01 1.75113491e-02 2.99436000e+02] [-2.31432120e-01 9.72846564e-01 -2.95575526e-03 -2.60996994e+01] [-1.77199594e-02 -1.17765606e-03 9.99842296e-01 -4.09654927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.46, Y:-26.11, Z:-4.10 [[ 9.73192649e-01 2.29266688e-01 1.82442732e-02 2.99462776e+02] [-2.29249098e-01 9.73362921e-01 -3.07805227e-03 -2.61119984e+01] [-1.84639939e-02 -1.18694532e-03 9.99828821e-01 -4.09648637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.49, Y:-26.12, Z:-4.10 [[ 9.73379185e-01 2.28452040e-01 1.85101902e-02 2.99489163e+02] [-2.28433803e-01 9.73554442e-01 -3.12206513e-03 -2.61211221e+01] [-1.87339200e-02 -1.18939992e-03 9.99823797e-01 -4.09685676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.52, Y:-26.13, Z:-4.10 [[ 9.73495990e-01 2.27959688e-01 1.84374112e-02 2.99516972e+02] [-2.27941528e-01 9.73669860e-01 -3.10861416e-03 -2.61310610e+01] [-1.86605903e-02 -1.17642826e-03 9.99825184e-01 -4.09720262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.54, Y:-26.14, Z:-4.10 [[ 9.73606802e-01 2.27498388e-01 1.82832851e-02 2.99543663e+02] [-2.27480463e-01 9.73777768e-01 -3.08184210e-03 -2.61410191e+01] [-1.85049707e-02 -1.15858773e-03 9.99828097e-01 -4.09747379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.57, Y:-26.15, Z:-4.10 [[ 9.73751147e-01 2.26844558e-01 1.87149579e-02 2.99569151e+02] [-2.26825681e-01 9.73930268e-01 -3.15329616e-03 -2.61545764e+01] [-1.89423720e-02 -1.17450731e-03 9.99819887e-01 -4.09742859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:-26.16, Z:-4.10 [[ 9.73716976e-01 2.26962312e-01 1.90619804e-02 2.99597132e+02] [-2.26942774e-01 9.73902803e-01 -3.21062436e-03 -2.61632234e+01] [-1.92932069e-02 -1.19973926e-03 9.99813149e-01 -4.09781451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.62, Y:-26.17, Z:-4.10 [[ 9.73635872e-01 2.27298417e-01 1.91994556e-02 2.99624278e+02] [-2.27278676e-01 9.73824394e-01 -3.23295642e-03 -2.61711145e+01] [-1.94317441e-02 -1.21590452e-03 9.99810446e-01 -4.09855944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.65, Y:-26.18, Z:-4.10 [[ 9.73384063e-01 2.28297265e-01 2.00954043e-02 2.99652822e+02] [-2.28275878e-01 9.73590613e-01 -3.38250026e-03 -2.61786524e+01] [-2.03369126e-02 -1.29482421e-03 9.99792345e-01 -4.09941324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.68, Y:-26.19, Z:-4.10 [[ 9.72883078e-01 2.30277980e-01 2.16925951e-02 2.99680961e+02] [-2.30253560e-01 9.73123820e-01 -3.65078901e-03 -2.61879413e+01] [-2.19502773e-02 -1.44300639e-03 9.99758022e-01 -4.09992073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.71, Y:-26.19, Z:-4.10 [[ 9.72730717e-01 2.30849341e-01 2.24395576e-02 2.99709355e+02] [-2.30823374e-01 9.72988341e-01 -3.77596538e-03 -2.61945296e+01] [-2.27051071e-02 -1.50657690e-03 9.99741071e-01 -4.09986421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.74, Y:-26.20, Z:-4.10 [[ 9.72852700e-01 2.30164250e-01 2.41255547e-02 2.99738998e+02] [-2.30134047e-01 9.73150475e-01 -4.05875590e-03 -2.62019339e+01] [-2.44119755e-02 -1.60353991e-03 9.99700697e-01 -4.10007643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.77, Y:-26.21, Z:-4.10 [[ 9.73153708e-01 2.28870700e-01 2.42912353e-02 2.99768588e+02] [-2.28839680e-01 9.73455546e-01 -4.08663181e-03 -2.62080356e+01] [-2.45817480e-02 -1.58187759e-03 9.99696572e-01 -4.10065923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.80, Y:-26.21, Z:-4.10 [[ 9.73682151e-01 2.26542002e-01 2.49356990e-02 2.99799207e+02] [-2.26508546e-01 9.74000142e-01 -4.19536244e-03 -2.62137611e+01] [-2.52378002e-02 -1.56319939e-03 9.99680254e-01 -4.10168425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.83, Y:-26.22, Z:-4.10 [[ 9.74368419e-01 2.23589796e-01 2.47747286e-02 2.99830407e+02] [-2.23555805e-01 9.74682216e-01 -4.16885821e-03 -2.62199454e+01] [-2.50796016e-02 -1.47653061e-03 9.99684367e-01 -4.10228892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:-26.23, Z:-4.10 [[ 9.75134000e-01 2.20230576e-01 2.47421735e-02 2.99862289e+02] [-2.20195572e-01 9.75446856e-01 -4.16433163e-03 -2.62267102e+01] [-2.50517885e-02 -1.38733567e-03 9.99685192e-01 -4.10333544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:-26.23, Z:-4.10 [[ 9.76662114e-01 2.13309705e-01 2.51014856e-02 2.99893981e+02] [-2.13271286e-01 9.76983866e-01 -4.22901870e-03 -2.62344958e+01] [-2.54258371e-02 -1.22310376e-03 9.99675963e-01 -4.10434915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:-26.24, Z:-4.11 [[ 9.77411781e-01 2.09894820e-01 2.47057561e-02 2.99925007e+02] [-2.09856400e-01 9.77723339e-01 -4.16689855e-03 -2.62410795e+01] [-2.50300048e-02 -1.11188531e-03 9.99686082e-01 -4.10515752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.96, Y:-26.25, Z:-4.11 [[ 9.78066848e-01 2.06868641e-01 2.43024055e-02 2.99956539e+02] [-2.06830429e-01 9.78368202e-01 -4.10305735e-03 -2.62477651e+01] [-2.46254947e-02 -1.01341260e-03 9.99696233e-01 -4.10619271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.99, Y:-26.26, Z:-4.11 [[ 9.79042230e-01 2.02341348e-01 2.31147130e-02 2.99988895e+02] [-2.02305439e-01 9.79314685e-01 -3.90599017e-03 -2.62553591e+01] [-2.34269212e-02 -8.52102837e-04 9.99725189e-01 -4.10682167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.02, Y:-26.26, Z:-4.11 [[ 9.79244659e-01 2.01361166e-01 2.30993440e-02 3.00021243e+02] [-2.01324932e-01 9.79516719e-01 -3.90764701e-03 -2.62616509e+01] [-2.34130420e-02 -8.23931393e-04 9.99725538e-01 -4.10820206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.05, Y:-26.27, Z:-4.11 [[ 9.79318302e-01 2.01080438e-01 2.24125107e-02 3.00053011e+02] [-2.01046159e-01 9.79574415e-01 -3.79561854e-03 -2.62682090e+01] [-2.27179467e-02 -7.88830489e-04 9.99741603e-01 -4.10878375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.09, Y:-26.27, Z:-4.11 [[ 9.79334693e-01 2.01063598e-01 2.18400791e-02 3.00085181e+02] [-2.01030960e-01 9.79577891e-01 -3.70243393e-03 -2.62748663e+01] [-2.21384834e-02 -7.64610087e-04 9.99754621e-01 -4.11018526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.12, Y:-26.28, Z:-4.11 [[ 9.79398421e-01 2.00970591e-01 1.97371553e-02 3.00115894e+02] [-2.00943850e-01 9.79597035e-01 -3.34930401e-03 -2.62821943e+01] [-2.00075704e-02 -6.85756902e-04 9.99799593e-01 -4.11182675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-26.29, Z:-4.11 [[ 9.79515486e-01 2.00522961e-01 1.84378485e-02 3.00148771e+02] [-2.00499491e-01 9.79688801e-01 -3.13175240e-03 -2.62880283e+01] [-1.86913419e-02 -6.29179251e-04 9.99825104e-01 -4.11350799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.875898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:300.18, Y:-26.29, Z:-4.12 [[ 9.79693912e-01 1.99713580e-01 1.77292059e-02 3.00180738e+02] [-1.99691691e-01 9.79854143e-01 -3.01452479e-03 -2.62940149e+01] [-1.79740774e-02 -5.87063511e-04 9.99838281e-01 -4.11514239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.21, Y:-26.30, Z:-4.11 [[ 9.80251200e-01 1.96863158e-01 1.87745131e-02 3.00211815e+02] [-1.96838014e-01 9.80430814e-01 -3.19617448e-03 -2.63026547e+01] [-1.90363201e-02 -5.62483990e-04 9.99818635e-01 -4.11430971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.24, Y:-26.31, Z:-4.12 [[ 9.80586279e-01 1.95074208e-01 1.99148687e-02 3.00244487e+02] [-1.95045473e-01 9.80788328e-01 -3.39405357e-03 -2.63096828e+01] [-2.01943631e-02 -5.56142608e-04 9.99795918e-01 -4.11538349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.28, Y:-26.32, Z:-4.12 [[ 9.81024083e-01 1.92813525e-01 2.03640134e-02 3.00277137e+02] [-1.92782909e-01 9.81235281e-01 -3.47459106e-03 -2.63160027e+01] [-2.06518366e-02 -5.17176240e-04 9.99786594e-01 -4.11640589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.31, Y:-26.32, Z:-4.12 [[ 9.81948883e-01 1.88136172e-01 1.95236448e-02 3.00310000e+02] [-1.88107036e-01 9.82142873e-01 -3.33474279e-03 -2.63220533e+01] [-1.98023943e-02 -3.97987994e-04 9.99803834e-01 -4.11692514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.34, Y:-26.33, Z:-4.12 [[ 9.82248709e-01 1.86558656e-01 1.95791112e-02 3.00340988e+02] [-1.86528964e-01 9.82443757e-01 -3.34808894e-03 -2.63281811e+01] [-1.98599906e-02 -3.63415290e-04 9.99802705e-01 -4.11789352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.37, Y:-26.33, Z:-4.12 [[ 9.82534173e-01 1.84977450e-01 2.02470052e-02 3.00373605e+02] [-1.84945284e-01 9.82742707e-01 -3.46609092e-03 -2.63348365e+01] [-2.05387453e-02 -3.39035348e-04 9.99789000e-01 -4.11803862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.41, Y:-26.34, Z:-4.12 [[ 9.83154623e-01 1.81395996e-01 2.24160393e-02 3.00406326e+02] [-1.81355529e-01 9.83410092e-01 -3.84217385e-03 -2.63416750e+01] [-2.27411142e-02 -2.87821689e-04 9.99741346e-01 -4.11809753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.44, Y:-26.35, Z:-4.12 [[ 9.83543570e-01 1.79201153e-01 2.29998582e-02 3.00437732e+02] [-1.79157845e-01 9.83812426e-01 -3.94675847e-03 -2.63470635e+01] [-2.33348100e-02 -2.38796106e-04 9.99727678e-01 -4.11856584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.47, Y:-26.35, Z:-4.12 [[ 9.83940306e-01 1.77047797e-01 2.27057852e-02 3.00468885e+02] [-1.77004923e-01 9.84202238e-01 -3.90034666e-03 -2.63520512e+01] [-2.30376324e-02 -1.81327470e-04 9.99734582e-01 -4.11885668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.50, Y:-26.36, Z:-4.12 [[ 9.84283642e-01 1.75206953e-01 2.20960686e-02 3.00501375e+02] [-1.75165832e-01 9.84531618e-01 -3.79800612e-03 -2.63573023e+01] [-2.24197153e-02 -1.32160960e-04 9.99748638e-01 -4.11910433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.53, Y:-26.36, Z:-4.12 [[ 9.84981334e-01 1.71207904e-01 2.23522859e-02 3.00534225e+02] [-1.71164698e-01 9.85234922e-01 -3.84631381e-03 -2.63629551e+01] [-2.26807720e-02 -3.73749443e-05 9.99742758e-01 -4.12006745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.57, Y:-26.37, Z:-4.12 [[ 9.85294976e-01 1.69299373e-01 2.30549926e-02 3.00566458e+02] [-1.69252779e-01 9.85564672e-01 -3.97170967e-03 -2.63686870e+01] [-2.33945942e-02 1.11840076e-05 9.99726309e-01 -4.12040178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.60, Y:-26.37, Z:-4.12 [[ 9.85633272e-01 1.67288304e-01 2.32739530e-02 3.00599003e+02] [-1.67240153e-01 9.85908018e-01 -4.01396008e-03 -2.63741835e+01] [-2.36174654e-02 6.39531484e-05 9.99721067e-01 -4.12116601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.63, Y:-26.38, Z:-4.12 [[ 9.86239996e-01 1.63811610e-01 2.22806530e-02 3.00630509e+02] [-1.63766500e-01 9.86491630e-01 -3.84679441e-03 -2.63795910e+01] [-2.26098273e-02 1.45037928e-04 9.99744355e-01 -4.12253462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.66, Y:-26.39, Z:-4.12 [[ 9.86401488e-01 1.62454577e-01 2.49121286e-02 3.00662968e+02] [-1.62595420e-01 9.86685802e-01 3.72266979e-03 -2.63874215e+01] [-2.39756788e-02 -7.72264504e-03 9.99682713e-01 -4.12310839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.70, Y:-26.38, Z:-4.12 [[ 9.86494807e-01 1.62582051e-01 1.98764060e-02 3.00695112e+02] [-1.62377856e-01 9.86661645e-01 -1.14991595e-02 -2.63845231e+01] [-2.14808444e-02 8.11637295e-03 9.99736314e-01 -4.12434577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.73, Y:-26.39, Z:-4.12 [[ 9.86435673e-01 1.62664994e-01 2.20173522e-02 3.00726780e+02] [-1.62620454e-01 9.86681341e-01 -3.81050332e-03 -2.63893115e+01] [-2.23439461e-02 1.78344598e-04 9.99750327e-01 -4.12353597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.76, Y:-26.39, Z:-4.12 [[ 9.86405902e-01 1.62752573e-01 2.26935442e-02 3.00758975e+02] [-1.62705181e-01 9.86666897e-01 -3.93174549e-03 -2.63926778e+01] [-2.30308705e-02 1.85939729e-04 9.99734737e-01 -4.12411479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.79, Y:-26.40, Z:-4.12 [[ 9.86288972e-01 1.62847768e-01 2.67332797e-02 3.00789992e+02] [-1.63006412e-01 9.86617491e-01 3.85175237e-03 -2.63997121e+01] [-2.57482721e-02 -8.15663688e-03 9.99635181e-01 -4.12465356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.82, Y:-26.39, Z:-4.13 [[ 9.86503494e-01 1.62378758e-01 2.10711917e-02 3.00823546e+02] [-1.62150752e-01 9.86691517e-01 -1.21236639e-02 -2.63929663e+01] [-2.27593916e-02 8.54332726e-03 9.99704467e-01 -4.12600539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.86, Y:-26.40, Z:-4.13 [[ 9.86568737e-01 1.61894278e-01 2.17340616e-02 3.00855421e+02] [-1.61850408e-01 9.86808087e-01 -3.77427501e-03 -2.63994329e+01] [-2.20583813e-02 2.05914985e-04 9.99756663e-01 -4.12653034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:-26.40, Z:-4.13 [[ 9.86671099e-01 1.61407881e-01 2.06794281e-02 3.00887365e+02] [-1.61367975e-01 9.86887761e-01 -3.59508904e-03 -2.64019007e+01] [-2.09885502e-02 2.10173007e-04 9.99779694e-01 -4.12776509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.92, Y:-26.40, Z:-4.13 [[ 9.86986327e-01 1.59667117e-01 1.90893275e-02 3.00919914e+02] [-1.59632724e-01 9.87170886e-01 -3.32189472e-03 -2.64007357e+01] [-1.93748257e-02 2.31383313e-04 9.99812264e-01 -4.12836715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.95, Y:-26.40, Z:-4.13 [[ 9.87092811e-01 1.59024034e-01 1.89509646e-02 3.00953112e+02] [-1.58989956e-01 9.87274681e-01 -3.30115452e-03 -2.64031551e+01] [-1.92347704e-02 2.45532882e-04 9.99814965e-01 -4.12890480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.98, Y:-26.41, Z:-4.13 [[ 9.87153885e-01 1.58634195e-01 1.90368111e-02 3.00984703e+02] [-1.58599659e-01 9.87337392e-01 -3.32004411e-03 -2.64056454e+01] [-1.93224280e-02 2.58162697e-04 9.99813271e-01 -4.12965906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.02, Y:-26.41, Z:-4.13 [[ 9.87251081e-01 1.57993009e-01 1.93264671e-02 3.01016473e+02] [-1.57957216e-01 9.87440191e-01 -3.37434392e-03 -2.64082187e+01] [-1.96168532e-02 2.78569731e-04 9.99807532e-01 -4.13086377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.05, Y:-26.41, Z:-4.13 [[ 9.87546680e-01 1.56173747e-01 1.90083304e-02 3.01048779e+02] [-1.56138722e-01 9.87729550e-01 -3.32212314e-03 -2.64076520e+01] [-1.92939181e-02 3.12815252e-04 9.99813806e-01 -4.13212783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.08, Y:-26.41, Z:-4.13 [[ 9.87636181e-01 1.55655404e-01 1.86056112e-02 3.01082108e+02] [-1.55621706e-01 9.87811365e-01 -3.25440507e-03 -2.64100865e+01] [-1.88854000e-02 3.18731237e-04 9.99821604e-01 -4.13242269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.11, Y:-26.41, Z:-4.13 [[ 9.87658310e-01 1.55505759e-01 1.86821087e-02 3.01114426e+02] [-1.55471684e-01 9.87834932e-01 -3.27162261e-03 -2.64124233e+01] [-1.89635957e-02 3.26706366e-04 9.99820121e-01 -4.13332813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.15, Y:-26.41, Z:-4.13 [[ 9.87638279e-01 1.55564712e-01 1.92418777e-02 3.01146228e+02] [-1.55528487e-01 9.87825645e-01 -3.37415809e-03 -2.64148680e+01] [-1.95325202e-02 3.39787571e-04 9.99809164e-01 -4.13460279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.18, Y:-26.41, Z:-4.14 [[ 9.87768784e-01 1.54605256e-01 2.02495639e-02 3.01177556e+02] [-1.54564923e-01 9.87976251e-01 -3.55142435e-03 -2.64131152e+01] [-2.05551571e-02 3.78113823e-04 9.99788649e-01 -4.13506511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.21, Y:-26.42, Z:-4.14 [[ 9.87769163e-01 1.54602839e-01 2.02495134e-02 3.01208081e+02] [-1.54562500e-01 9.87976629e-01 -3.55171229e-03 -2.64184675e+01] [-2.05551508e-02 3.78456457e-04 9.99788649e-01 -4.13582184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.24, Y:-26.42, Z:-4.14 [[ 9.87871959e-01 1.53952804e-01 2.01872717e-02 3.01239729e+02] [-1.53912580e-01 9.88078125e-01 -3.54064156e-03 -2.64204632e+01] [-2.04916933e-02 3.90625441e-04 9.99789947e-01 -4.13605667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.27, Y:-26.42, Z:-4.14 [[ 9.87930908e-01 1.53539608e-01 2.04477378e-02 3.01271072e+02] [-1.53498240e-01 9.88142411e-01 -3.58682568e-03 -2.64220231e+01] [-2.07559968e-02 4.04844178e-04 9.99784489e-01 -4.13704332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.30, Y:-26.42, Z:-4.14 [[ 9.87852260e-01 1.53885765e-01 2.16121371e-02 3.01301980e+02] [-1.53839621e-01 9.88088556e-01 -3.79166090e-03 -2.64204574e+01] [-2.19381879e-02 4.20797818e-04 9.99759240e-01 -4.13757576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.33, Y:-26.42, Z:-4.14 [[ 9.87852851e-01 1.53754890e-01 2.24984091e-02 3.01332046e+02] [-1.53704842e-01 9.88108921e-01 -3.94746779e-03 -2.64222214e+01] [-2.28378212e-02 4.41402889e-04 9.99739086e-01 -4.13779383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.36, Y:-26.42, Z:-4.14 [[ 9.87877160e-01 1.53455860e-01 2.34524251e-02 3.01362484e+02] [-1.53401400e-01 9.88155393e-01 -4.11455914e-03 -2.64238667e+01] [-2.38060435e-02 4.67044171e-04 9.99716487e-01 -4.13801669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.39, Y:-26.43, Z:-4.14 [[ 9.87968084e-01 1.52733583e-01 2.43211252e-02 3.01392947e+02] [-1.52674794e-01 9.88267272e-01 -4.26696633e-03 -2.64250766e+01] [-2.46874811e-02 5.02403769e-04 9.99695091e-01 -4.13864150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.43, Y:-26.42, Z:-4.14 [[ 9.88180033e-01 1.51560830e-01 2.30116526e-02 3.01425177e+02] [-1.51507885e-01 9.88447804e-01 -4.03720329e-03 -2.64233040e+01] [-2.33576993e-02 5.03036863e-04 9.99727045e-01 -4.14064886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.46, Y:-26.43, Z:-4.14 [[ 9.88413936e-01 1.50196334e-01 2.18849697e-02 3.01455480e+02] [-1.50148101e-01 9.88656058e-01 -3.84010112e-03 -2.64257883e+01] [-2.22134770e-02 5.09622831e-04 9.99753120e-01 -4.14229765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.48, Y:-26.43, Z:-4.14 [[ 9.88723903e-01 1.48338706e-01 2.05102695e-02 3.01484770e+02] [-1.48295942e-01 9.88936480e-01 -3.59892920e-03 -2.64283507e+01] [-2.08172142e-02 5.16757593e-04 9.99783165e-01 -4.14326522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.51, Y:-26.43, Z:-4.14 [[ 9.89088292e-01 1.46004368e-01 1.96742214e-02 3.01514419e+02] [-1.45964562e-01 9.89283797e-01 -3.45204977e-03 -2.64311831e+01] [-1.99674028e-02 5.42642905e-04 9.99800484e-01 -4.14452645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.55, Y:-26.43, Z:-4.15 [[ 9.89913554e-01 1.40287382e-01 1.97637506e-02 3.01545215e+02] [-1.40246085e-01 9.90110607e-01 -3.46718209e-03 -2.64334308e+01] [-2.00547010e-02 6.60421888e-04 9.99798666e-01 -4.14532984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.57, Y:-26.44, Z:-4.15 [[ 9.90369129e-01 1.36961972e-01 2.02585169e-02 3.01574073e+02] [-1.36917885e-01 9.90576025e-01 -3.55402460e-03 -2.64377641e+01] [-2.05543674e-02 7.46042958e-04 9.99788458e-01 -4.14619263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.60, Y:-26.44, Z:-4.15 [[ 9.90840602e-01 1.33491545e-01 2.03693352e-02 3.01604194e+02] [-1.33446247e-01 9.91049611e-01 -3.57317858e-03 -2.64419770e+01] [-2.06640109e-02 8.22239067e-04 9.99786138e-01 -4.14699448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.63, Y:-26.44, Z:-4.15 [[ 9.91561233e-01 1.28250956e-01 1.89212261e-02 3.01634796e+02] [-1.28210918e-01 9.91741369e-01 -3.31915200e-03 -2.64443233e+01] [-1.91906471e-02 8.65234681e-04 9.99815468e-01 -4.14832907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.66, Y:-26.45, Z:-4.15 [[ 9.91815344e-01 1.26378358e-01 1.81888265e-02 3.01664825e+02] [-1.26341046e-01 9.91981734e-01 -3.19067484e-03 -2.64481710e+01] [-1.84462159e-02 8.66564902e-04 9.99829479e-01 -4.14949259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.69, Y:-26.45, Z:-4.15 [[ 9.92012976e-01 1.24943218e-01 1.73045851e-02 3.01694456e+02] [-1.24909226e-01 9.92163530e-01 -3.03564068e-03 -2.64521856e+01] [-1.75482609e-02 8.49892605e-04 9.99845656e-01 -4.15032195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.73, Y:-26.46, Z:-4.15 [[ 9.92195515e-01 1.23561912e-01 1.67485286e-02 3.01725112e+02] [-1.23529879e-01 9.92336505e-01 -2.93782207e-03 -2.64563110e+01] [-1.69831792e-02 8.45950174e-04 9.99855418e-01 -4.15097092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.76, Y:-26.46, Z:-4.15 [[ 9.92398899e-01 1.21819830e-01 1.74457291e-02 3.01755034e+02] [-1.21784804e-01 9.92551811e-01 -3.06019336e-03 -2.64592351e+01] [-1.76885823e-02 9.12307816e-04 9.99843129e-01 -4.15102406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:-26.46, Z:-4.15 [[ 9.92412063e-01 1.21494649e-01 1.89036223e-02 3.01784043e+02] [-1.21453468e-01 9.92591588e-01 -3.31574278e-03 -2.64628617e+01] [-1.91664215e-02 9.94672650e-04 9.99815812e-01 -4.15105080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:-26.47, Z:-4.15 [[ 9.92474592e-01 1.20751720e-01 2.03274870e-02 3.01813189e+02] [-1.20703957e-01 9.92682147e-01 -3.56497170e-03 -2.64673476e+01] [-2.06092099e-02 1.08453572e-03 9.99787019e-01 -4.15143063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46589822699997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:301.84, Y:-26.47, Z:-4.15 [[ 9.92661168e-01 1.19195942e-01 2.03993281e-02 3.01843639e+02] [-1.19147526e-01 9.92870119e-01 -3.57691446e-03 -2.64728932e+01] [-2.06802370e-02 1.12013462e-03 9.99785514e-01 -4.15172203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.87, Y:-26.48, Z:-4.15 [[ 9.93093522e-01 1.15931392e-01 1.80324262e-02 3.01873417e+02] [-1.15893016e-01 9.93256668e-01 -3.16232854e-03 -2.64811338e+01] [-1.82774408e-02 1.05065572e-03 9.99832402e-01 -4.15333221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.90, Y:-26.49, Z:-4.15 [[ 9.93234018e-01 1.14771035e-01 1.77142613e-02 3.01904052e+02] [-1.14733815e-01 9.93391413e-01 -3.10666467e-03 -2.64871240e+01] [-1.79537502e-02 1.05322025e-03 9.99838264e-01 -4.15427963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.93, Y:-26.49, Z:-4.15 [[ 9.93265945e-01 1.14380195e-01 1.84373050e-02 3.01934036e+02] [-1.14339798e-01 9.93436436e-01 -3.23398937e-03 -2.64927550e+01] [-1.86861949e-02 1.10409377e-03 9.99824788e-01 -4.15430527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.97, Y:-26.50, Z:-4.15 [[ 9.93156805e-01 1.15049276e-01 2.00804598e-02 3.01965099e+02] [-1.15001488e-01 9.93359074e-01 -3.52241858e-03 -2.64980605e+01] [-2.03523587e-02 1.18903122e-03 9.99792162e-01 -4.15399969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.00, Y:-26.50, Z:-4.15 [[ 9.92591042e-01 1.19161897e-01 2.37374283e-02 3.01995001e+02] [-1.19096270e-01 9.92873977e-01 -4.16456890e-03 -2.65012442e+01] [-2.40645328e-02 1.30667462e-03 9.99709553e-01 -4.15333914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.03, Y:-26.50, Z:-4.15 [[ 9.92276662e-01 1.21721132e-01 2.38954565e-02 3.02025244e+02] [-1.21655360e-01 9.92563547e-01 -4.19257514e-03 -2.65049907e+01] [-2.42280840e-02 1.25318410e-03 9.99705671e-01 -4.15360526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.06, Y:-26.51, Z:-4.15 [[ 9.92006800e-01 1.24108405e-01 2.27949902e-02 3.02056758e+02] [-1.24049176e-01 9.92268010e-01 -3.99972922e-03 -2.65082908e+01] [-2.31151396e-02 1.14005882e-03 9.99732159e-01 -4.15417455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.09, Y:-26.51, Z:-4.16 [[ 9.91798630e-01 1.26011610e-01 2.13670671e-02 3.02086664e+02] [-1.25959999e-01 9.92028235e-01 -3.74974850e-03 -2.65108914e+01] [-2.16692457e-02 1.02759968e-03 9.99764666e-01 -4.15532092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.12, Y:-26.51, Z:-4.16 [[ 9.91645198e-01 1.27338328e-01 2.06094863e-02 3.02116118e+02] [-1.27290601e-01 9.91858872e-01 -3.61664549e-03 -2.65110659e+01] [-2.09022394e-02 9.63035241e-04 9.99781061e-01 -4.15687600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.15, Y:-26.51, Z:-4.16 [[ 9.91728730e-01 1.26670919e-01 2.07027408e-02 3.02145110e+02] [-1.26622631e-01 9.91944311e-01 -3.63219788e-03 -2.65136367e+01] [-2.09960598e-02 9.80719488e-04 9.99779077e-01 -4.15743988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.18, Y:-26.52, Z:-4.16 [[ 9.91887646e-01 1.25446276e-01 2.05458088e-02 3.02175749e+02] [-1.25398461e-01 9.92099911e-01 -3.60438675e-03 -2.65161680e+01] [-2.08356520e-02 9.98733882e-04 9.99782415e-01 -4.15866816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.21, Y:-26.51, Z:-4.16 [[ 9.92209504e-01 1.22862190e-01 2.06199460e-02 3.02205571e+02] [-1.22813472e-01 9.92423179e-01 -3.61743323e-03 -2.65143996e+01] [-2.09081581e-02 1.05684448e-03 9.99780842e-01 -4.15951955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.23, Y:-26.52, Z:-4.16 [[ 9.92299166e-01 1.22079990e-01 2.09485572e-02 3.02234523e+02] [-1.22029535e-01 9.92519666e-01 -3.67493622e-03 -2.65157690e+01] [-2.12404911e-02 1.09029345e-03 9.99773801e-01 -4.16009989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.26, Y:-26.52, Z:-4.16 [[ 9.92365015e-01 1.21406988e-01 2.17260435e-02 3.02263131e+02] [-1.21352581e-01 9.92602152e-01 -3.81026109e-03 -2.65171636e+01] [-2.20279098e-02 1.14465836e-03 9.99756701e-01 -4.16119344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.29, Y:-26.52, Z:-4.16 [[ 9.92432891e-01 1.20846125e-01 2.17524979e-02 3.02293487e+02] [-1.20791467e-01 9.92670577e-01 -3.81413192e-03 -2.65184965e+01] [-2.20539877e-02 1.15775382e-03 9.99756111e-01 -4.16185549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.32, Y:-26.51, Z:-4.16 [[ 9.92615774e-01 1.19507683e-01 2.07807448e-02 3.02322534e+02] [-1.19457515e-01 9.92832628e-01 -3.64340917e-03 -2.65139787e+01] [-2.10672168e-02 1.13408927e-03 9.99777418e-01 -4.16264920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.35, Y:-26.51, Z:-4.16 [[ 9.92763220e-01 1.18256071e-01 2.08971395e-02 3.02351356e+02] [-1.18205093e-01 9.92982448e-01 -3.66243914e-03 -2.65146462e+01] [-2.11835984e-02 1.16578656e-03 9.99774923e-01 -4.16380779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.38, Y:-26.52, Z:-4.17 [[ 9.93014583e-01 1.16123815e-01 2.09116763e-02 3.02380274e+02] [-1.16072315e-01 9.93234007e-01 -3.66400895e-03 -2.65162210e+01] [-2.11956667e-02 1.21114763e-03 9.99774613e-01 -4.16538653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.41, Y:-26.52, Z:-4.17 [[ 9.93759036e-01 1.09837131e-01 1.94623281e-02 3.02409251e+02] [-1.09791338e-01 9.93948811e-01 -3.40923110e-03 -2.65156691e+01] [-1.97190180e-02 1.25115918e-03 9.99804778e-01 -4.16757297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.44, Y:-26.52, Z:-4.17 [[ 9.94164144e-01 1.06327010e-01 1.82269624e-02 3.02437356e+02] [-1.06286272e-01 9.94330447e-01 -3.19211614e-03 -2.65181486e+01] [-1.84630319e-02 1.23621153e-03 9.99828779e-01 -4.16844396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.47, Y:-26.52, Z:-4.17 [[ 9.94553739e-01 1.02772034e-01 1.73427018e-02 3.02467020e+02] [-1.02734636e-01 9.94704165e-01 -3.03608990e-03 -2.65217561e+01] [-1.75628828e-02 1.23785841e-03 9.99844994e-01 -4.16934435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.50, Y:-26.52, Z:-4.17 [[ 9.95040035e-01 9.80242627e-02 1.69284360e-02 3.02495483e+02] [-9.79879518e-02 9.95183189e-01 -2.96326214e-03 -2.65248360e+01] [-1.71373665e-02 1.28978169e-03 9.99852313e-01 -4.16988403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.52, Y:-26.53, Z:-4.17 [[ 9.95127950e-01 9.70006175e-02 1.76421139e-02 3.02522740e+02] [-9.69610293e-02 9.95283389e-01 -3.08767604e-03 -2.65288224e+01] [-1.78584094e-02 1.36203520e-03 9.99839598e-01 -4.17063485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.55, Y:-26.53, Z:-4.17 [[ 9.95098957e-01 9.71380018e-02 1.85006611e-02 3.02550882e+02] [-9.70945123e-02 9.95269903e-01 -3.23673573e-03 -2.65331199e+01] [-1.87275612e-02 1.42455969e-03 9.99823609e-01 -4.17139973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21589822699997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:302.58, Y:-26.54, Z:-4.17 [[ 9.94753928e-01 1.00410775e-01 1.95524728e-02 3.02579746e+02] [-1.00362846e-01 9.94945026e-01 -3.41981956e-03 -2.65373677e+01] [-1.97970222e-02 1.43953712e-03 9.99802983e-01 -4.17146599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.61, Y:-26.54, Z:-4.17 [[ 9.94556081e-01 1.02398351e-01 1.93075078e-02 3.02607080e+02] [-1.02352004e-01 9.94742514e-01 -3.37615011e-03 -2.65419510e+01] [-1.95517110e-02 1.38160850e-03 9.99807892e-01 -4.17174938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.64, Y:-26.55, Z:-4.17 [[ 9.94362708e-01 1.04286097e-01 1.91628493e-02 3.02635514e+02] [-1.04240813e-01 9.94546446e-01 -3.34970772e-03 -2.65466133e+01] [-1.94076716e-02 1.33327345e-03 9.99810764e-01 -4.17274634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.66, Y:-26.55, Z:-4.17 [[ 9.94221499e-01 1.05593589e-01 1.93288484e-02 3.02662866e+02] [-1.05547780e-01 9.94408496e-01 -3.37786827e-03 -2.65509143e+01] [-1.95774523e-02 1.31823222e-03 9.99807474e-01 -4.17362594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.335898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.69, Y:-26.55, Z:-4.17 [[ 9.94046652e-01 1.06924275e-01 2.09392776e-02 3.02691782e+02] [-1.06870836e-01 9.94266184e-01 -3.65793018e-03 -2.65545354e+01] [-2.12103371e-02 1.39835515e-03 9.99774058e-01 -4.17491440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.72, Y:-26.56, Z:-4.18 [[ 9.93969445e-01 1.07458277e-01 2.18508633e-02 3.02719112e+02] [-1.07400234e-01 9.94208543e-01 -3.81613491e-03 -2.65586490e+01] [-2.21343903e-02 1.44633366e-03 9.99753958e-01 -4.17519527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.75, Y:-26.56, Z:-4.18 [[ 9.93914232e-01 1.07794564e-01 2.26898942e-02 3.02747888e+02] [-1.07732096e-01 9.94172069e-01 -3.96128809e-03 -2.65626281e+01] [-2.29846644e-02 1.49275076e-03 9.99734703e-01 -4.17585875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.78, Y:-26.57, Z:-4.18 [[ 9.93870394e-01 1.08227124e-01 2.25505844e-02 3.02776585e+02] [-1.08165555e-01 9.94125103e-01 -3.93593233e-03 -2.65660150e+01] [-2.28440767e-02 1.47261014e-03 9.99737955e-01 -4.17651508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.80, Y:-26.57, Z:-4.18 [[ 9.93892322e-01 1.08325322e-01 2.10636310e-02 3.02804491e+02] [-1.08271648e-01 9.94114551e-01 -3.67552597e-03 -2.65663456e+01] [-2.13378146e-02 1.37248301e-03 9.99771381e-01 -4.17755899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.83, Y:-26.57, Z:-4.18 [[ 9.93942001e-01 1.07926717e-01 2.07634725e-02 3.02832170e+02] [-1.07874500e-01 9.94157922e-01 -3.62195791e-03 -2.65688480e+01] [-2.10330767e-02 1.36016688e-03 9.99777855e-01 -4.17859300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.86, Y:-26.57, Z:-4.18 [[ 9.94129552e-01 1.06112487e-01 2.11322883e-02 3.02861581e+02] [-1.06058017e-01 9.94353115e-01 -3.68502453e-03 -2.65689633e+01] [-2.14039838e-02 1.42214320e-03 9.99769897e-01 -4.17936116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.89, Y:-26.57, Z:-4.18 [[ 9.94295765e-01 1.04480894e-01 2.14400432e-02 3.02889047e+02] [-1.04424469e-01 9.94525796e-01 -3.73772365e-03 -2.65704918e+01] [-2.17131968e-02 1.47753767e-03 9.99763149e-01 -4.18008679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.92, Y:-26.57, Z:-4.18 [[ 9.94480914e-01 1.02637900e-01 2.17525667e-02 3.02918147e+02] [-1.02579411e-01 9.94717596e-01 -3.79072578e-03 -2.65723568e+01] [-2.20267330e-02 1.53843895e-03 9.99756198e-01 -4.18112737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.95, Y:-26.57, Z:-4.18 [[ 9.94656845e-01 1.00919882e-01 2.17471212e-02 3.02946460e+02] [-1.00861036e-01 9.94893309e-01 -3.78878088e-03 -2.65736524e+01] [-2.20184287e-02 1.57509967e-03 9.99756324e-01 -4.18243924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.98, Y:-26.57, Z:-4.18 [[ 9.94824661e-01 9.96216520e-02 1.99855018e-02 3.02976160e+02] [-9.95717212e-02 9.95024300e-01 -3.48056198e-03 -2.65709812e+01] [-2.02327993e-02 1.47255808e-03 9.99794212e-01 -4.18345122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.00, Y:-26.57, Z:-4.18 [[ 9.94868990e-01 9.93197139e-02 1.92688149e-02 3.03003924e+02] [-9.92732597e-02 9.95054553e-01 -3.35495326e-03 -2.65713322e+01] [-1.95067350e-02 1.42486090e-03 9.99808710e-01 -4.18485055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.03, Y:-26.57, Z:-4.19 [[ 9.94945405e-01 9.86521000e-02 1.87457738e-02 3.03032923e+02] [-9.86080369e-02 9.95121002e-01 -3.26278489e-03 -2.65720135e+01] [-1.89761937e-02 1.39780889e-03 9.99818959e-01 -4.18536318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.06, Y:-26.57, Z:-4.19 [[ 9.95071481e-01 9.72955284e-02 1.91396855e-02 3.03061576e+02] [-9.72493613e-02 9.95254475e-01 -3.33046360e-03 -2.65732379e+01] [-1.93728969e-02 1.45272715e-03 9.99811272e-01 -4.18664710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.09, Y:-26.58, Z:-4.19 [[ 9.95074654e-01 9.72630406e-02 1.91398396e-02 3.03090474e+02] [-9.72168845e-02 9.95257651e-01 -3.32957777e-03 -2.65781844e+01] [-1.93729167e-02 1.45246287e-03 9.99811272e-01 -4.18736310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.12, Y:-26.58, Z:-4.19 [[ 9.95402671e-01 9.38635083e-02 1.90568500e-02 3.03120018e+02] [-9.38171432e-02 9.95583928e-01 -3.31457262e-03 -2.65780705e+01] [-1.92838110e-02 1.51147522e-03 9.99812908e-01 -4.18826484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.15, Y:-26.58, Z:-4.19 [[ 9.95554217e-01 9.22534570e-02 1.90026741e-02 3.03147429e+02] [-9.22070799e-02 9.95734370e-01 -3.30430993e-03 -2.65811814e+01] [-1.92264498e-02 1.53743860e-03 9.99813973e-01 -4.18959350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.18, Y:-26.59, Z:-4.19 [[ 9.95689840e-01 9.07804270e-02 1.89909586e-02 3.03176115e+02] [-9.07338637e-02 9.95869705e-01 -3.30108565e-03 -2.65851965e+01] [-1.92121943e-02 1.56373439e-03 9.99814206e-01 -4.19111637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.20, Y:-26.59, Z:-4.19 [[ 9.95923893e-01 8.81789223e-02 1.89756704e-02 3.03204164e+02] [-8.81319806e-02 9.96103348e-01 -3.29761467e-03 -2.65885817e+01] [-1.91925089e-02 1.61180983e-03 9.99814508e-01 -4.19104371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.23, Y:-26.59, Z:-4.19 [[ 9.96009329e-01 8.72887691e-02 1.86034237e-02 3.03232516e+02] [-8.72435178e-02 9.96181773e-01 -3.23182979e-03 -2.65928558e+01] [-1.88144940e-02 1.59590450e-03 9.99821718e-01 -4.19145002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.26, Y:-26.60, Z:-4.19 [[ 9.96061725e-01 8.69491383e-02 1.73461311e-02 3.03259855e+02] [-8.69097577e-02 9.96211633e-01 -3.01276468e-03 -2.65975354e+01] [-1.75423748e-02 1.49335154e-03 9.99845005e-01 -4.19181204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.29, Y:-26.60, Z:-4.19 [[ 9.96076806e-01 8.70664574e-02 1.58249475e-02 3.03288333e+02] [-8.70337104e-02 9.96201578e-01 -2.74768530e-03 -2.66026390e+01] [-1.60040689e-02 1.35960170e-03 9.99871002e-01 -4.19256042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.32, Y:-26.61, Z:-4.19 [[ 9.95896758e-01 8.91161827e-02 1.57465343e-02 3.03316304e+02] [-8.90840253e-02 9.96020364e-01 -2.73334561e-03 -2.66083479e+01] [-1.59274542e-02 1.31936536e-03 9.99872280e-01 -4.19295464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.34, Y:-26.61, Z:-4.19 [[ 9.95727852e-01 9.06355224e-02 1.76421640e-02 3.03343445e+02] [-9.05954079e-02 9.95883075e-01 -3.06151670e-03 -2.66132848e+01] [-1.78470147e-02 1.45013841e-03 9.99839678e-01 -4.19326730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.37, Y:-26.62, Z:-4.19 [[ 9.95553359e-01 9.21055163e-02 1.97505491e-02 3.03371911e+02] [-9.20555537e-02 9.95747979e-01 -3.42603500e-03 -2.66188552e+01] [-1.99821261e-02 1.59265291e-03 9.99799069e-01 -4.19319670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.40, Y:-26.63, Z:-4.19 [[ 9.95392508e-01 9.36607568e-02 2.05284772e-02 3.03399316e+02] [-9.36071283e-02 9.95602848e-01 -3.56003614e-03 -2.66250056e+01] [-2.07716460e-02 1.62202151e-03 9.99782930e-01 -4.19454373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.43, Y:-26.63, Z:-4.20 [[ 9.95396550e-01 9.38249900e-02 1.95596475e-02 3.03427184e+02] [-9.37763579e-02 9.95587513e-01 -3.39092775e-03 -2.66306584e+01] [-1.97914945e-02 1.54108528e-03 9.99802941e-01 -4.19530828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.45, Y:-26.64, Z:-4.20 [[ 9.95457127e-01 9.33607334e-02 1.86783796e-02 3.03454257e+02] [-9.33163184e-02 9.95631249e-01 -3.23739671e-03 -2.66363349e+01] [-1.88990242e-02 1.47969200e-03 9.99820303e-01 -4.19705779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.48, Y:-26.64, Z:-4.20 [[ 9.95550048e-01 9.24481989e-02 1.82601570e-02 3.03482710e+02] [-9.24056185e-02 9.95716421e-01 -3.16382127e-03 -2.66418766e+01] [-1.84744277e-02 1.46240132e-03 9.99828264e-01 -4.19719669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.51, Y:-26.65, Z:-4.20 [[ 9.95654675e-01 9.10570955e-02 1.95031721e-02 3.03510433e+02] [-9.10082726e-02 9.95844406e-01 -3.37828134e-03 -2.66476020e+01] [-1.97297413e-02 1.58865160e-03 9.99804088e-01 -4.19653159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.54, Y:-26.65, Z:-4.20 [[ 9.95688459e-01 9.04742023e-02 2.04673305e-02 3.03538088e+02] [-9.04203351e-02 9.95897386e-01 -3.54405737e-03 -2.66520568e+01] [-2.07040067e-02 1.67811414e-03 9.99784241e-01 -4.19662507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.57, Y:-26.66, Z:-4.20 [[ 9.95720875e-01 9.00921816e-02 2.05751745e-02 3.03566153e+02] [-9.00376887e-02 9.95931991e-01 -3.56155328e-03 -2.66560890e+01] [-2.08123426e-02 1.69377179e-03 9.99781965e-01 -4.19778481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.59, Y:-26.66, Z:-4.20 [[ 9.95885697e-01 8.85001084e-02 1.94784231e-02 3.03594742e+02] [-8.84509846e-02 9.96074827e-01 -3.37089228e-03 -2.66593239e+01] [-1.97002912e-02 1.63413771e-03 9.99804595e-01 -4.19857723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.62, Y:-26.66, Z:-4.20 [[ 9.96024737e-01 8.69160991e-02 1.95016774e-02 3.03622631e+02] [-8.68665736e-02 9.96214241e-01 -3.37404815e-03 -2.66640700e+01] [-1.97211079e-02 1.66659152e-03 9.99804131e-01 -4.19922471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35589822699995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:303.65, Y:-26.67, Z:-4.20 [[ 9.96215740e-01 8.45017563e-02 2.03384455e-02 3.03651425e+02] [-8.44474161e-02 9.96421728e-01 -3.51752377e-03 -2.66690900e+01] [-2.05629059e-02 1.78668338e-03 9.99786965e-01 -4.19940871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.68, Y:-26.67, Z:-4.20 [[ 9.96419627e-01 8.20178415e-02 2.05182840e-02 3.03679184e+02] [-8.19620345e-02 9.96629138e-01 -3.54760883e-03 -2.66744369e+01] [-2.07400870e-02 1.85318676e-03 9.99783184e-01 -4.20005157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.71, Y:-26.68, Z:-4.20 [[ 9.96871409e-01 7.69134608e-02 1.82130082e-02 3.03708321e+02] [-7.68686576e-02 9.97036257e-01 -3.14841285e-03 -2.66812994e+01] [-1.84011848e-02 1.73855327e-03 9.99829172e-01 -4.20213767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.74, Y:-26.69, Z:-4.20 [[ 9.97102952e-01 7.43928617e-02 1.58557409e-02 3.03736621e+02] [-7.43585941e-02 9.97227801e-01 -2.74072247e-03 -2.66881363e+01] [-1.60156758e-02 1.55377186e-03 9.99870534e-01 -4.20437527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.76, Y:-26.70, Z:-4.21 [[ 9.97443460e-01 7.01456506e-02 1.36430010e-02 3.03763270e+02] [-7.01198923e-02 9.97535784e-01 -2.35787830e-03 -2.66990874e+01] [-1.37747766e-02 1.39520453e-03 9.99904150e-01 -4.20644383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.79, Y:-26.71, Z:-4.21 [[ 9.97537810e-01 6.87614332e-02 1.37907057e-02 3.03791930e+02] [-6.87349913e-02 9.97632108e-01 -2.38282677e-03 -2.67080533e+01] [-1.39218974e-02 1.42905577e-03 9.99902064e-01 -4.20645215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.82, Y:-26.72, Z:-4.21 [[ 9.97582192e-01 6.79812462e-02 1.44332786e-02 3.03819751e+02] [-6.79522053e-02 9.97685461e-01 -2.49361478e-03 -2.67162102e+01] [-1.45693912e-02 1.50681259e-03 9.99892725e-01 -4.20629794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.85, Y:-26.73, Z:-4.21 [[ 9.97403409e-01 7.00818811e-02 1.65822305e-02 3.03846642e+02] [-7.00438443e-02 9.97539802e-01 -2.86431206e-03 -2.67275668e+01] [-1.67421713e-02 1.69539144e-03 9.99858403e-01 -4.20511221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.88, Y:-26.74, Z:-4.21 [[ 9.97222679e-01 7.23407056e-02 1.77130315e-02 3.03875189e+02] [-7.22976744e-02 9.97378409e-01 -3.05861637e-03 -2.67358611e+01] [-1.78878577e-02 1.76951062e-03 9.99838434e-01 -4.20591335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.90, Y:-26.74, Z:-4.21 [[ 9.97037894e-01 7.47286894e-02 1.81950534e-02 3.03904278e+02] [-7.46836854e-02 9.97202326e-01 -3.14142441e-03 -2.67441171e+01] [-1.83789041e-02 1.77324553e-03 9.99829521e-01 -4.20666166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.93, Y:-26.75, Z:-4.21 [[ 9.96765981e-01 7.84637559e-02 1.73498814e-02 3.03931188e+02] [-7.84234034e-02 9.96915643e-01 -2.99512757e-03 -2.67539582e+01] [-1.75313771e-02 1.62480453e-03 9.99844993e-01 -4.20804160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.96, Y:-26.76, Z:-4.21 [[ 9.96669238e-01 7.99292583e-02 1.61784738e-02 3.03958702e+02] [-7.98943667e-02 9.96799424e-01 -2.79265908e-03 -2.67609051e+01] [-1.63499085e-02 1.49078848e-03 9.99865220e-01 -4.20903875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.99, Y:-26.77, Z:-4.21 [[ 9.96530059e-01 8.18484694e-02 1.51218131e-02 3.03987597e+02] [-8.18182151e-02 9.96643853e-01 -2.60968727e-03 -2.67688649e+01] [-1.52846610e-02 1.36339205e-03 9.99882253e-01 -4.20998329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.02, Y:-26.78, Z:-4.21 [[ 9.96226888e-01 8.54376121e-02 1.52447209e-02 3.04015853e+02] [-8.54072862e-02 9.96342650e-01 -2.63054410e-03 -2.67795207e+01] [-1.54137130e-02 1.31860853e-03 9.99880332e-01 -4.21110571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.04, Y:-26.79, Z:-4.21 [[ 9.96150644e-01 8.61331601e-02 1.62779789e-02 3.04044311e+02] [-8.60986838e-02 9.96282656e-01 -2.80834028e-03 -2.67863672e+01] [-1.64593592e-02 1.39601742e-03 9.99863561e-01 -4.21196854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.07, Y:-26.79, Z:-4.21 [[ 9.96131281e-01 8.60609346e-02 1.77760245e-02 3.04072780e+02] [-8.60198112e-02 9.96288707e-01 -3.06663296e-03 -2.67929545e+01] [-1.79739698e-02 1.52567874e-03 9.99837291e-01 -4.21238469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.10, Y:-26.80, Z:-4.21 [[ 9.96166140e-01 8.54468395e-02 1.87578833e-02 3.04102861e+02] [-8.54009501e-02 9.96341412e-01 -3.23543111e-03 -2.68000104e+01] [-1.89657133e-02 1.62108587e-03 9.99818820e-01 -4.21264765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:304.13, Y:-26.81, Z:-4.21 [[ 9.96208440e-01 8.48334040e-02 1.92882644e-02 3.04131338e+02] [-8.47847673e-02 9.96393735e-01 -3.32696838e-03 -2.68073070e+01] [-1.95009439e-02 1.67900297e-03 9.99808429e-01 -4.21337211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.16, Y:-26.82, Z:-4.21 [[ 9.96193582e-01 8.48635870e-02 1.99127917e-02 3.04160086e+02] [-8.48117609e-02 9.96391073e-01 -3.43440395e-03 -2.68172633e+01] [-2.01323837e-02 1.73249224e-03 9.99795822e-01 -4.21385510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.19, Y:-26.82, Z:-4.21 [[ 9.96144586e-01 8.54473708e-02 1.98673446e-02 3.04190099e+02] [-8.53958963e-02 9.96341206e-01 -3.42656558e-03 -2.68246006e+01] [-2.00874451e-02 1.71676505e-03 9.99796753e-01 -4.21402935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.22, Y:-26.83, Z:-4.22 [[ 9.96068942e-01 8.64181997e-02 1.94565413e-02 3.04220282e+02] [-8.63690161e-02 9.96257563e-01 -3.35571342e-03 -2.68317637e+01] [-1.96737212e-02 1.66207958e-03 9.99805072e-01 -4.21544719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.25, Y:-26.84, Z:-4.22 [[ 9.95902591e-01 8.88079562e-02 1.70639129e-02 3.04248535e+02] [-8.87704735e-02 9.96047760e-01 -2.94313172e-03 -2.68406501e+01] [-1.72578457e-02 1.41630087e-03 9.99850069e-01 -4.21677805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.28, Y:-26.85, Z:-4.22 [[ 9.95852861e-01 8.95777247e-02 1.59031546e-02 3.04277786e+02] [-8.95452717e-02 9.95978977e-01 -2.74257807e-03 -2.68475726e+01] [-1.60848816e-02 1.30715192e-03 9.99869775e-01 -4.21727487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.31, Y:-26.85, Z:-4.22 [[ 9.95779609e-01 9.04361596e-02 1.56291988e-02 3.04307132e+02] [-9.04049129e-02 9.95901443e-01 -2.69579088e-03 -2.68539839e+01] [-1.58089386e-02 1.27145723e-03 9.99874223e-01 -4.21777573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.34, Y:-26.86, Z:-4.22 [[ 9.95509550e-01 9.29758118e-02 1.77829784e-02 3.04336458e+02] [-9.29357679e-02 9.95667383e-01 -3.06690474e-03 -2.68609742e+01] [-1.79910795e-02 1.40045820e-03 9.99837167e-01 -4.21707927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.36, Y:-26.87, Z:-4.22 [[ 9.95370528e-01 9.42450796e-02 1.88514456e-02 3.04364914e+02] [-9.42003246e-02 9.95547957e-01 -3.25012987e-03 -2.68675386e+01] [-1.90738269e-02 1.45927120e-03 9.99817013e-01 -4.21746825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.39, Y:-26.87, Z:-4.22 [[ 9.95307683e-01 9.48803008e-02 1.89827657e-02 3.04394503e+02] [-9.48350288e-02 9.95487621e-01 -3.27308346e-03 -2.68744071e+01] [-1.92076594e-02 1.45749399e-03 9.99814454e-01 -4.21821894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.42, Y:-26.88, Z:-4.22 [[ 9.95246072e-01 9.55503269e-02 1.88518175e-02 3.04424276e+02] [-9.55057969e-02 9.95423567e-01 -3.25050487e-03 -2.68813232e+01] [-1.90761303e-02 1.43459435e-03 9.99817005e-01 -4.21937661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.45, Y:-26.89, Z:-4.22 [[ 9.95238387e-01 9.57843034e-02 1.80532773e-02 3.04453823e+02] [-9.57435048e-02 9.95401171e-01 -3.11281740e-03 -2.68871648e+01] [-1.82684124e-02 1.36951133e-03 9.99832181e-01 -4.22031590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.48, Y:-26.89, Z:-4.22 [[ 9.95261761e-01 9.57944246e-02 1.66569992e-02 3.04482673e+02] [-9.57596935e-02 9.95400337e-01 -2.87215117e-03 -2.68928143e+01] [-1.68555186e-02 1.26347310e-03 9.99857137e-01 -4.22027508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.255898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:304.51, Y:-26.90, Z:-4.22 [[ 9.95251366e-01 9.57760444e-02 1.73685784e-02 3.04513119e+02] [-9.57382844e-02 9.95402036e-01 -2.99455803e-03 -2.68979051e+01] [-1.75755252e-02 1.31750008e-03 9.99844670e-01 -4.22036566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.54, Y:-26.90, Z:-4.22 [[ 9.95063461e-01 9.71429101e-02 2.02968652e-02 3.04543169e+02] [-9.70916248e-02 9.95269295e-01 -3.49943094e-03 -2.69026486e+01] [-2.05407916e-02 1.51150025e-03 9.99787873e-01 -4.22056050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.57, Y:-26.91, Z:-4.22 [[ 9.94999221e-01 9.75409547e-02 2.15014445e-02 3.04573155e+02] [-9.74834926e-02 9.95230238e-01 -3.70711535e-03 -2.69076400e+01] [-2.17604833e-02 1.59254098e-03 9.99761944e-01 -4.22142012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.60, Y:-26.91, Z:-4.22 [[ 9.95026632e-01 9.71194061e-02 2.21319398e-02 3.04604314e+02] [-9.70584213e-02 9.95271371e-01 -3.81577379e-03 -2.69131529e+01] [-2.23978718e-02 1.64870540e-03 9.99747777e-01 -4.22259541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.63, Y:-26.92, Z:-4.22 [[ 9.95155410e-01 9.57926050e-02 2.21243461e-02 3.04633793e+02] [-9.57313234e-02 9.95399899e-01 -3.81502569e-03 -2.69191335e+01] [-2.23880231e-02 1.67855052e-03 9.99747948e-01 -4.22402223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.67, Y:-26.93, Z:-4.23 [[ 9.95537331e-01 9.18703517e-02 2.15698890e-02 3.04665109e+02] [-9.18111912e-02 9.95769487e-01 -3.71929572e-03 -2.69274501e+01] [-2.18203303e-02 1.72234053e-03 9.99760425e-01 -4.22590804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.435898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:304.70, Y:-26.93, Z:-4.23 [[ 9.95725517e-01 8.99491938e-02 2.09723008e-02 3.04695651e+02] [-8.98927683e-02 9.95944872e-01 -3.61978008e-03 -2.69340273e+01] [-2.12128517e-02 1.71904922e-03 9.99773504e-01 -4.22615901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.73, Y:-26.94, Z:-4.23 [[ 9.95823288e-01 8.89291960e-02 2.06779635e-02 3.04726127e+02] [-8.88740895e-02 9.96036468e-01 -3.57067984e-03 -2.69418653e+01] [-2.09135434e-02 1.71803097e-03 9.99779812e-01 -4.22820029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.76, Y:-26.95, Z:-4.23 [[ 9.96002901e-01 8.72474997e-02 1.91336134e-02 3.04757157e+02] [-8.71999612e-02 9.96185341e-01 -3.30653208e-03 -2.69525401e+01] [-1.93491119e-02 1.62486519e-03 9.99811468e-01 -4.22948258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.79, Y:-26.96, Z:-4.23 [[ 9.96010012e-01 8.70868256e-02 1.94920727e-02 3.04787434e+02] [-8.70373852e-02 9.96199338e-01 -3.37218661e-03 -2.69604879e+01] [-1.97116629e-02 1.66219258e-03 9.99804325e-01 -4.23074657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.82, Y:-26.97, Z:-4.23 [[ 9.95943707e-01 8.75032245e-02 2.09599199e-02 3.04817453e+02] [-8.74461449e-02 9.96162648e-01 -3.62626233e-03 -2.69677109e+01] [-2.11967990e-02 1.77868896e-03 9.99773740e-01 -4.23096679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.85, Y:-26.98, Z:-4.23 [[ 9.95665459e-01 8.98810172e-02 2.39101627e-02 3.04848580e+02] [-8.98073158e-02 9.95950551e-01 -4.14076181e-03 -2.69753672e+01] [-2.41855156e-02 1.97550597e-03 9.99705536e-01 -4.22967812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.88, Y:-26.98, Z:-4.23 [[ 9.95520285e-01 9.14644193e-02 2.39504024e-02 3.04881163e+02] [-9.13908350e-02 9.95806448e-01 -4.15142877e-03 -2.69810103e+01] [-2.42296732e-02 1.94398428e-03 9.99704528e-01 -4.23104145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.91, Y:-26.99, Z:-4.23 [[ 9.95513050e-01 9.15433347e-02 2.39496530e-02 3.04914148e+02] [-9.14696698e-02 9.95799191e-01 -4.15574760e-03 -2.69868613e+01] [-2.42294761e-02 1.94643412e-03 9.99704528e-01 -4.23185932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.95, Y:-26.99, Z:-4.23 [[ 9.95360246e-01 9.34892220e-02 2.27540181e-02 3.04946669e+02] [-9.34231978e-02 9.95618654e-01 -3.94990364e-03 -2.69921038e+01] [-2.30235983e-02 1.80582393e-03 9.99733291e-01 -4.23283912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.98, Y:-26.99, Z:-4.23 [[ 9.95109661e-01 9.68185929e-02 1.95684300e-02 3.04978567e+02] [-9.67703420e-02 9.95300930e-01 -3.40003307e-03 -2.69940864e+01] [-1.98056630e-02 1.48976209e-03 9.99802739e-01 -4.23380478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.01, Y:-27.00, Z:-4.23 [[ 9.94985582e-01 9.82605241e-02 1.86697902e-02 3.05008608e+02] [-9.82167869e-02 9.95159744e-01 -3.24755249e-03 -2.69965496e+01] [-1.88985298e-02 1.39758110e-03 9.99820430e-01 -4.23455768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.765898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:305.04, Y:-27.00, Z:-4.23 [[ 9.94917610e-01 9.90316426e-02 1.82121860e-02 3.05038811e+02] [-9.89901470e-02 9.95083370e-01 -3.16822501e-03 -2.69984747e+01] [-1.84363980e-02 1.34929588e-03 9.99829125e-01 -4.23479259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.07, Y:-27.00, Z:-4.24 [[ 9.94953143e-01 9.86244151e-02 1.84788449e-02 3.05070209e+02] [-9.85816253e-02 9.95123776e-01 -3.21461346e-03 -2.69978409e+01] [-1.87057773e-02 1.37671521e-03 9.99824084e-01 -4.23672853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.825898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:305.10, Y:-27.00, Z:-4.24 [[ 9.95064183e-01 9.74372854e-02 1.87948662e-02 3.05099903e+02] [-9.73928076e-02 9.95240650e-01 -3.26965072e-03 -2.70007340e+01] [-1.90240008e-02 1.42302753e-03 9.99818015e-01 -4.23751415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.13, Y:-27.00, Z:-4.24 [[ 9.95188330e-01 9.61201157e-02 1.90029017e-02 3.05130529e+02] [-9.60744145e-02 9.95368665e-01 -3.30555652e-03 -2.70046312e+01] [-1.92326234e-02 1.46395862e-03 9.99813964e-01 -4.23846836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.885898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:305.16, Y:-27.01, Z:-4.24 [[ 9.95343059e-01 9.44517194e-02 1.92631373e-02 3.05160892e+02] [-9.44044471e-02 9.95528288e-01 -3.35082453e-03 -2.70065765e+01] [-1.94934893e-02 1.51669411e-03 9.99808833e-01 -4.23888340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.19, Y:-27.01, Z:-4.24 [[ 9.95332137e-01 9.46123452e-02 1.90379097e-02 3.05191394e+02] [-9.45662013e-02 9.95513067e-01 -3.31164617e-03 -2.70095927e+01] [-1.92658105e-02 1.49584505e-03 9.99813278e-01 -4.23955873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.22, Y:-27.01, Z:-4.24 [[ 9.95243450e-01 9.55937787e-02 1.87697590e-02 3.05220589e+02] [-9.55491004e-02 9.95419364e-01 -3.26493288e-03 -2.70119667e+01] [-1.89958888e-02 1.45596948e-03 9.99818502e-01 -4.23966896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.25, Y:-27.01, Z:-4.24 [[ 9.95160937e-01 9.65318130e-02 1.83390018e-02 3.05250259e+02] [-9.64893124e-02 9.95328907e-01 -3.19043942e-03 -2.70138968e+01] [-1.85613175e-02 1.40548301e-03 9.99826736e-01 -4.24035584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.28, Y:-27.01, Z:-4.24 [[ 9.95030966e-01 9.79606692e-02 1.78068395e-02 3.05280357e+02] [-9.79208341e-02 9.95189387e-01 -3.09746869e-03 -2.70129615e+01] [-1.80246078e-02 1.33841669e-03 9.99836648e-01 -4.24166118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03589822699996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:305.31, Y:-27.02, Z:-4.24 [[ 9.95027660e-01 9.79217005e-02 1.82015575e-02 3.05309665e+02] [-9.78800751e-02 9.95193181e-01 -3.16602165e-03 -2.70151900e+01] [-1.84240881e-02 1.36870930e-03 9.99829325e-01 -4.24174002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.34, Y:-27.02, Z:-4.24 [[ 9.95000242e-01 9.80413171e-02 1.90372828e-02 3.05338166e+02] [-9.79958382e-02 9.95181321e-01 -3.30954630e-03 -2.70187757e+01] [-1.92700205e-02 1.42742488e-03 9.99813297e-01 -4.24342771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.37, Y:-27.02, Z:-4.24 [[ 9.94992737e-01 9.80093398e-02 1.95862867e-02 3.05367375e+02] [-9.79612040e-02 9.95184411e-01 -3.40445708e-03 -2.70229050e+01] [-1.98256358e-02 1.46871384e-03 9.99802374e-01 -4.24392483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.40, Y:-27.03, Z:-4.25 [[ 9.95004828e-01 9.80941720e-02 1.85182739e-02 3.05396381e+02] [-9.80511656e-02 9.95176171e-01 -3.21840637e-03 -2.70264417e+01] [-1.87446518e-02 1.38659153e-03 9.99823342e-01 -4.24523632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.43, Y:-27.03, Z:-4.25 [[ 9.95014100e-01 9.81583622e-02 1.76600424e-02 3.05425384e+02] [-9.81192673e-02 9.95169931e-01 -3.06885511e-03 -2.70305253e+01] [-1.78759770e-02 1.32076368e-03 9.99839340e-01 -4.24665483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.45, Y:-27.04, Z:-4.25 [[ 9.94914099e-01 9.91326528e-02 1.78508295e-02 3.05453806e+02] [-9.90928695e-02 9.95073355e-01 -3.10172936e-03 -2.70358107e+01] [-1.80703675e-02 1.31706435e-03 9.99835850e-01 -4.24720931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.48, Y:-27.04, Z:-4.25 [[ 9.94809716e-01 1.00044690e-01 1.85657763e-02 3.05482008e+02] [-1.00001833e-01 9.94982027e-01 -3.22496435e-03 -2.70415316e+01] [-1.87952543e-02 1.35161422e-03 9.99822440e-01 -4.24778219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.51, Y:-27.05, Z:-4.25 [[ 9.94631929e-01 1.01790466e-01 1.86017893e-02 3.05510114e+02] [-1.01747758e-01 9.94804985e-01 -3.23055409e-03 -2.70473777e+01] [-1.88339923e-02 1.32052189e-03 9.99821753e-01 -4.24809061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.54, Y:-27.05, Z:-4.25 [[ 9.94382588e-01 1.04258358e-01 1.82609690e-02 3.05537451e+02] [-1.04217624e-01 9.94549462e-01 -3.17087204e-03 -2.70530566e+01] [-1.84920268e-02 1.24994514e-03 9.99828227e-01 -4.24898253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.56, Y:-27.06, Z:-4.25 [[ 9.94016213e-01 1.07723674e-01 1.80935837e-02 3.05564655e+02] [-1.07684274e-01 9.94180181e-01 -3.14074810e-03 -2.70585002e+01] [-1.83266152e-02 1.17356012e-03 9.99831365e-01 -4.24972649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.59, Y:-27.06, Z:-4.25 [[ 9.93173340e-01 1.15241488e-01 1.80586624e-02 3.05592688e+02] [-1.15203498e-01 9.93336969e-01 -3.13358481e-03 -2.70647797e+01] [-1.82994559e-02 1.03177183e-03 9.99832019e-01 -4.24993593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.62, Y:-27.07, Z:-4.25 [[ 9.92774291e-01 1.18638520e-01 1.80030045e-02 3.05621245e+02] [-1.18601336e-01 9.92937042e-01 -3.12302730e-03 -2.70694747e+01] [-1.82463614e-02 9.65280833e-04 9.99833055e-01 -4.25018435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.65, Y:-27.08, Z:-4.25 [[ 9.92357662e-01 1.21598646e-01 2.09771057e-02 3.05648498e+02] [-1.21696658e-01 9.92561323e-01 3.45605840e-03 -2.70758347e+01] [-2.04008117e-02 -5.98248970e-03 9.99773983e-01 -4.25122217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.68, Y:-27.07, Z:-4.25 [[ 9.91884160e-01 1.25863151e-01 1.80077861e-02 3.05677742e+02] [-1.25694822e-01 9.92016549e-01 -1.01970108e-02 -2.70709097e+01] [-1.91474497e-02 7.85076804e-03 9.99785847e-01 -4.25022024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.71, Y:-27.08, Z:-4.25 [[ 9.91765019e-01 1.26519858e-01 1.98714262e-02 3.05706343e+02] [-1.26476198e-01 9.91963664e-01 -3.44378405e-03 -2.70773598e+01] [-2.01474398e-02 9.02162120e-04 9.99796613e-01 -4.25146515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.74, Y:-27.08, Z:-4.25 [[ 9.91851627e-01 1.25852315e-01 1.97874863e-02 3.05735357e+02] [-1.25808909e-01 9.92048570e-01 -3.42833656e-03 -2.70803788e+01] [-2.00616115e-02 9.10959144e-04 9.99798331e-01 -4.25199235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.76, Y:-27.08, Z:-4.25 [[ 9.92320976e-01 1.22075799e-01 1.99143280e-02 3.05763413e+02] [-1.22031094e-01 9.92520284e-01 -3.44944172e-03 -2.70804755e+01] [-2.01864679e-02 9.92786146e-04 9.99795740e-01 -4.25186904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.79, Y:-27.08, Z:-4.25 [[ 9.92567309e-01 1.20028377e-01 2.00829582e-02 3.05791306e+02] [-1.19982517e-01 9.92769914e-01 -3.47749323e-03 -2.70824384e+01] [-2.03551546e-02 1.04204223e-03 9.99792269e-01 -4.25184802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.82, Y:-27.08, Z:-4.25 [[ 9.92725260e-01 1.18630892e-01 2.05735276e-02 3.05820396e+02] [-1.18582489e-01 9.92937818e-01 -3.56120570e-03 -2.70844305e+01] [-2.08507026e-02 1.09563874e-03 9.99782000e-01 -4.25235456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.85, Y:-27.08, Z:-4.25 [[ 9.92703643e-01 1.18701572e-01 2.11993945e-02 3.05849997e+02] [-1.18650216e-01 9.92929337e-01 -3.66856539e-03 -2.70827878e+01] [-2.14849652e-02 1.12648549e-03 9.99768537e-01 -4.25254736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.88, Y:-27.08, Z:-4.25 [[ 9.92610036e-01 1.19481327e-01 2.12021053e-02 3.05879011e+02] [-1.19430157e-01 9.92835829e-01 -3.66805021e-03 -2.70840255e+01] [-2.14884733e-02 1.10877268e-03 9.99768481e-01 -4.25318442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.91, Y:-27.08, Z:-4.25 [[ 9.92504195e-01 1.20396207e-01 2.09803898e-02 3.05906669e+02] [-1.20346325e-01 9.92725337e-01 -3.62876546e-03 -2.70849838e+01] [-2.12646541e-02 1.07665213e-03 9.99773302e-01 -4.25387773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.94, Y:-27.08, Z:-4.25 [[ 9.92106265e-01 1.23416204e-01 2.22170912e-02 3.05935554e+02] [-1.23399002e-01 9.92354810e-01 -2.14883394e-03 -2.70841125e+01] [-2.23124383e-02 -6.09695260e-04 9.99750861e-01 -4.25457320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.97, Y:-27.08, Z:-4.25 [[ 9.91886229e-01 1.25147324e-01 2.23574606e-02 3.05965040e+02] [-1.25054011e-01 9.92134526e-01 -5.52968913e-03 -2.70847092e+01] [-2.28736343e-02 2.68893239e-03 9.99734748e-01 -4.25446765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.99, Y:-27.09, Z:-4.25 [[ 9.91596881e-01 1.27159104e-01 2.37947025e-02 3.05991598e+02] [-1.27096977e-01 9.91881774e-01 -4.11149130e-03 -2.70874478e+01] [-2.41243452e-02 1.05270721e-03 9.99708411e-01 -4.25405937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.02, Y:-27.09, Z:-4.25 [[ 9.91346459e-01 1.28990552e-01 2.43646282e-02 3.06019392e+02] [-1.28926015e-01 9.91645287e-01 -4.20791035e-03 -2.70895709e+01] [-2.47038495e-02 1.03026261e-03 9.99694282e-01 -4.25462342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.05, Y:-27.09, Z:-4.26 [[ 9.90972903e-01 1.32043383e-01 2.31786641e-02 3.06046742e+02] [-1.31985847e-01 9.91243524e-01 -4.00154574e-03 -2.70888460e+01] [-2.35040783e-02 9.06167788e-04 9.99723330e-01 -4.25538681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.07, Y:-27.09, Z:-4.26 [[ 9.90777146e-01 1.33585759e-01 2.27044311e-02 3.06073731e+02] [-1.33531013e-01 9.91036893e-01 -3.91730374e-03 -2.70907219e+01] [-2.30242248e-02 8.49429348e-04 9.99734547e-01 -4.25641816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.10, Y:-27.09, Z:-4.26 [[ 9.90092795e-01 1.38315881e-01 2.41862573e-02 3.06102502e+02] [-1.38255214e-01 9.90387853e-01 -4.17086479e-03 -2.70894638e+01] [-2.45306723e-02 7.85667010e-04 9.99698769e-01 -4.25577188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:306.13, Y:-27.09, Z:-4.26 [[ 9.89705215e-01 1.40992157e-01 2.45926744e-02 3.06130334e+02] [-1.40930301e-01 9.90010444e-01 -4.23922152e-03 -2.70917655e+01] [-2.49447015e-02 7.29726640e-04 9.99688566e-01 -4.25688928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.16, Y:-27.09, Z:-4.26 [[ 9.89414912e-01 1.43177838e-01 2.36270856e-02 3.06158292e+02] [-1.43121406e-01 9.89696766e-01 -4.07117127e-03 -2.70947417e+01] [-2.39665518e-02 6.46535854e-04 9.99712552e-01 -4.25757678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.19, Y:-27.10, Z:-4.26 [[ 9.89263368e-01 1.44456566e-01 2.21424990e-02 3.06185237e+02] [-1.44407357e-01 9.89510975e-01 -3.81389643e-03 -2.70983190e+01] [-2.24611881e-02 5.75408278e-04 9.99747550e-01 -4.26003147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.21, Y:-27.10, Z:-4.26 [[ 9.89143166e-01 1.45731712e-01 1.89226186e-02 3.06212397e+02] [-1.45696035e-01 9.89324038e-01 -3.25791989e-03 -2.71025583e+01] [-1.91953837e-02 4.65598686e-04 9.99815643e-01 -4.26186323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.24, Y:-27.11, Z:-4.26 [[ 9.88930766e-01 1.47233897e-01 1.83880243e-02 3.06239749e+02] [-1.47200490e-01 9.89101613e-01 -3.16465555e-03 -2.71071400e+01] [-1.86535691e-02 4.22899057e-04 9.99825918e-01 -4.26209907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.27, Y:-27.11, Z:-4.26 [[ 9.88578278e-01 1.49527071e-01 1.88320030e-02 3.06266568e+02] [-1.49508134e-01 9.88757540e-01 -2.41741689e-03 -2.71115887e+01] [-1.89817543e-02 -4.25731814e-04 9.99819740e-01 -4.26214686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.30, Y:-27.11, Z:-4.26 [[ 9.87527694e-01 1.56286551e-01 1.90674313e-02 3.06295739e+02] [-1.56236655e-01 9.87711190e-01 -4.08820084e-03 -2.71146002e+01] [-1.94720460e-02 1.05817988e-03 9.99809842e-01 -4.26158569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.32, Y:-27.12, Z:-4.26 [[ 9.86907222e-01 1.60144587e-01 1.91793329e-02 3.06323304e+02] [-1.60110791e-01 9.87093551e-01 -3.29485674e-03 -2.71178181e+01] [-1.94594493e-02 1.80899740e-04 9.99810631e-01 -4.26204527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.35, Y:-27.12, Z:-4.26 [[ 9.85631212e-01 1.67925133e-01 1.82281235e-02 3.06351791e+02] [-1.67895944e-01 9.85799751e-01 -3.13092680e-03 -2.71180819e+01] [-1.84950409e-02 2.55111761e-05 9.99828952e-01 -4.26344674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.38, Y:-27.12, Z:-4.26 [[ 9.85061028e-01 1.71241521e-01 1.81965163e-02 3.06378433e+02] [-1.71213075e-01 9.85229080e-01 -3.12138713e-03 -2.71202143e+01] [-1.84622481e-02 -4.07246858e-05 9.99829557e-01 -4.26492091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.41, Y:-27.12, Z:-4.27 [[ 9.84596893e-01 1.73897850e-01 1.81244814e-02 3.06405987e+02] [-1.73870094e-01 9.84763692e-01 -3.10819500e-03 -2.71231543e+01] [-1.83888397e-02 -9.09861456e-05 9.99830907e-01 -4.26569280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.43, Y:-27.13, Z:-4.27 [[ 9.84238970e-01 1.75864099e-01 1.85868025e-02 3.06433241e+02] [-1.75835342e-01 9.84414445e-01 -3.18308991e-03 -2.71257899e+01] [-1.88569081e-02 -1.35295643e-04 9.99822184e-01 -4.26601315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.46, Y:-27.13, Z:-4.26 [[ 9.83917917e-01 1.77549686e-01 1.95356480e-02 3.06462103e+02] [-1.77518276e-01 9.84111822e-01 -3.34430722e-03 -2.71254149e+01] [-1.98190429e-02 -1.77410757e-04 9.99803568e-01 -4.26492771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.49, Y:-27.13, Z:-4.27 [[ 9.83869666e-01 1.77842701e-01 1.92990516e-02 3.06489509e+02] [-1.77812182e-01 9.84058911e-01 -3.29978115e-03 -2.71274120e+01] [-1.95782457e-02 -1.85051901e-04 9.99808311e-01 -4.26509513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.52, Y:-27.13, Z:-4.27 [[ 9.83917791e-01 1.77596659e-01 1.91103837e-02 3.06517114e+02] [-1.77566730e-01 9.84103345e-01 -3.26530866e-03 -2.71293118e+01] [-1.93865005e-02 -1.80573069e-04 9.99812048e-01 -4.26566220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.54, Y:-27.13, Z:-4.27 [[ 9.84085028e-01 1.76607683e-01 1.96566709e-02 3.06544546e+02] [-1.76575910e-01 9.84281310e-01 -3.35420323e-03 -2.71316712e+01] [-1.99400719e-02 -1.70073377e-04 9.99801163e-01 -4.26722825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.57, Y:-27.13, Z:-4.27 [[ 9.84561784e-01 1.73642722e-01 2.20521925e-02 3.06572057e+02] [-1.73602035e-01 9.84808707e-01 -3.76085054e-03 -2.71327129e+01] [-2.23702355e-02 -1.25515780e-04 9.99749747e-01 -4.26688797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.60, Y:-27.14, Z:-4.27 [[ 9.84823779e-01 1.71954077e-01 2.35354969e-02 3.06599992e+02] [-1.71911915e-01 9.85104925e-01 -3.81833850e-03 -2.71362483e+01] [-2.38415128e-02 -2.85641779e-04 9.99715710e-01 -4.26782765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.63, Y:-27.14, Z:-4.27 [[ 9.85278669e-01 1.69219664e-01 2.43033008e-02 3.06626378e+02] [-1.69164203e-01 9.85578348e-01 -4.33505199e-03 -2.71389512e+01] [-2.46863831e-02 1.59985740e-04 9.99695232e-01 -4.26841834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.65, Y:-27.14, Z:-4.27 [[ 9.85531291e-01 1.67870942e-01 2.33970259e-02 3.06654568e+02] [-1.67823744e-01 9.85808981e-01 -3.98048197e-03 -2.71421498e+01] [-2.37332055e-02 -3.68695299e-06 9.99718328e-01 -4.26880156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.68, Y:-27.14, Z:-4.27 [[ 9.85763733e-01 1.66631430e-01 2.24461603e-02 3.06682923e+02] [-1.66587761e-01 9.86019252e-01 -3.81467271e-03 -2.71447707e+01] [-2.27679906e-02 2.11104255e-05 9.99740775e-01 -4.26958713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.71, Y:-27.15, Z:-4.27 [[ 9.85954661e-01 1.65592419e-01 2.17383751e-02 3.06710761e+02] [-1.65551296e-01 9.86194276e-01 -3.69044884e-03 -2.71472748e+01] [-2.20493714e-02 3.97990744e-05 9.99756882e-01 -4.27019468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.74, Y:-27.15, Z:-4.27 [[ 9.85983208e-01 1.65422266e-01 2.17390553e-02 3.06738837e+02] [-1.65381190e-01 9.86222831e-01 -3.68643740e-03 -2.71518526e+01] [-2.20493715e-02 3.95345499e-05 9.99756882e-01 -4.27089039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.77, Y:-27.15, Z:-4.27 [[ 9.86138300e-01 1.64472018e-01 2.19136541e-02 3.06766792e+02] [-1.64430131e-01 9.86381748e-01 -3.71215725e-03 -2.71519660e+01] [-2.22257744e-02 5.74354237e-05 9.99752975e-01 -4.27129133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.79, Y:-27.15, Z:-4.27 [[ 9.86109231e-01 1.64470991e-01 2.31921934e-02 3.06794542e+02] [-1.64424185e-01 9.86381919e-01 -3.92397247e-03 -2.71541535e+01] [-2.35217398e-02 5.61079933e-05 9.99723324e-01 -4.27131237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.82, Y:-27.16, Z:-4.27 [[ 9.86164907e-01 1.63822620e-01 2.53165197e-02 3.06821532e+02] [-1.63766764e-01 9.86489809e-01 -4.27822417e-03 -2.71561708e+01] [-2.56753586e-02 7.30300168e-05 9.99670331e-01 -4.27147138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.85, Y:-27.16, Z:-4.27 [[ 9.86753649e-01 1.59932497e-01 2.71814571e-02 3.06849556e+02] [-1.59866706e-01 9.87127936e-01 -4.59063211e-03 -2.71579661e+01] [-2.75657669e-02 1.84412965e-04 9.99619975e-01 -4.27176561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.88, Y:-27.16, Z:-4.27 [[ 9.87205089e-01 1.57279787e-01 2.62522632e-02 3.06877058e+02] [-1.57217607e-01 9.87554054e-01 -4.42893883e-03 -2.71616118e+01] [-2.66221115e-02 2.44952965e-04 9.99645539e-01 -4.27238001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.90, Y:-27.16, Z:-4.27 [[ 9.87861750e-01 1.53495152e-01 2.38411679e-02 3.06904391e+02] [-1.53442868e-01 9.88149352e-01 -4.01802493e-03 -2.71644289e+01] [-2.41753820e-02 3.10995950e-04 9.99707684e-01 -4.27440881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.93, Y:-27.17, Z:-4.27 [[ 9.88113313e-01 1.52096931e-01 2.23294407e-02 3.06932546e+02] [-1.52050770e-01 9.88365530e-01 -3.76066729e-03 -2.71684224e+01] [-2.26416354e-02 3.20756755e-04 9.99743594e-01 -4.27469709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.96, Y:-27.17, Z:-4.28 [[ 9.88271004e-01 1.51268140e-01 2.09373286e-02 3.06959491e+02] [-1.51227458e-01 9.88492717e-01 -3.52211007e-03 -2.71724770e+01] [-2.12291798e-02 3.14500292e-04 9.99774586e-01 -4.27528508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.99, Y:-27.18, Z:-4.28 [[ 9.88418150e-01 1.50478720e-01 1.96396386e-02 3.06986423e+02] [-1.50442795e-01 9.88613200e-01 -3.30248938e-03 -2.71766232e+01] [-1.99129604e-02 3.09598314e-04 9.99801669e-01 -4.27520836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86589822699995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:307.01, Y:-27.18, Z:-4.28 [[ 9.88535939e-01 1.49722641e-01 1.94891816e-02 3.07014766e+02] [-1.49687163e-01 9.88727985e-01 -3.27491388e-03 -2.71795785e+01] [-1.97598280e-02 3.20089769e-04 9.99804704e-01 -4.27583290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:-27.18, Z:-4.28 [[ 9.88545198e-01 1.49582073e-01 2.00896709e-02 3.07042424e+02] [-1.49544430e-01 9.88749258e-01 -3.37168450e-03 -2.71840925e+01] [-2.03679907e-02 3.28764147e-04 9.99792497e-01 -4.27639870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92589822699995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:307.07, Y:-27.19, Z:-4.28 [[ 9.88648693e-01 1.48777450e-01 2.09531191e-02 3.07068768e+02] [-1.48736375e-01 9.88870640e-01 -3.51400554e-03 -2.71882354e+01] [-2.12427291e-02 3.57626000e-04 9.99774284e-01 -4.27720305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.10, Y:-27.19, Z:-4.28 [[ 9.88944035e-01 1.46445794e-01 2.33093369e-02 3.07096375e+02] [-1.46394392e-01 9.89218594e-01 -3.90579239e-03 -2.71920919e+01] [-2.36300163e-02 4.50253886e-04 9.99720671e-01 -4.27718121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.12, Y:-27.19, Z:-4.28 [[ 9.89129745e-01 1.45029357e-01 2.42658779e-02 3.07123272e+02] [-1.44973340e-01 9.89427226e-01 -4.06133346e-03 -2.71944064e+01] [-2.45983329e-02 4.99280352e-04 9.99697291e-01 -4.27698314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:-27.20, Z:-4.28 [[ 9.89316121e-01 1.43586819e-01 2.52277283e-02 3.07150890e+02] [-1.43525857e-01 9.89637569e-01 -4.22019194e-03 -2.71963043e+01] [-2.55722716e-02 5.54272593e-04 9.99672822e-01 -4.27764917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.18, Y:-27.20, Z:-4.28 [[ 9.89762651e-01 1.40435870e-01 2.54491651e-02 3.07179325e+02] [-1.40372839e-01 9.90089570e-01 -4.25545686e-03 -2.71957465e+01] [-2.57945718e-02 6.39520718e-04 9.99667060e-01 -4.27885829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:-27.20, Z:-4.28 [[ 9.90070190e-01 1.38395994e-01 2.46488798e-02 3.07206818e+02] [-1.38336276e-01 9.90376747e-01 -4.11991069e-03 -2.71975597e+01] [-2.49818566e-02 6.69166515e-04 9.99687681e-01 -4.28016942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:-27.20, Z:-4.28 [[ 9.90829217e-01 1.33200894e-01 2.26932498e-02 3.07235507e+02] [-1.33148979e-01 9.91088787e-01 -3.79027881e-03 -2.71966126e+01] [-2.29958939e-02 7.33935934e-04 9.99735290e-01 -4.28119390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:-27.20, Z:-4.28 [[ 9.91333134e-01 1.29521524e-01 2.19725340e-02 3.07262320e+02] [-1.29471981e-01 9.91576294e-01 -3.66855391e-03 -2.71988830e+01] [-2.22626005e-02 7.91931538e-04 9.99751844e-01 -4.28241946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.29, Y:-27.20, Z:-4.28 [[ 9.91914135e-01 1.25123663e-01 2.12230459e-02 3.07290544e+02] [-1.25076497e-01 9.92140783e-01 -3.54069845e-03 -2.72021190e+01] [-2.14992745e-02 8.57564621e-04 9.99768496e-01 -4.28357325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.32, Y:-27.21, Z:-4.28 [[ 9.92459127e-01 1.20833377e-01 2.05955586e-02 3.07317481e+02] [-1.20788065e-01 9.92672376e-01 -3.43464612e-03 -2.72057688e+01] [-2.08596620e-02 9.21048223e-04 9.99781989e-01 -4.28413933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.35, Y:-27.21, Z:-4.28 [[ 9.93294294e-01 1.13798900e-01 2.04023371e-02 3.07345481e+02] [-1.13752987e-01 9.93503243e-01 -3.40071459e-03 -2.72089924e+01] [-2.06567857e-02 1.05708360e-03 9.99786067e-01 -4.28371868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.37, Y:-27.21, Z:-4.28 [[ 9.93475136e-01 1.12193712e-01 2.04872010e-02 3.07372967e+02] [-1.12147106e-01 9.93685753e-01 -3.41344766e-03 -2.72121574e+01] [-2.07408071e-02 1.09359507e-03 9.99784288e-01 -4.28387345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.40, Y:-27.22, Z:-4.28 [[ 9.93513574e-01 1.11855386e-01 2.04731781e-02 3.07400822e+02] [-1.11808801e-01 9.93723888e-01 -3.40971025e-03 -2.72151001e+01] [-2.07260806e-02 1.09851193e-03 9.99784588e-01 -4.28371470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.43, Y:-27.22, Z:-4.28 [[ 9.93250325e-01 1.14348172e-01 1.94496132e-02 3.07427582e+02] [-1.14306629e-01 9.93440240e-01 -3.23804536e-03 -2.72170250e+01] [-1.96922929e-02 9.92969890e-04 9.99805595e-01 -4.28472010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:307.46, Y:-27.22, Z:-4.29 [[ 9.93003037e-01 1.16659268e-01 1.83189483e-02 3.07455916e+02] [-1.16622833e-01 9.93171597e-01 -3.04841544e-03 -2.72196497e+01] [-1.85494851e-02 8.90678131e-04 9.99827547e-01 -4.28534721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.48, Y:-27.22, Z:-4.29 [[ 9.92683504e-01 1.19439333e-01 1.77117482e-02 3.07482919e+02] [-1.19405736e-01 9.92841171e-01 -2.94625762e-03 -2.72216584e+01] [-1.79368519e-02 8.09817010e-04 9.99838794e-01 -4.28635690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.51, Y:-27.22, Z:-4.29 [[ 9.92078387e-01 1.24237135e-01 1.85905671e-02 3.07511657e+02] [-1.24200991e-01 9.92252267e-01 -3.09077866e-03 -2.72199660e+01] [-1.88305218e-02 7.57327846e-04 9.99822403e-01 -4.28640523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:-27.22, Z:-4.29 [[ 9.91914547e-01 1.25336439e-01 1.99074890e-02 3.07539195e+02] [-1.25295244e-01 9.92113984e-01 -3.30824039e-03 -2.72216865e+01] [-2.01651413e-02 7.87178070e-04 9.99796353e-01 -4.28744908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.57, Y:-27.22, Z:-4.29 [[ 9.92034440e-01 1.24388434e-01 1.98793003e-02 3.07567756e+02] [-1.24347200e-01 9.92233275e-01 -3.30186025e-03 -2.72220478e+01] [-2.01356164e-02 8.03623764e-04 9.99796935e-01 -4.28912755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:-27.22, Z:-4.29 [[ 9.92274205e-01 1.22596669e-01 1.90252234e-02 3.07595358e+02] [-1.22558597e-01 9.92456252e-01 -3.15876112e-03 -2.72240919e+01] [-1.92689555e-02 8.02652504e-04 9.99814014e-01 -4.29015326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.62, Y:-27.23, Z:-4.29 [[ 9.92503142e-01 1.20681754e-01 1.93242863e-02 3.07622050e+02] [-1.20642140e-01 9.92690883e-01 -3.20704739e-03 -2.72264550e+01] [-1.95700749e-02 8.51681365e-04 9.99808125e-01 -4.29164623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.65, Y:-27.23, Z:-4.29 [[ 9.92769692e-01 1.18367510e-01 1.99366606e-02 3.07649705e+02] [-1.18324916e-01 9.92969425e-01 -3.30687475e-03 -2.72294821e+01] [-2.01879210e-02 9.23961324e-04 9.99795776e-01 -4.29226711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:-27.23, Z:-4.29 [[ 9.93222000e-01 1.14240244e-01 2.14295232e-02 3.07677447e+02] [-1.14190107e-01 9.93452564e-01 -3.55291528e-03 -2.72314312e+01] [-2.16951007e-02 1.08179408e-03 9.99764048e-01 -4.29249285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.70, Y:-27.23, Z:-4.29 [[ 9.93378915e-01 1.12986204e-01 2.07954047e-02 3.07704172e+02] [-1.12938745e-01 9.93595975e-01 -3.44639765e-03 -2.72341461e+01] [-2.10516258e-02 1.07497185e-03 9.99777812e-01 -4.29363076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.73, Y:-27.23, Z:-4.30 [[ 9.93535361e-01 1.12054969e-01 1.81980649e-02 3.07732274e+02] [-1.12018495e-01 9.93701549e-01 -3.01463674e-03 -2.72348320e+01] [-1.84212503e-02 9.56628375e-04 9.99829857e-01 -4.29522453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.76, Y:-27.24, Z:-4.30 [[ 9.93541241e-01 1.12078667e-01 1.77249946e-02 3.07760228e+02] [-1.12044090e-01 9.93698902e-01 -2.93508071e-03 -2.72376726e+01] [-1.79422676e-02 9.30142842e-04 9.99838592e-01 -4.29645081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:-27.24, Z:-4.30 [[ 9.93490579e-01 1.12497544e-01 1.79101342e-02 3.07786612e+02] [-1.12462325e-01 9.93651566e-01 -2.96481652e-03 -2.72404352e+01] [-1.81299675e-02 9.31301939e-04 9.99835205e-01 -4.29714484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.81, Y:-27.24, Z:-4.30 [[ 9.93484745e-01 1.12507260e-01 1.81707928e-02 3.07813061e+02] [-1.12471054e-01 9.93650456e-01 -3.00558324e-03 -2.72429027e+01] [-1.83935665e-02 9.42312873e-04 9.99830380e-01 -4.29698680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.84, Y:-27.24, Z:-4.30 [[ 9.93630643e-01 1.11156880e-01 1.85011761e-02 3.07840853e+02] [-1.11119162e-01 9.93802386e-01 -3.05754983e-03 -2.72441125e+01] [-1.87263807e-02 9.82240012e-04 9.99824163e-01 -4.29664738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.87, Y:-27.25, Z:-4.30 [[ 9.93830394e-01 1.09412444e-01 1.81676802e-02 3.07867449e+02] [-1.09375805e-01 9.93995939e-01 -3.00124894e-03 -2.72477731e+01] [-1.83869743e-02 9.95627770e-04 9.99830450e-01 -4.29782281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.90, Y:-27.25, Z:-4.30 [[ 9.94092206e-01 1.07005018e-01 1.81827185e-02 3.07895011e+02] [-1.06967945e-01 9.94257937e-01 -3.00217690e-03 -2.72526105e+01] [-1.83995601e-02 1.03947263e-03 9.99830173e-01 -4.29910541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.92, Y:-27.26, Z:-4.30 [[ 9.94648049e-01 1.01529899e-01 1.91556209e-02 3.07922597e+02] [-1.01487768e-01 9.94831764e-01 -3.16141257e-03 -2.72592014e+01] [-1.93775980e-02 1.20043165e-03 9.99811516e-01 -4.29950052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.95, Y:-27.26, Z:-4.30 [[ 9.94951262e-01 9.84198135e-02 1.96348534e-02 3.07948760e+02] [-9.83749702e-02 9.95144147e-01 -3.23917370e-03 -2.72642275e+01] [-1.98583083e-02 1.29124185e-03 9.99801971e-01 -4.29970698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.98, Y:-27.27, Z:-4.30 [[ 9.95253142e-01 9.53534267e-02 1.94655608e-02 3.07976386e+02] [-9.53088004e-02 9.95442580e-01 -3.20967066e-03 -2.72702377e+01] [-1.96829012e-02 1.33919556e-03 9.99805376e-01 -4.29953016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.00, Y:-27.28, Z:-4.30 [[ 9.95870676e-01 8.90115948e-02 1.78474778e-02 3.08002177e+02] [-8.89730847e-02 9.96029686e-01 -2.94186599e-03 -2.72795648e+01] [-1.80384779e-02 1.34177292e-03 9.99836393e-01 -4.30068664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.03, Y:-27.29, Z:-4.30 [[ 9.96138325e-01 8.61720433e-02 1.68171445e-02 3.08029295e+02] [-8.61374711e-02 9.96279408e-01 -2.77074996e-03 -2.72880157e+01] [-1.69933360e-02 1.31146393e-03 9.99854743e-01 -4.30209881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.06, Y:-27.30, Z:-4.30 [[ 9.96375936e-01 8.34207383e-02 1.66124660e-02 3.08056420e+02] [-8.33866408e-02 9.96513514e-01 -2.73594046e-03 -2.72962048e+01] [-1.67827810e-02 1.34076750e-03 9.99858260e-01 -4.30316208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.08, Y:-27.31, Z:-4.30 [[ 9.96676132e-01 7.95220822e-02 1.76897267e-02 3.08083314e+02] [-7.94828311e-02 9.96831981e-01 -2.91208708e-03 -2.73082716e+01] [-1.78652605e-02 1.49637813e-03 9.99839284e-01 -4.30246573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.11, Y:-27.32, Z:-4.30 [[ 9.96792033e-01 7.78943142e-02 1.83879859e-02 3.08109463e+02] [-7.78516509e-02 9.96960363e-01 -3.02580123e-03 -2.73167526e+01] [-1.85677858e-02 1.58455951e-03 9.99826348e-01 -4.30307335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.14, Y:-27.33, Z:-4.30 [[ 9.96891984e-01 7.66599486e-02 1.81555461e-02 3.08135468e+02] [-7.66181798e-02 9.97056035e-01 -2.98614809e-03 -2.73256459e+01] [-1.83310148e-02 1.58582219e-03 9.99830715e-01 -4.30340752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.16, Y:-27.34, Z:-4.30 [[ 9.97124373e-01 7.38979628e-02 1.67951198e-02 3.08161773e+02] [-7.38618520e-02 9.97264660e-01 -2.76115817e-03 -2.73386083e+01] [-1.69532234e-02 1.51269946e-03 9.99855139e-01 -4.30426083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.19, Y:-27.35, Z:-4.30 [[ 9.97215840e-01 7.26570350e-02 1.67786516e-02 3.08188284e+02] [-7.26208393e-02 9.97355809e-01 -2.75735434e-03 -2.73468639e+01] [-1.69346268e-02 1.53119766e-03 9.99855426e-01 -4.30438515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.22, Y:-27.36, Z:-4.30 [[ 9.97228372e-01 7.21740462e-02 1.80687630e-02 3.08215141e+02] [-7.21320172e-02 9.97390677e-01 -2.96792608e-03 -2.73601699e+01] [-1.82358230e-02 1.65636377e-03 9.99832342e-01 -4.30392148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.24, Y:-27.37, Z:-4.30 [[ 9.97166675e-01 7.28649753e-02 1.86900414e-02 3.08241618e+02] [-7.28201414e-02 9.97340367e-01 -3.06916707e-03 -2.73689340e+01] [-1.88639675e-02 1.69945967e-03 9.99820615e-01 -4.30455938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.27, Y:-27.38, Z:-4.30 [[ 9.97053721e-01 7.42704310e-02 1.91776088e-02 3.08269383e+02] [-7.42235071e-02 9.97236662e-01 -3.14808511e-03 -2.73770202e+01] [-1.93584242e-02 1.71538059e-03 9.99811137e-01 -4.30498124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.30, Y:-27.39, Z:-4.31 [[ 9.96834426e-01 7.68074276e-02 2.05364783e-02 3.08297341e+02] [-7.67541721e-02 9.97044352e-01 -3.37013752e-03 -2.73867187e+01] [-2.07346313e-02 1.78320871e-03 9.99783424e-01 -4.30555933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.32, Y:-27.39, Z:-4.31 [[ 9.96811130e-01 7.71645406e-02 2.03274225e-02 3.08324854e+02] [-7.71124559e-02 9.97016824e-01 -3.33494988e-03 -2.73934496e+01] [-2.05241221e-02 1.75681769e-03 9.99787814e-01 -4.30650405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.35, Y:-27.40, Z:-4.31 [[ 9.96863979e-01 7.66348196e-02 1.97309893e-02 3.08352812e+02] [-7.65856668e-02 9.97057754e-01 -3.23595349e-03 -2.74004397e+01] [-1.99209226e-02 1.71469450e-03 9.99800088e-01 -4.30753437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.38, Y:-27.41, Z:-4.31 [[ 9.96940076e-01 7.57932220e-02 1.91277800e-02 3.08380937e+02] [-7.57468912e-02 9.97122145e-01 -3.13620863e-03 -2.74081183e+01] [-1.93104364e-02 1.67774220e-03 9.99812128e-01 -4.30891199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.41, Y:-27.42, Z:-4.31 [[ 9.97088605e-01 7.40249695e-02 1.82925402e-02 3.08408487e+02] [-7.39823158e-02 9.97255046e-01 -2.99849866e-03 -2.74184261e+01] [-1.84642918e-02 1.63644437e-03 9.99828181e-01 -4.30962492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.44, Y:-27.43, Z:-4.31 [[ 9.97166423e-01 7.25969975e-02 1.97180316e-02 3.08435655e+02] [-7.25471776e-02 9.97359748e-01 -3.23122707e-03 -2.74296419e+01] [-1.99005484e-02 1.79158360e-03 9.99800359e-01 -4.31113194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.46, Y:-27.43, Z:-4.31 [[ 9.97168951e-01 7.25622252e-02 1.97181902e-02 3.08464597e+02] [-7.25124176e-02 9.97362279e-01 -3.23025892e-03 -2.74343092e+01] [-1.99005739e-02 1.79130026e-03 9.99800359e-01 -4.31184831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.49, Y:-27.44, Z:-4.31 [[ 9.97207892e-01 7.18805657e-02 2.02386733e-02 3.08491079e+02] [-7.18279677e-02 9.97411527e-01 -3.31486902e-03 -2.74418510e+01] [-2.04245607e-02 1.85191077e-03 9.99789682e-01 -4.31237835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.52, Y:-27.45, Z:-4.31 [[ 9.97251772e-01 7.11364477e-02 2.07004659e-02 3.08519394e+02] [-7.10812900e-02 9.97464768e-01 -3.38919635e-03 -2.74489264e+01] [-2.08890808e-02 1.90846624e-03 9.99779978e-01 -4.31255943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.55, Y:-27.46, Z:-4.31 [[ 9.97285303e-01 7.07455928e-02 2.04226967e-02 3.08547557e+02] [-7.06918441e-02 9.97492601e-01 -3.34276491e-03 -2.74558289e+01] [-2.06079747e-02 1.88997222e-03 9.99785847e-01 -4.31293265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:-27.47, Z:-4.31 [[ 9.97316370e-01 7.07962735e-02 1.86532882e-02 3.08574963e+02] [-7.07514556e-02 9.97489305e-01 -3.05258688e-03 -2.74651096e+01] [-1.88225672e-02 1.72464758e-03 9.99821352e-01 -4.31447921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.60, Y:-27.47, Z:-4.32 [[ 9.97305034e-01 7.11550453e-02 1.78781811e-02 3.08603256e+02] [-7.11139413e-02 9.97463909e-01 -2.92524734e-03 -2.74728804e+01] [-1.80409865e-02 1.64597597e-03 9.99835893e-01 -4.31572015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.635898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:308.63, Y:-27.48, Z:-4.32 [[ 9.97261183e-01 7.20220662e-02 1.68212659e-02 3.08630412e+02] [-7.19858130e-02 9.97401860e-01 -2.75162346e-03 -2.74839907e+01] [-1.69757395e-02 1.53319477e-03 9.99854726e-01 -4.31706214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.66, Y:-27.49, Z:-4.32 [[ 9.97259517e-01 7.20033962e-02 1.69990022e-02 3.08657864e+02] [-7.19663832e-02 9.97403184e-01 -2.77993120e-03 -2.74920851e+01] [-1.71550234e-02 1.54895614e-03 9.99851642e-01 -4.31800642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:-27.50, Z:-4.32 [[ 9.97288083e-01 7.15407920e-02 1.72741112e-02 3.08684504e+02] [-7.15025162e-02 9.97436421e-01 -2.82412421e-03 -2.75003418e+01] [-1.74318678e-02 1.58132300e-03 9.99846803e-01 -4.31891755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.71, Y:-27.51, Z:-4.32 [[ 9.97372657e-01 7.01346055e-02 1.81361517e-02 3.08712405e+02] [-7.00922015e-02 9.97536113e-01 -2.96405584e-03 -2.75133875e+01] [-1.82993492e-02 1.68506544e-03 9.99831133e-01 -4.31990360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.74, Y:-27.52, Z:-4.32 [[ 9.97417996e-01 6.95997095e-02 1.76980959e-02 3.08741121e+02] [-6.95592527e-02 9.97573629e-01 -2.89208473e-03 -2.75224613e+01] [-1.78564420e-02 1.65355103e-03 9.99839194e-01 -4.32101558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.77, Y:-27.53, Z:-4.32 [[ 9.97451315e-01 6.94011609e-02 1.65636063e-02 3.08769462e+02] [-6.93657035e-02 9.97587628e-01 -2.70637231e-03 -2.75314067e+01] [-1.67114741e-02 1.55052842e-03 9.99859151e-01 -4.32212785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.80, Y:-27.54, Z:-4.32 [[ 9.97438348e-01 6.99016386e-02 1.51822907e-02 3.08796958e+02] [-6.98719111e-02 9.97552888e-01 -2.48037744e-03 -2.75433170e+01] [-1.53185204e-02 1.41320791e-03 9.99881666e-01 -4.32293881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:-27.55, Z:-4.32 [[ 9.97337087e-01 7.11837555e-02 1.58621732e-02 3.08824510e+02] [-7.11514694e-02 9.97462157e-01 -2.59125991e-03 -2.75504962e+01] [-1.60063731e-02 1.45574268e-03 9.99870830e-01 -4.32288172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.85, Y:-27.56, Z:-4.32 [[ 9.96998320e-01 7.53760377e-02 1.76862285e-02 3.08851507e+02] [-7.53365678e-02 9.97153980e-01 -2.88836829e-03 -2.75593428e+01] [-1.78536069e-02 1.54727859e-03 9.99839414e-01 -4.32188672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90589822699997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:308.88, Y:-27.57, Z:-4.32 [[ 9.96795638e-01 7.78880905e-02 1.82181635e-02 3.08880954e+02] [-7.78466505e-02 9.96960909e-01 -2.97394988e-03 -2.75654648e+01] [-1.83944321e-02 1.54619726e-03 9.99829613e-01 -4.32240292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:-27.57, Z:-4.32 [[ 9.96560374e-01 8.07491959e-02 1.86276412e-02 3.08909409e+02] [-8.07063739e-02 9.96733283e-01 -3.04048439e-03 -2.75709640e+01] [-1.88123066e-02 1.52665689e-03 9.99821867e-01 -4.32325875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:-27.58, Z:-4.32 [[ 9.96198345e-01 8.51427365e-02 1.84274589e-02 3.08936968e+02] [-8.51015926e-02 9.96367742e-01 -3.00694285e-03 -2.75763911e+01] [-1.86165450e-02 1.42730539e-03 9.99825678e-01 -4.32425028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:-27.58, Z:-4.32 [[ 9.96082400e-01 8.64081957e-02 1.88009828e-02 3.08965440e+02] [-8.63656083e-02 9.96258789e-01 -3.06697383e-03 -2.75806786e+01] [-1.89956561e-02 1.43120033e-03 9.99818542e-01 -4.32450624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.99, Y:-27.58, Z:-4.32 [[ 9.95996743e-01 8.71875025e-02 1.97186958e-02 3.08994130e+02] [-8.71408277e-02 9.96190813e-01 -3.21564829e-03 -2.75845373e+01] [-1.99239479e-02 1.48447175e-03 9.99800396e-01 -4.32460036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:-27.59, Z:-4.33 [[ 9.96012408e-01 8.67840498e-02 2.06836296e-02 3.09022750e+02] [-8.67326230e-02 9.96225918e-01 -3.37228300e-03 -2.75867091e+01] [-2.08982283e-02 1.56489026e-03 9.99780383e-01 -4.32507569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.05, Y:-27.59, Z:-4.33 [[ 9.96092838e-01 8.58256351e-02 2.08091154e-02 3.09051189e+02] [-8.57733962e-02 9.96308898e-01 -3.39170596e-03 -2.75906413e+01] [-2.10234022e-02 1.59358551e-03 9.99777714e-01 -4.32659878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.08, Y:-27.60, Z:-4.33 [[ 9.96449483e-01 8.18001063e-02 1.99291181e-02 3.09079765e+02] [-8.17514025e-02 9.96647460e-01 -3.24778295e-03 -2.75952558e+01] [-2.01279739e-02 1.60701829e-03 9.99796120e-01 -4.32809823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.11, Y:-27.60, Z:-4.33 [[ 9.96674953e-01 7.91569874e-02 1.93186509e-02 3.09108717e+02] [-7.91107421e-02 9.96860864e-01 -3.14761852e-03 -2.76006748e+01] [-1.95071631e-02 1.60883973e-03 9.99808423e-01 -4.32873882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:-27.61, Z:-4.33 [[ 9.96901539e-01 7.63992093e-02 1.87211667e-02 3.09137404e+02] [-7.63553054e-02 9.97076008e-01 -3.04987203e-03 -2.76062394e+01] [-1.88994340e-02 1.61096172e-03 9.99820092e-01 -4.32914516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:-27.61, Z:-4.33 [[ 9.97276511e-01 7.16227497e-02 1.75994991e-02 3.09167168e+02] [-7.15832208e-02 9.97430511e-01 -2.86662532e-03 -2.76149743e+01] [-1.77595930e-02 1.59898927e-03 9.99841007e-01 -4.32991140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:-27.62, Z:-4.33 [[ 9.97420341e-01 6.97217168e-02 1.70746988e-02 3.09195734e+02] [-6.96842356e-02 9.97565222e-01 -2.78106600e-03 -2.76217271e+01] [-1.72270264e-02 1.58405447e-03 9.99850349e-01 -4.33080071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:-27.63, Z:-4.33 [[ 9.97521560e-01 6.83351887e-02 1.67642250e-02 3.09225498e+02] [-6.82988597e-02 9.97661169e-01 -2.73076405e-03 -2.76287526e+01] [-1.69116236e-02 1.57901856e-03 9.99855741e-01 -4.33141717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:-27.64, Z:-4.33 [[ 9.97598723e-01 6.72370380e-02 1.66123087e-02 3.09253561e+02] [-6.72012123e-02 9.97735774e-01 -2.70610338e-03 -2.76374621e+01] [-1.67566451e-02 1.58323799e-03 9.99858344e-01 -4.33102773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:-27.64, Z:-4.33 [[ 9.97562353e-01 6.78118355e-02 1.64592335e-02 3.09282114e+02] [-6.77767476e-02 9.97696910e-01 -2.68098237e-03 -2.76439606e+01] [-1.66031287e-02 1.55889377e-03 9.99860943e-01 -4.33153872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:-27.65, Z:-4.33 [[ 9.97448137e-01 6.95048644e-02 1.63182996e-02 3.09311081e+02] [-6.94706025e-02 9.97580459e-01 -2.65784261e-03 -2.76520195e+01] [-1.64635498e-02 1.51741805e-03 9.99863315e-01 -4.33218368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.34, Y:-27.66, Z:-4.33 [[ 9.97426986e-01 6.97911384e-02 1.63891721e-02 3.09340714e+02] [-6.97566209e-02 9.97560469e-01 -2.66911521e-03 -2.76589783e+01] [-1.65354708e-02 1.51899427e-03 9.99862126e-01 -4.33249198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:-27.67, Z:-4.33 [[ 9.97394803e-01 7.00555909e-02 1.71994662e-02 3.09370508e+02] [-7.00176145e-02 9.97541823e-01 -2.80107845e-03 -2.76666137e+01] [-1.73534181e-02 1.58951549e-03 9.99848155e-01 -4.33345821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:-27.67, Z:-4.33 [[ 9.97375046e-01 7.01985309e-02 1.77534201e-02 3.09398718e+02] [-7.01580922e-02 9.97531695e-01 -2.89122289e-03 -2.76739621e+01] [-1.79125588e-02 1.63808748e-03 9.99838215e-01 -4.33449663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.43, Y:-27.68, Z:-4.33 [[ 9.97309678e-01 7.09635608e-02 1.83733212e-02 3.09427960e+02] [-7.09203719e-02 9.97477492e-01 -2.99245786e-03 -2.76823648e+01] [-1.85393298e-02 1.68136441e-03 9.99826718e-01 -4.33417046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.46, Y:-27.69, Z:-4.34 [[ 9.97272396e-01 7.14849009e-02 1.83760208e-02 3.09457901e+02] [-7.14417882e-02 9.97440281e-01 -2.99283103e-03 -2.76882080e+01] [-1.85429256e-02 1.67185198e-03 9.99826667e-01 -4.33500431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.49, Y:-27.70, Z:-4.34 [[ 9.97298499e-01 7.13375060e-02 1.75118492e-02 3.09487945e+02] [-7.12983290e-02 9.97450958e-01 -2.85220044e-03 -2.76957573e+01] [-1.76706796e-02 1.59592963e-03 9.99842588e-01 -4.33567352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:-27.70, Z:-4.34 [[ 9.97380275e-01 7.03549042e-02 1.68159100e-02 3.09517775e+02] [-7.03186318e-02 9.97520820e-01 -2.73938830e-03 -2.77025450e+01] [-1.69669497e-02 1.54974007e-03 9.99854850e-01 -4.33687129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.55, Y:-27.71, Z:-4.34 [[ 9.97495086e-01 6.87614275e-02 1.65957439e-02 3.09547811e+02] [-6.87258817e-02 9.97631918e-01 -2.70343534e-03 -2.77095035e+01] [-1.67423359e-02 1.55610634e-03 9.99858626e-01 -4.33809122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:-27.72, Z:-4.34 [[ 9.97676453e-01 6.54130655e-02 1.90479960e-02 3.09576734e+02] [-6.53656272e-02 9.97856555e-01 -3.10316841e-03 -2.77176713e+01] [-1.92101555e-02 1.85087384e-03 9.99813755e-01 -4.33847414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:-27.72, Z:-4.34 [[ 9.97708126e-01 6.46122458e-02 2.00936181e-02 3.09608242e+02] [-6.45593015e-02 9.97908504e-01 -3.27317165e-03 -2.77241465e+01] [-2.02630794e-02 1.96844000e-03 9.99792745e-01 -4.33882806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.64, Y:-27.73, Z:-4.34 [[ 9.97716053e-01 6.44676503e-02 2.01643373e-02 3.09640369e+02] [-6.44142404e-02 9.97917830e-01 -3.28778693e-03 -2.77306290e+01] [-2.03343076e-02 1.98140733e-03 9.99791273e-01 -4.33973501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:-27.74, Z:-4.34 [[ 9.97667993e-01 6.56327004e-02 1.87329739e-02 3.09672282e+02] [-6.55867509e-02 9.97842187e-01 -3.05745269e-03 -2.77392017e+01] [-1.88932205e-02 1.82168780e-03 9.99819848e-01 -4.34042674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:-27.75, Z:-4.34 [[ 9.97583413e-01 6.69252152e-02 1.86641151e-02 3.09703497e+02] [-6.68797611e-02 9.97756382e-01 -3.04971142e-03 -2.77462624e+01] [-1.88263426e-02 1.79408997e-03 9.99821159e-01 -4.34140896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.73, Y:-27.75, Z:-4.34 [[ 9.97354541e-01 7.08394512e-02 1.63000806e-02 3.09733907e+02] [-7.08052511e-02 9.97486594e-01 -2.66650247e-03 -2.77528039e+01] [-1.64480054e-02 1.50531705e-03 9.99863589e-01 -4.34250021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.77, Y:-27.76, Z:-4.34 [[ 9.97177661e-01 7.36247243e-02 1.47007415e-02 3.09765171e+02] [-7.35971993e-02 9.97285148e-01 -2.40539182e-03 -2.77580472e+01] [-1.48379275e-02 1.31666959e-03 9.99889045e-01 -4.34337579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.79, Y:-27.76, Z:-4.34 [[ 9.96614269e-01 8.07944251e-02 1.52400862e-02 3.09794841e+02] [-8.07656642e-02 9.96729996e-01 -2.49432005e-03 -2.77624624e+01] [-1.53917782e-02 1.25499927e-03 9.99880752e-01 -4.34265448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.82, Y:-27.77, Z:-4.34 [[ 9.96229660e-01 8.50399571e-02 1.71659792e-02 3.09823832e+02] [-8.50040955e-02 9.96376641e-01 -2.80937626e-03 -2.77661855e+01] [-1.73426900e-02 1.33960541e-03 9.99848707e-01 -4.34243745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.85, Y:-27.77, Z:-4.34 [[ 9.95824977e-01 8.94286722e-02 1.83065145e-02 3.09853568e+02] [-8.93886354e-02 9.95992319e-01 -2.99537349e-03 -2.77697912e+01] [-1.85010201e-02 1.34647338e-03 9.99827935e-01 -4.34275621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:-27.77, Z:-4.34 [[ 9.95125597e-01 9.72569773e-02 1.63133716e-02 3.09881795e+02] [-9.72262239e-02 9.95258727e-01 -2.66967319e-03 -2.77716126e+01] [-1.64956698e-02 1.07057261e-03 9.99863364e-01 -4.34400709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:-27.77, Z:-4.34 [[ 9.94796012e-01 1.00697351e-01 1.55221705e-02 3.09909524e+02] [-1.00669926e-01 9.94916637e-01 -2.54014990e-03 -2.77749940e+01] [-1.56990520e-02 9.64315230e-04 9.99876297e-01 -4.34456116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:-27.78, Z:-4.34 [[ 9.94148068e-01 1.06572052e-01 1.76639649e-02 3.09938486e+02] [-1.06537482e-01 9.94304489e-01 -2.88939529e-03 -2.77777495e+01] [-1.78712883e-02 9.90612413e-04 9.99839805e-01 -4.34350287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:-27.78, Z:-4.34 [[ 9.93890828e-01 1.08681198e-01 1.92202864e-02 3.09966000e+02] [-1.08640677e-01 9.94076116e-01 -3.14306938e-03 -2.77810895e+01] [-1.94480202e-02 1.03576289e-03 9.99810333e-01 -4.34405651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:-27.78, Z:-4.34 [[ 9.93747202e-01 1.09890462e-01 1.97632306e-02 3.09994869e+02] [-1.09847882e-01 9.93943160e-01 -3.23066851e-03 -2.77842956e+01] [-1.99985475e-02 1.03951878e-03 9.99799469e-01 -4.34452032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:-27.79, Z:-4.34 [[ 9.93596784e-01 1.11149599e-01 2.02780049e-02 3.10023755e+02] [-1.11105051e-01 9.93803142e-01 -3.31390156e-03 -2.77853468e+01] [-2.05206839e-02 1.03969316e-03 9.99788888e-01 -4.34485562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.05, Y:-27.79, Z:-4.35 [[ 9.93510376e-01 1.11890865e-01 2.04344698e-02 3.10052657e+02] [-1.11845803e-01 9.93719966e-01 -3.33850736e-03 -2.77875592e+01] [-2.06796891e-02 1.03133202e-03 9.99785620e-01 -4.34503205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.08, Y:-27.78, Z:-4.35 [[ 9.93135096e-01 1.14874807e-01 2.20558185e-02 3.10081967e+02] [-1.14823068e-01 9.93379427e-01 -3.60227779e-03 -2.77849723e+01] [-2.23236073e-02 1.04503176e-03 9.99750251e-01 -4.34528534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.11, Y:-27.79, Z:-4.35 [[ 9.92892068e-01 1.16808360e-01 2.28286826e-02 3.10111048e+02] [-1.16753466e-01 9.93153933e-01 -3.72739916e-03 -2.77851042e+01] [-2.31077873e-02 1.03557723e-03 9.99732443e-01 -4.34546398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.14, Y:-27.78, Z:-4.35 [[ 9.92649810e-01 1.18817134e-01 2.29965910e-02 3.10140223e+02] [-1.18761993e-01 9.92915655e-01 -3.75371940e-03 -2.77842809e+01] [-2.32796814e-02 9.95007874e-04 9.99728496e-01 -4.34586354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.17, Y:-27.78, Z:-4.35 [[ 9.92445123e-01 1.20562947e-01 2.27431930e-02 3.10169811e+02] [-1.20509497e-01 9.92705237e-01 -3.71129320e-03 -2.77840550e+01] [-2.30247312e-02 9.42484105e-04 9.99734451e-01 -4.34712562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.20, Y:-27.78, Z:-4.35 [[ 9.92580723e-01 1.19552574e-01 2.21515151e-02 3.10198158e+02] [-1.19501640e-01 9.92827427e-01 -3.61375720e-03 -2.77807206e+01] [-2.24246657e-02 9.39803351e-04 9.99748094e-01 -4.34925364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.23, Y:-27.78, Z:-4.35 [[ 9.92885316e-01 1.16937492e-01 2.24582414e-02 3.10225807e+02] [-1.16884505e-01 9.93138762e-01 -3.66225721e-03 -2.77823674e+01] [-2.27324052e-02 1.01118098e-03 9.99741074e-01 -4.35041074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.26, Y:-27.78, Z:-4.35 [[ 9.93798492e-01 1.09086504e-01 2.15567236e-02 3.10255322e+02] [-1.09035868e-01 9.94031605e-01 -3.51402857e-03 -2.77831030e+01] [-2.18113976e-02 1.14178022e-03 9.99761451e-01 -4.35186260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:-27.79, Z:-4.35 [[ 9.94258671e-01 1.05214012e-01 1.94860421e-02 3.10283815e+02] [-1.05171912e-01 9.94448985e-01 -3.17569153e-03 -2.77865061e+01] [-1.97120021e-02 1.10807453e-03 9.99805086e-01 -4.35284339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:-27.79, Z:-4.35 [[ 9.94262170e-01 1.05180918e-01 1.94861921e-02 3.10312765e+02] [-1.05138830e-01 9.94452486e-01 -3.17477114e-03 -2.77911419e+01] [-1.97120175e-02 1.10779941e-03 9.99805086e-01 -4.35355975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.34, Y:-27.79, Z:-4.35 [[ 9.94952487e-01 9.90913741e-02 1.58255706e-02 3.10341684e+02] [-9.90628514e-02 9.95077839e-01 -2.57810323e-03 -2.77942030e+01] [-1.60031424e-02 9.97364067e-04 9.99871444e-01 -4.35476039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:-27.80, Z:-4.36 [[ 9.95073578e-01 9.79105409e-02 1.55595501e-02 3.10369340e+02] [-9.78828354e-02 9.95194719e-01 -2.53412818e-03 -2.77974028e+01] [-1.57328999e-02 9.98631115e-04 9.99875732e-01 -4.35502391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:-27.80, Z:-4.36 [[ 9.94943457e-01 9.91173194e-02 1.62257328e-02 3.10397422e+02] [-9.90873667e-02 9.95075231e-01 -2.64162531e-03 -2.77992072e+01] [-1.64076557e-02 1.02050268e-03 9.99864865e-01 -4.35616274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:-27.80, Z:-4.36 [[ 9.94820964e-01 1.00288134e-01 1.65390377e-02 3.10425705e+02] [-1.00257193e-01 9.94957914e-01 -2.69150400e-03 -2.78019586e+01] [-1.67255724e-02 1.01940711e-03 9.99859598e-01 -4.35701823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.45, Y:-27.80, Z:-4.36 [[ 9.94719807e-01 1.01299738e-01 1.64580674e-02 3.10454273e+02] [-1.01269256e-01 9.94855452e-01 -2.67722894e-03 -2.78038003e+01] [-1.66446006e-02 9.96396418e-04 9.99860973e-01 -4.35701017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:-27.80, Z:-4.36 [[ 9.94634230e-01 1.02196095e-01 1.60843459e-02 3.10482978e+02] [-1.02167117e-01 9.94763811e-01 -2.61530994e-03 -2.78034682e+01] [-1.62673997e-02 9.57985542e-04 9.99867218e-01 -4.35783623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.585898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:310.51, Y:-27.81, Z:-4.36 [[ 9.94640761e-01 1.02173192e-01 1.58239143e-02 3.10511030e+02] [-1.02145157e-01 9.94766179e-01 -2.57205709e-03 -2.78062561e+01] [-1.60038900e-02 9.41936616e-04 9.99871486e-01 -4.35857500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.54, Y:-27.81, Z:-4.36 [[ 9.94838426e-01 1.00058174e-01 1.68780093e-02 3.10539222e+02] [-1.00025992e-01 9.94981045e-01 -2.74239327e-03 -2.78079031e+01] [-1.70676982e-02 1.03999858e-03 9.99853795e-01 -4.35973473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.57, Y:-27.81, Z:-4.36 [[ 9.95070850e-01 9.76184177e-02 1.74541543e-02 3.10566934e+02] [-9.75836511e-02 9.95223289e-01 -2.83463022e-03 -2.78117434e+01] [-1.76474930e-02 1.11741780e-03 9.99843646e-01 -4.36018939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.59, Y:-27.82, Z:-4.36 [[ 9.95350629e-01 9.45839494e-02 1.81934660e-02 3.10594283e+02] [-9.45456909e-02 9.95516142e-01 -2.95356300e-03 -2.78161106e+01] [-1.83912488e-02 1.21971697e-03 9.99830123e-01 -4.36100450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.62, Y:-27.82, Z:-4.36 [[ 9.95821589e-01 8.93226163e-02 1.89955838e-02 3.10621205e+02] [-8.92799789e-02 9.96001799e-01 -3.08260759e-03 -2.78212319e+01] [-1.91949823e-02 1.37380186e-03 9.99814816e-01 -4.36098514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.65, Y:-27.83, Z:-4.36 [[ 9.95918535e-01 8.80711704e-02 1.97418239e-02 3.10649394e+02] [-8.80248950e-02 9.96113127e-01 -3.20256680e-03 -2.78263799e+01] [-1.99471437e-02 1.45172367e-03 9.99799982e-01 -4.36174403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.68, Y:-27.83, Z:-4.36 [[ 9.95997882e-01 8.68882174e-02 2.09441578e-02 3.10676918e+02] [-8.68358934e-02 9.96216839e-01 -3.39662221e-03 -2.78314054e+01] [-2.11600492e-02 1.56432387e-03 9.99774877e-01 -4.36239874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.71, Y:-27.84, Z:-4.36 [[ 9.96054472e-01 8.64185811e-02 2.01820910e-02 3.10705047e+02] [-8.63699251e-02 9.96257763e-01 -3.27181628e-03 -2.78360907e+01] [-2.03893106e-02 1.51578155e-03 9.99790967e-01 -4.36308934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:-27.84, Z:-4.36 [[ 9.96244257e-01 8.45685592e-02 1.85886613e-02 3.10732469e+02] [-8.45269783e-02 9.96416636e-01 -3.01272903e-03 -2.78416450e+01] [-1.87768336e-02 1.43017062e-03 9.99822677e-01 -4.36380226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:-27.85, Z:-4.37 [[ 9.96421125e-01 8.25453119e-02 1.81992361e-02 3.10761004e+02] [-8.25051346e-02 9.96586277e-01 -2.94880156e-03 -2.78478067e+01] [-1.83805187e-02 1.43671774e-03 9.99830032e-01 -4.36584054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.79, Y:-27.85, Z:-4.37 [[ 9.96651628e-01 7.97991059e-02 1.78223346e-02 3.10788218e+02] [-7.97601524e-02 9.96809903e-01 -2.88701270e-03 -2.78544801e+01] [-1.79958606e-02 1.45583379e-03 9.99837001e-01 -4.36652692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:-27.86, Z:-4.37 [[ 9.97024509e-01 7.49388452e-02 1.80637455e-02 3.10816502e+02] [-7.48980595e-02 9.97186906e-01 -2.92487858e-03 -2.78639627e+01] [-1.82321175e-02 1.56323615e-03 9.99832559e-01 -4.36803481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:-27.87, Z:-4.37 [[ 9.97135241e-01 7.34771523e-02 1.79560628e-02 3.10844054e+02] [-7.34366223e-02 9.97295649e-01 -2.90710795e-03 -2.78709966e+01] [-1.81211093e-02 1.58014718e-03 9.99834551e-01 -4.36808041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:-27.88, Z:-4.37 [[ 9.97143245e-01 7.35771174e-02 1.70808785e-02 3.10872557e+02] [-7.35404677e-02 9.97288401e-01 -2.76479915e-03 -2.78813225e+01] [-1.72379880e-02 1.50076500e-03 9.99850289e-01 -4.36899247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:-27.89, Z:-4.37 [[ 9.97061208e-01 7.48256105e-02 1.64339583e-02 3.10901173e+02] [-7.47918587e-02 9.97195620e-01 -2.65974007e-03 -2.78875066e+01] [-1.65868879e-02 1.42279736e-03 9.99861416e-01 -4.36915282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.93, Y:-27.89, Z:-4.37 [[ 9.96911258e-01 7.67726788e-02 1.65499116e-02 3.10929235e+02] [-7.67387203e-02 9.97047640e-01 -2.67820435e-03 -2.78927446e+01] [-1.67066632e-02 1.39991304e-03 9.99859454e-01 -4.36934468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.065898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:310.96, Y:-27.90, Z:-4.37 [[ 9.96444622e-01 8.22711243e-02 1.81542871e-02 3.10957847e+02] [-8.22311794e-02 9.96608953e-01 -2.93719016e-03 -2.78966628e+01] [-1.83343710e-02 1.43389890e-03 9.99830883e-01 -4.36951962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.99, Y:-27.90, Z:-4.37 [[ 9.96171916e-01 8.53636364e-02 1.88298592e-02 3.10985860e+02] [-8.53212316e-02 9.96348841e-01 -3.04545197e-03 -2.79006198e+01] [-1.90210792e-02 1.42720696e-03 9.99818064e-01 -4.36982943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.01, Y:-27.90, Z:-4.37 [[ 9.95929765e-01 8.80414603e-02 1.93029657e-02 3.11012977e+02] [-8.79974035e-02 9.96115813e-01 -3.12166799e-03 -2.79047213e+01] [-1.95028255e-02 1.41035121e-03 9.99808807e-01 -4.37068173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.04, Y:-27.91, Z:-4.37 [[ 9.95701013e-01 9.06398418e-02 1.90764578e-02 3.11041180e+02] [-9.05973089e-02 9.95882833e-01 -3.08391620e-03 -2.79080435e+01] [-1.92774425e-02 1.34238275e-03 9.99813272e-01 -4.37238851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:-27.91, Z:-4.37 [[ 9.95863507e-01 8.87447154e-02 1.95000258e-02 3.11069201e+02] [-8.86999280e-02 9.96053408e-01 -3.15152143e-03 -2.79111434e+01] [-1.97027480e-02 1.40883430e-03 9.99804889e-01 -4.37310124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.10, Y:-27.92, Z:-4.37 [[ 9.96020746e-01 8.68854206e-02 1.98392942e-02 3.11096729e+02] [-8.68387176e-02 9.96217227e-01 -3.20518140e-03 -2.79155938e+01] [-2.00427302e-02 1.46960830e-03 9.99798044e-01 -4.37346598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.13, Y:-27.92, Z:-4.37 [[ 9.96228338e-01 8.45230069e-02 1.96204086e-02 3.11125433e+02] [-8.44768954e-02 9.96420400e-01 -3.16870499e-03 -2.79204321e+01] [-1.98180038e-02 1.49928250e-03 9.99802480e-01 -4.37426294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.15, Y:-27.93, Z:-4.38 [[ 9.96474239e-01 8.17091728e-02 1.90447158e-02 3.11154473e+02] [-8.16652351e-02 9.96655073e-01 -3.07479258e-03 -2.79257222e+01] [-1.92322514e-02 1.50866040e-03 9.99813905e-01 -4.37542649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:-27.93, Z:-4.38 [[ 9.97021577e-01 7.50223059e-02 1.78781860e-02 3.11183456e+02] [-7.49825253e-02 9.97180671e-01 -2.88607666e-03 -2.79335291e+01] [-1.80443016e-02 1.53692917e-03 9.99836007e-01 -4.37659671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:-27.94, Z:-4.38 [[ 9.97594696e-01 6.72156676e-02 1.69374530e-02 3.11211678e+02] [-6.71788551e-02 9.97737204e-01 -2.73375261e-03 -2.79425447e+01] [-1.70828780e-02 1.58933840e-03 9.99852814e-01 -4.37683877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.24, Y:-27.95, Z:-4.38 [[ 9.97759987e-01 6.46599248e-02 1.71494058e-02 3.11240681e+02] [-6.46218145e-02 9.97905988e-01 -2.76775219e-03 -2.79495020e+01] [-1.72924574e-02 1.65332667e-03 9.99849107e-01 -4.37672221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:-27.96, Z:-4.38 [[ 9.97831822e-01 6.32625871e-02 1.81521330e-02 3.11270680e+02] [-6.32196655e-02 9.97995337e-01 -2.92929138e-03 -2.79558885e+01] [-1.83010587e-02 1.77536838e-03 9.99830945e-01 -4.37714027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:-27.96, Z:-4.38 [[ 9.97845472e-01 6.26915216e-02 1.93439093e-02 3.11300321e+02] [-6.26426728e-02 9.98031138e-01 -3.12155830e-03 -2.79619358e+01] [-1.95015191e-02 1.90307864e-03 9.99808016e-01 -4.37744524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:-27.97, Z:-4.38 [[ 9.97777076e-01 6.30533149e-02 2.15681660e-02 3.11329476e+02] [-6.29926617e-02 9.98007920e-01 -3.48077321e-03 -2.79699286e+01] [-2.17446748e-02 2.11439954e-03 9.99761321e-01 -4.37749211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.36, Y:-27.98, Z:-4.38 [[ 9.97707263e-01 6.41131071e-02 2.16732025e-02 3.11360356e+02] [-6.40233997e-02 9.97936812e-01 -4.80865433e-03 -2.79767563e+01] [-2.19367844e-02 3.41003724e-03 9.99753544e-01 -4.37817541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.39, Y:-27.99, Z:-4.38 [[ 9.97529641e-01 6.63409056e-02 2.30975943e-02 3.11390221e+02] [-6.63032717e-02 9.97796649e-01 -2.39221801e-03 -2.79885429e+01] [-2.32054041e-02 8.54862303e-04 9.99730353e-01 -4.38082443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.42, Y:-28.00, Z:-4.38 [[ 9.97483061e-01 6.70191544e-02 2.31511474e-02 3.11421476e+02] [-6.69502218e-02 9.97749305e-01 -3.74074324e-03 -2.79960201e+01] [-2.33497427e-02 2.18135356e-03 9.99724978e-01 -4.38205728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.45, Y:-28.01, Z:-4.38 [[ 9.97476613e-01 6.77915807e-02 2.10881111e-02 3.11452963e+02] [-6.77345184e-02 9.97697555e-01 -3.40933007e-03 -2.80085097e+01] [-2.12706807e-02 1.97233396e-03 9.99771808e-01 -4.38409243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.48, Y:-28.02, Z:-4.39 [[ 9.97500589e-01 6.78140197e-02 1.98452219e-02 3.11484394e+02] [-6.77634219e-02 9.97696248e-01 -3.21184137e-03 -2.80179548e+01] [-2.00173113e-02 1.85903351e-03 9.99797905e-01 -4.38553251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:-28.03, Z:-4.39 [[ 9.97523240e-01 6.77643778e-02 1.88514123e-02 3.11514551e+02] [-6.77186577e-02 9.97699783e-01 -3.05389463e-03 -2.80279919e+01] [-1.90149952e-02 1.76973853e-03 9.99817632e-01 -4.38711999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66589822699996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:311.54, Y:-28.04, Z:-4.39 [[ 9.97601955e-01 6.69960735e-02 1.73742578e-02 3.11544397e+02] [-6.69570722e-02 9.97751879e-01 -2.81750818e-03 -2.80427710e+01] [-1.75239603e-02 1.64742223e-03 9.99845086e-01 -4.38746034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.57, Y:-28.05, Z:-4.39 [[ 9.97568772e-01 6.75232653e-02 1.72381220e-02 3.11574927e+02] [-6.74849474e-02 9.97716376e-01 -2.79562377e-03 -2.80532914e+01] [-1.73875263e-02 1.62551322e-03 9.99847504e-01 -4.38926390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.60, Y:-28.07, Z:-4.39 [[ 9.97463691e-01 6.91628368e-02 1.68132984e-02 3.11603916e+02] [-6.91278513e-02 9.97604279e-01 -2.65386679e-03 -2.80688913e+01] [-1.69565673e-02 1.48486857e-03 9.99855125e-01 -4.38954228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.755898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:311.64, Y:-28.08, Z:-4.39 [[ 9.97309933e-01 7.13268805e-02 1.68929888e-02 3.11635012e+02] [-7.12889883e-02 9.97451673e-01 -2.83550240e-03 -2.80786610e+01] [-1.70521875e-02 1.62359063e-03 9.99853283e-01 -4.38973948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:-28.09, Z:-4.39 [[ 9.97126060e-01 7.37408757e-02 1.73753865e-02 3.11664930e+02] [-7.37318051e-02 9.97277428e-01 -1.16293771e-03 -2.80891294e+01] [-1.74138368e-02 -1.21523115e-04 9.99848360e-01 -4.39088092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.815898227 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:311.69, Y:-28.10, Z:-4.39 [[ 9.96866666e-01 7.75630818e-02 1.55183317e-02 3.11694241e+02] [-7.75066282e-02 9.96982958e-01 -4.20771297e-03 -2.81001147e+01] [-1.57978754e-02 2.99175523e-03 9.99870730e-01 -4.39096986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:-28.11, Z:-4.39 [[ 9.96716466e-01 7.93627002e-02 1.60576389e-02 3.11724610e+02] [-7.93308464e-02 9.96844920e-01 -2.61206785e-03 -2.81109668e+01] [-1.62142765e-02 1.32962495e-03 9.99867656e-01 -4.39235600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.875898227 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:311.75, Y:-28.12, Z:-4.39 [[ 9.96423827e-01 8.25679257e-02 1.79470152e-02 3.11754711e+02] [-8.25285902e-02 9.96584412e-01 -2.92271173e-03 -2.81226858e+01] [-1.81270378e-02 1.43111774e-03 9.99834668e-01 -4.39169485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.79, Y:-28.13, Z:-4.39 [[ 9.96184696e-01 8.53185212e-02 1.83521743e-02 3.11786836e+02] [-8.52777938e-02 9.96352722e-01 -2.99189575e-03 -2.81300129e+01] [-1.85405030e-02 1.41544782e-03 9.99827108e-01 -4.39257165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:-28.13, Z:-4.39 [[ 9.95967212e-01 8.78762618e-02 1.80852352e-02 3.11818732e+02] [-8.78370668e-02 9.96130482e-01 -2.95182272e-03 -2.81348425e+01] [-1.82746492e-02 1.35136464e-03 9.99832091e-01 -4.39285862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:-28.14, Z:-4.39 [[ 9.95631995e-01 9.18069634e-02 1.69826961e-02 3.11851028e+02] [-9.17729220e-02 9.95776095e-01 -2.77471561e-03 -2.81375742e+01] [-1.71657010e-02 1.20404400e-03 9.99851934e-01 -4.39252448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.88, Y:-28.14, Z:-4.39 [[ 9.95518006e-01 9.28607178e-02 1.79105262e-02 3.11881406e+02] [-9.28229511e-02 9.95678318e-01 -2.93035357e-03 -2.81416255e+01] [-1.81052373e-02 1.25471185e-03 9.99835299e-01 -4.39279384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.91, Y:-28.14, Z:-4.39 [[ 9.95453807e-01 9.25581411e-02 2.24657442e-02 3.11912771e+02] [-9.24986372e-02 9.95706026e-01 -3.67574330e-03 -2.81445878e+01] [-2.27094969e-02 1.58098193e-03 9.99740856e-01 -4.39227783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.95, Y:-28.15, Z:-4.39 [[ 9.95513056e-01 9.13547714e-02 2.46588764e-02 3.11945574e+02] [-9.12826117e-02 9.95816838e-01 -4.03862029e-03 -2.81488939e+01] [-2.49246715e-02 1.76957259e-03 9.99687766e-01 -4.39281061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:-28.15, Z:-4.39 [[ 9.95634868e-01 8.95284635e-02 2.63792367e-02 3.11976980e+02] [-8.94451084e-02 9.95982361e-01 -4.32543935e-03 -2.81534610e+01] [-2.66605043e-02 1.94706455e-03 9.99642649e-01 -4.39438460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.01, Y:-28.16, Z:-4.40 [[ 9.95832303e-01 8.69121906e-02 2.76458782e-02 3.12008133e+02] [-8.68195410e-02 9.96213726e-01 -4.53643571e-03 -2.81588100e+01] [-2.79354749e-02 2.11732677e-03 9.99607486e-01 -4.39504485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:-28.16, Z:-4.40 [[ 9.95841467e-01 8.70686806e-02 2.68107833e-02 3.12041165e+02] [-8.69815178e-02 9.96200198e-01 -4.40250232e-03 -2.81636248e+01] [-2.70922276e-02 2.05215175e-03 9.99630832e-01 -4.39555786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.07, Y:-28.16, Z:-4.40 [[ 9.95708295e-01 8.94442029e-02 2.37639712e-02 3.12074012e+02] [-8.93763072e-02 9.95990270e-01 -3.90613825e-03 -2.81638076e+01] [-2.40180655e-02 1.76543827e-03 9.99709966e-01 -4.39641320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.11, Y:-28.17, Z:-4.40 [[ 9.95577399e-01 9.12021959e-02 2.25344606e-02 3.12105716e+02] [-9.11415087e-02 9.95831049e-01 -3.70775627e-03 -2.81655812e+01] [-2.27786711e-02 1.63753360e-03 9.99739191e-01 -4.39794403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.14, Y:-28.17, Z:-4.40 [[ 9.95433954e-01 9.28546153e-02 2.21193197e-02 3.12137526e+02] [-9.27964654e-02 9.95678434e-01 -3.64321792e-03 -2.81678781e+01] [-2.23620192e-02 1.57398814e-03 9.99748700e-01 -4.39971512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.17, Y:-28.17, Z:-4.40 [[ 9.95430736e-01 9.28892527e-02 2.21186867e-02 3.12168923e+02] [-9.28310264e-02 9.95675198e-01 -3.64705653e-03 -2.81730986e+01] [-2.23618002e-02 1.57709177e-03 9.99748700e-01 -4.40049209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.20, Y:-28.17, Z:-4.40 [[ 9.95369161e-01 9.37223283e-02 2.13625330e-02 3.12200042e+02] [-9.36681978e-02 9.95597237e-01 -3.52278842e-03 -2.81738138e+01] [-2.15986428e-02 1.50548500e-03 9.99765589e-01 -4.40275209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.23, Y:-28.18, Z:-4.40 [[ 9.95438206e-01 9.30953833e-02 2.08812632e-02 3.12230948e+02] [-9.30434525e-02 9.95656082e-01 -3.44697406e-03 -2.81767141e+01] [-2.11114541e-02 1.48838485e-03 9.99776021e-01 -4.40389549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.26, Y:-28.18, Z:-4.41 [[ 9.95703893e-01 9.08027860e-02 1.81276682e-02 3.12262911e+02] [-9.07632811e-02 9.95868001e-01 -2.99193058e-03 -2.81785001e+01] [-1.83244403e-02 1.33375028e-03 9.99831204e-01 -4.40675220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.29, Y:-28.18, Z:-4.41 [[ 9.95920773e-01 8.87921544e-02 1.60551475e-02 3.12293101e+02] [-8.87608528e-02 9.96049432e-01 -2.65322465e-03 -2.81825940e+01] [-1.62273061e-02 1.21733296e-03 9.99867588e-01 -4.40849335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.32, Y:-28.19, Z:-4.41 [[ 9.96108932e-01 8.69443407e-02 1.44109767e-02 3.12323535e+02] [-8.69189265e-02 9.96212541e-01 -2.38176337e-03 -2.81872534e+01] [-1.45634765e-02 1.11990915e-03 9.99893320e-01 -4.40976679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.35, Y:-28.19, Z:-4.41 [[ 9.96264516e-01 8.50971967e-02 1.46792681e-02 3.12352519e+02] [-8.50706264e-02 9.96371970e-01 -2.42621351e-03 -2.81917412e+01] [-1.48324752e-02 1.16837590e-03 9.99889310e-01 -4.41021040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.38, Y:-28.20, Z:-4.41 [[ 9.96244690e-01 8.52939517e-02 1.48815454e-02 3.12382803e+02] [-8.52666701e-02 9.96355131e-01 -2.45936455e-03 -2.81965003e+01] [-1.50370730e-02 1.18122906e-03 9.99886239e-01 -4.41053603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.41, Y:-28.20, Z:-4.41 [[ 9.96198181e-01 8.58753069e-02 1.46497674e-02 3.12411889e+02] [-8.58489294e-02 9.96305224e-01 -2.42116786e-03 -2.82009230e+01] [-1.48035584e-02 1.15429616e-03 9.99889755e-01 -4.41077578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.44, Y:-28.21, Z:-4.41 [[ 9.95908493e-01 8.91668898e-02 1.46812427e-02 3.12441558e+02] [-8.91407567e-02 9.96016084e-01 -2.42620292e-03 -2.82060565e+01] [-1.48390908e-02 1.10757901e-03 9.99889281e-01 -4.41075901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.47, Y:-28.21, Z:-4.41 [[ 9.95650471e-01 9.18324109e-02 1.57145863e-02 3.12471434e+02] [-9.18028040e-02 9.95773821e-01 -2.59667476e-03 -2.82109538e+01] [-1.58866325e-02 1.14273737e-03 9.99873146e-01 -4.41074986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.50, Y:-28.21, Z:-4.41 [[ 9.95107064e-01 9.71288446e-02 1.81085314e-02 3.12501128e+02] [-9.70903984e-02 9.95271069e-01 -2.99238739e-03 -2.82132351e+01] [-1.83135445e-02 1.21958131e-03 9.99831549e-01 -4.41016317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.53, Y:-28.22, Z:-4.41 [[ 9.94869749e-01 9.93325892e-02 1.91629421e-02 3.12531084e+02] [-9.92899508e-02 9.95053507e-01 -3.16615244e-03 -2.82168988e+01] [-1.93826549e-02 1.24722171e-03 9.99811361e-01 -4.41024826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.56, Y:-28.22, Z:-4.41 [[ 9.94707288e-01 1.00874585e-01 1.95378950e-02 3.12560343e+02] [-1.00830567e-01 9.94898376e-01 -3.22764008e-03 -2.82196056e+01] [-1.97638069e-02 1.24054009e-03 9.99803907e-01 -4.41092539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:-28.22, Z:-4.41 [[ 9.94746907e-01 1.00618591e-01 1.88279264e-02 3.12589601e+02] [-1.00577676e-01 9.94924349e-01 -3.10994021e-03 -2.82237598e+01] [-1.90452802e-02 1.19993432e-03 9.99817902e-01 -4.41090198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71589822699997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:312.62, Y:-28.23, Z:-4.41 [[ 9.94860199e-01 9.94721998e-02 1.89331923e-02 3.12618860e+02] [-9.94306292e-02 9.95039584e-01 -3.12682075e-03 -2.82277665e+01] [-1.91503075e-02 1.22821029e-03 9.99815862e-01 -4.41194636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:-28.23, Z:-4.41 [[ 9.95058483e-01 9.71983295e-02 2.02755971e-02 3.12649130e+02] [-9.71501902e-02 9.95264101e-01 -3.34821994e-03 -2.82324756e+01] [-2.05050153e-02 1.36189654e-03 9.99788822e-01 -4.41250649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:-28.24, Z:-4.41 [[ 9.95143484e-01 9.60793288e-02 2.14058146e-02 3.12678483e+02] [-9.60254136e-02 9.95372606e-01 -3.53488996e-03 -2.82373935e+01] [-2.16463913e-02 1.46222051e-03 9.99764620e-01 -4.41283460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:-28.24, Z:-4.41 [[ 9.95215671e-01 9.51925758e-02 2.20032209e-02 3.12708780e+02] [-9.51353994e-02 9.95457711e-01 -3.63325661e-03 -2.82424655e+01] [-2.22491349e-02 1.52258871e-03 9.99751298e-01 -4.41297159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:-28.25, Z:-4.41 [[ 9.95266879e-01 9.47912390e-02 2.14116741e-02 3.12738867e+02] [-9.47370037e-02 9.95496057e-01 -3.53557813e-03 -2.82460846e+01] [-2.16503789e-02 1.49036596e-03 9.99764492e-01 -4.41274177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:-28.25, Z:-4.41 [[ 9.95224840e-01 9.52857247e-02 2.11695204e-02 3.12768338e+02] [-9.52328208e-02 9.95448889e-01 -3.49559278e-03 -2.82501350e+01] [-2.14062557e-02 1.46286762e-03 9.99769790e-01 -4.41363602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.80, Y:-28.25, Z:-4.41 [[ 9.95072801e-01 9.67727498e-02 2.15674887e-02 3.12798970e+02] [-9.67181852e-02 9.95305435e-01 -3.56130684e-03 -2.82530486e+01] [-2.18108762e-02 1.45779121e-03 9.99761052e-01 -4.41408685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.83, Y:-28.26, Z:-4.41 [[ 9.94959021e-01 9.78059962e-02 2.21480140e-02 3.12828612e+02] [-9.77487084e-02 9.95204409e-01 -3.65718845e-03 -2.82561742e+01] [-2.23994961e-02 1.47381289e-03 9.99748013e-01 -4.41471511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.86, Y:-28.26, Z:-4.41 [[ 9.94809533e-01 9.91972754e-02 2.26692252e-02 3.12858322e+02] [-9.91376253e-02 9.95066692e-01 -3.74295968e-03 -2.82585580e+01] [-2.29286823e-02 1.47615882e-03 9.99736013e-01 -4.41491157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.89, Y:-28.26, Z:-4.42 [[ 9.94418657e-01 1.03059157e-01 2.25908189e-02 3.12888728e+02] [-1.03000910e-01 9.94674268e-01 -3.73004847e-03 -2.82571206e+01] [-2.28549219e-02 1.38235489e-03 9.99737836e-01 -4.41581020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.92, Y:-28.26, Z:-4.42 [[ 9.94229774e-01 1.04789135e-01 2.29432640e-02 3.12918222e+02] [-1.04766757e-01 9.94494435e-01 -2.17849456e-03 -2.82585668e+01] [-2.30452309e-02 -2.37767214e-04 9.99734395e-01 -4.41720773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.95, Y:-28.26, Z:-4.42 [[ 9.94013460e-01 1.07200071e-01 2.11041762e-02 3.12947235e+02] [-1.07115483e-01 9.94233496e-01 -5.10182290e-03 -2.82574260e+01] [-2.15293946e-02 2.81069661e-03 9.99764265e-01 -4.41729326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.98, Y:-28.25, Z:-4.42 [[ 9.93545411e-01 1.11712402e-01 1.96940417e-02 3.12976330e+02] [-1.11669862e-01 9.93740046e-01 -3.25011403e-03 -2.82544705e+01] [-1.99338359e-02 1.02990496e-03 9.99800771e-01 -4.41815620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.01, Y:-28.26, Z:-4.42 [[ 9.93354686e-01 1.13464830e-01 1.92924718e-02 3.13005940e+02] [-1.13424360e-01 9.93541537e-01 -3.18268529e-03 -2.82550691e+01] [-1.95289949e-02 9.73299079e-04 9.99808817e-01 -4.41859735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.135898227 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:313.04, Y:-28.25, Z:-4.42 [[ 9.93130420e-01 1.15469225e-01 1.89427170e-02 3.13036167e+02] [-1.15430589e-01 9.93310636e-01 -3.12412218e-03 -2.82518233e+01] [-1.91767422e-02 9.16091795e-04 9.99815690e-01 -4.41810556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.07, Y:-28.25, Z:-4.42 [[ 9.93024348e-01 1.16422865e-01 1.86644499e-02 3.13065110e+02] [-1.16385540e-01 9.93199343e-01 -3.07737978e-03 -2.82529418e+01] [-1.88957968e-02 8.83640962e-04 9.99821068e-01 -4.41874814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.09, Y:-28.25, Z:-4.42 [[ 9.92930361e-01 1.17239513e-01 1.85525056e-02 3.13093638e+02] [-1.17202792e-01 9.93103295e-01 -3.05810417e-03 -2.82539164e+01] [-1.87830851e-02 8.62079017e-04 9.99823211e-01 -4.41971286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.12, Y:-28.25, Z:-4.42 [[ 9.92605900e-01 1.19945831e-01 1.86151915e-02 3.13122150e+02] [-1.19909356e-01 9.92780105e-01 -3.06740147e-03 -2.82509731e+01] [-1.88487138e-02 8.12585173e-04 9.99822017e-01 -4.41906135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.15, Y:-28.25, Z:-4.42 [[ 9.92437431e-01 1.21274605e-01 1.89845947e-02 3.13150548e+02] [-1.21250458e-01 9.92618990e-01 -2.42212040e-03 -2.82519397e+01] [-1.91382109e-02 1.01912135e-04 9.99816842e-01 -4.41952377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.18, Y:-28.25, Z:-4.42 [[ 9.92126405e-01 1.23761007e-01 1.91940178e-02 3.13179135e+02] [-1.23708773e-01 9.92310944e-01 -3.88983581e-03 -2.82485439e+01] [-1.95278439e-02 1.48474043e-03 9.99808211e-01 -4.41896497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.21, Y:-28.25, Z:-4.42 [[ 9.92036252e-01 1.24368995e-01 1.99104811e-02 3.13206125e+02] [-1.24328229e-01 9.92235734e-01 -3.27722691e-03 -2.82505848e+01] [-2.01634763e-02 7.75693045e-04 9.99796396e-01 -4.41997286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.23, Y:-28.25, Z:-4.42 [[ 9.91966721e-01 1.24845474e-01 2.03870727e-02 3.13233366e+02] [-1.24802869e-01 9.92175889e-01 -3.35394225e-03 -2.82531664e+01] [-2.06462865e-02 7.82633943e-04 9.99786536e-01 -4.42072936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.26, Y:-28.25, Z:-4.42 [[ 9.91904954e-01 1.25107029e-01 2.17438091e-02 3.13261494e+02] [-1.25058669e-01 9.92142907e-01 -3.57519096e-03 -2.82540074e+01] [-2.20202475e-02 8.26997809e-04 9.99757183e-01 -4.42200231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.29, Y:-28.26, Z:-4.42 [[ 9.91871467e-01 1.25273607e-01 2.23050602e-02 3.13289633e+02] [-1.25222794e-01 9.92121874e-01 -3.66593716e-03 -2.82562334e+01] [-2.25885833e-02 8.43036504e-04 9.99744490e-01 -4.42223666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.32, Y:-28.26, Z:-4.42 [[ 9.91506393e-01 1.28033753e-01 2.28567437e-02 3.13317067e+02] [-1.27981166e-01 9.91769490e-01 -3.75494840e-03 -2.82565206e+01] [-2.31493812e-02 7.97822636e-04 9.99731699e-01 -4.42249490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.34, Y:-28.26, Z:-4.42 [[ 9.91217993e-01 1.30190998e-01 2.31774354e-02 3.13344632e+02] [-1.30137560e-01 9.91488645e-01 -3.80566570e-03 -2.82596521e+01] [-2.34756274e-02 7.55989438e-04 9.99724124e-01 -4.42280461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:313.37, Y:-28.26, Z:-4.42 [[ 9.90939060e-01 1.32278333e-01 2.32856519e-02 3.13372203e+02] [-1.32225008e-01 9.91212359e-01 -3.82179773e-03 -2.82625674e+01] [-2.35865669e-02 7.08223148e-04 9.99721547e-01 -4.42389680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.40, Y:-28.26, Z:-4.43 [[ 9.90459408e-01 1.35787341e-01 2.34938003e-02 3.13399613e+02] [-1.35734084e-01 9.90737807e-01 -3.85425601e-03 -2.82649763e+01] [-2.37995554e-02 6.28574650e-04 9.99716553e-01 -4.42583702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.43, Y:-28.27, Z:-4.43 [[ 9.90224858e-01 1.37418952e-01 2.38906361e-02 3.13426681e+02] [-1.37364405e-01 9.90512834e-01 -3.91732749e-03 -2.82691984e+01] [-2.42022967e-02 5.97312059e-04 9.99706903e-01 -4.42756596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.45, Y:-28.27, Z:-4.43 [[ 9.89863577e-01 1.40160519e-01 2.29156783e-02 3.13454440e+02] [-1.40111110e-01 9.90128664e-01 -3.75563563e-03 -2.82742978e+01] [-2.32158618e-02 5.06825791e-04 9.99730347e-01 -4.42881878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.48, Y:-28.28, Z:-4.43 [[ 9.89715171e-01 1.41366234e-01 2.18967553e-02 3.13481417e+02] [-1.41321448e-01 9.89957262e-01 -3.58719512e-03 -2.82791460e+01] [-2.21839602e-02 4.55820252e-04 9.99753802e-01 -4.42985819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.51, Y:-28.28, Z:-4.43 [[ 9.89401555e-01 1.43865781e-01 1.96773882e-02 3.13508241e+02] [-1.43830138e-01 9.89597145e-01 -3.22218523e-03 -2.82842509e+01] [-1.99362494e-02 3.57833622e-04 9.99801189e-01 -4.43116804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.54, Y:-28.29, Z:-4.43 [[ 9.89276705e-01 1.44866043e-01 1.85857563e-02 3.13536119e+02] [-1.44834448e-01 9.89451226e-01 -3.04202003e-03 -2.82900117e+01] [-1.88303848e-02 3.17541794e-04 9.99822642e-01 -4.43193332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.56, Y:-28.30, Z:-4.43 [[ 9.89100688e-01 1.46080146e-01 1.84504942e-02 3.13563535e+02] [-1.46081866e-01 9.89271700e-01 -1.26173584e-03 -2.82975912e+01] [-1.84368663e-02 -1.44729884e-03 9.99828979e-01 -4.43366110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.59, Y:-28.30, Z:-4.43 [[ 9.88672067e-01 1.49094448e-01 1.72739271e-02 3.13589887e+02] [-1.49036889e-01 9.88821029e-01 -4.58013734e-03 -2.83045637e+01] [-1.77636954e-02 1.95380151e-03 9.99840304e-01 -4.43393934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.62, Y:-28.31, Z:-4.43 [[ 9.88456360e-01 1.50439215e-01 1.79462383e-02 3.13616860e+02] [-1.50410778e-01 9.88619241e-01 -2.93164101e-03 -2.83113596e+01] [-1.81830302e-02 1.98491535e-04 9.99834655e-01 -4.43451823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.64, Y:-28.32, Z:-4.43 [[ 9.87903644e-01 1.53918357e-01 1.88555194e-02 3.13643573e+02] [-1.53887626e-01 9.88083559e-01 -3.07874943e-03 -2.83188231e+01] [-1.91047048e-02 1.39876660e-04 9.99817479e-01 -4.43427538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.67, Y:-28.33, Z:-4.44 [[ 9.87584379e-01 1.55872272e-01 1.95173896e-02 3.13669918e+02] [-1.55839755e-01 9.87777214e-01 -3.18542970e-03 -2.83250045e+01] [-1.97753528e-02 1.04295413e-04 9.99804443e-01 -4.43500882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.70, Y:-28.33, Z:-4.44 [[ 9.87256712e-01 1.57926318e-01 1.95821932e-02 3.13697393e+02] [-1.57894021e-01 9.87450897e-01 -3.19432334e-03 -2.83317785e+01] [-1.98409219e-02 6.17059305e-05 9.99803148e-01 -4.43524941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.72, Y:-28.34, Z:-4.43 [[ 9.86860805e-01 1.60431254e-01 1.91719673e-02 3.13724179e+02] [-1.60400794e-01 9.87047016e-01 -3.12611709e-03 -2.83384608e+01] [-1.94251600e-02 9.84365496e-06 9.99811314e-01 -4.43494928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.75, Y:-28.35, Z:-4.44 [[ 9.85967915e-01 1.65847532e-01 1.90228163e-02 3.13751152e+02] [-1.65818566e-01 9.86151402e-01 -3.10102493e-03 -2.83460867e+01] [-1.92736743e-02 -9.68250476e-05 9.99814241e-01 -4.43531686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.78, Y:-28.35, Z:-4.44 [[ 9.85490547e-01 1.68487805e-01 2.04998137e-02 3.13777463e+02] [-1.68454829e-01 9.85703725e-01 -3.33736548e-03 -2.83512853e+01] [-2.07690481e-02 -1.64350481e-04 9.99784287e-01 -4.43641006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.80, Y:-28.36, Z:-4.44 [[ 9.84828563e-01 1.71870268e-01 2.39439493e-02 3.13803638e+02] [-1.71826336e-01 9.85119553e-01 -3.89568793e-03 -2.83583383e+01] [-2.42572056e-02 -2.77616342e-04 9.99705712e-01 -4.43613631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.83, Y:-28.36, Z:-4.44 [[ 9.84720766e-01 1.72349700e-01 2.49117266e-02 3.13831505e+02] [-1.72302352e-01 9.85035781e-01 -4.05102294e-03 -2.83637574e+01] [-2.52371347e-02 -3.03222663e-04 9.99681447e-01 -4.43651476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.86, Y:-28.37, Z:-4.44 [[ 9.84617924e-01 1.72910163e-01 2.50922298e-02 3.13857522e+02] [-1.72862358e-01 9.84937547e-01 -4.07836555e-03 -2.83688747e+01] [-2.54194701e-02 -3.21870195e-04 9.99676821e-01 -4.43635160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.89, Y:-28.37, Z:-4.44 [[ 9.84267471e-01 1.75023767e-01 2.41707890e-02 3.13885483e+02] [-1.74980126e-01 9.84564141e-01 -3.92534614e-03 -2.83743048e+01] [-2.44847210e-02 -3.65817193e-04 9.99700137e-01 -4.43673527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.91, Y:-28.38, Z:-4.44 [[ 9.83976738e-01 1.76653922e-01 2.41489486e-02 3.13911831e+02] [-1.76610895e-01 9.84272943e-01 -3.91998512e-03 -2.83793001e+01] [-2.44616375e-02 -4.07793262e-04 9.99700686e-01 -4.43777696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.94, Y:-28.38, Z:-4.44 [[ 9.83679985e-01 1.78306873e-01 2.40903732e-02 3.13939277e+02] [-1.78264601e-01 9.83974825e-01 -3.90837466e-03 -2.83846163e+01] [-2.44012108e-02 -4.49870834e-04 9.99702145e-01 -4.43881757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.97, Y:-28.39, Z:-4.44 [[ 9.83285291e-01 1.80527121e-01 2.36642153e-02 3.13966254e+02] [-1.80487012e-01 9.83569881e-01 -3.83765981e-03 -2.83905358e+01] [-2.39682112e-02 -4.97569072e-04 9.99712597e-01 -4.44011295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.99, Y:-28.39, Z:-4.44 [[ 9.83316727e-01 1.80355780e-01 2.36644755e-02 3.13994376e+02] [-1.80315659e-01 9.83601315e-01 -3.83605482e-03 -2.83949024e+01] [-2.39682639e-02 -4.95018629e-04 9.99712597e-01 -4.44080797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.02, Y:-28.40, Z:-4.44 [[ 9.83272196e-01 1.80672009e-01 2.30957508e-02 3.14021788e+02] [-1.80633975e-01 9.83543278e-01 -3.73983662e-03 -2.84006831e+01] [-2.33913542e-02 -4.94599898e-04 9.99726262e-01 -4.44158185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.05, Y:-28.41, Z:-4.44 [[ 9.83136120e-01 1.81530489e-01 2.21371006e-02 3.14048093e+02] [-1.81495853e-01 9.83385191e-01 -3.58064161e-03 -2.84094549e+01] [-2.24192925e-02 -4.97533868e-04 9.99748532e-01 -4.44211480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.07, Y:-28.42, Z:-4.44 [[ 9.83023235e-01 1.82137689e-01 2.21626294e-02 3.14074492e+02] [-1.82103170e-01 9.83272901e-01 -3.58291257e-03 -2.84163520e+01] [-2.24444964e-02 -5.13798764e-04 9.99747959e-01 -4.44301659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.10, Y:-28.42, Z:-4.44 [[ 9.82934763e-01 1.82639827e-01 2.19532658e-02 3.14101978e+02] [-1.82606120e-01 9.83179750e-01 -3.54734842e-03 -2.84226421e+01] [-2.22318935e-02 -5.21988627e-04 9.99752705e-01 -4.44397494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.13, Y:-28.43, Z:-4.45 [[ 9.82566279e-01 1.84827441e-01 2.00580277e-02 3.14129200e+02] [-1.84799784e-01 9.82770850e-01 -3.23987911e-03 -2.84294952e+01] [-2.03112635e-02 -5.23323229e-04 9.99793568e-01 -4.44508743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.16, Y:-28.44, Z:-4.45 [[ 9.82364843e-01 1.85941168e-01 1.96264209e-02 3.14155588e+02] [-1.85914937e-01 9.82560733e-01 -3.16879371e-03 -2.84350261e+01] [-1.98733597e-02 -5.35933272e-04 9.99802362e-01 -4.44619997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.18, Y:-28.44, Z:-4.45 [[ 9.82006643e-01 1.87740121e-01 2.04108031e-02 3.14182228e+02] [-1.87712179e-01 9.82218555e-01 -3.29353899e-03 -2.84428006e+01] [-2.06661990e-02 -5.97079155e-04 9.99786253e-01 -4.44646721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.21, Y:-28.45, Z:-4.45 [[ 9.81981232e-01 1.87847837e-01 2.06409717e-02 3.14208787e+02] [-1.87819315e-01 9.82197954e-01 -3.32919727e-03 -2.84491655e+01] [-2.08989026e-02 -6.07563930e-04 9.99781409e-01 -4.44714284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.24, Y:-28.46, Z:-4.45 [[ 9.82043743e-01 1.87523311e-01 2.06178431e-02 3.14235771e+02] [-1.87494819e-01 9.82259969e-01 -3.32368895e-03 -2.84559525e+01] [-2.08753511e-02 -6.01730828e-04 9.99781905e-01 -4.44776272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.26, Y:-28.47, Z:-4.45 [[ 9.82260735e-01 1.86314479e-01 2.12312146e-02 3.14262290e+02] [-1.86284019e-01 9.82489980e-01 -3.42097817e-03 -2.84653923e+01] [-2.14968334e-02 -5.94743444e-04 9.99768739e-01 -4.44740019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.515898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:314.29, Y:-28.47, Z:-4.45 [[ 9.82258816e-01 1.86289603e-01 2.15360506e-02 3.14289956e+02] [-1.86258290e-01 9.82494692e-01 -3.46850844e-03 -2.84710914e+01] [-2.18052025e-02 -6.04294971e-04 9.99762056e-01 -4.44711220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.32, Y:-28.48, Z:-4.45 [[ 9.82115016e-01 1.86991448e-01 2.20066713e-02 3.14317793e+02] [-1.86958964e-01 9.82361336e-01 -3.54268346e-03 -2.84766564e+01] [-2.22809545e-02 -6.35021843e-04 9.99751547e-01 -4.44757261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.34, Y:-28.48, Z:-4.45 [[ 9.81717777e-01 1.89046641e-01 2.21714606e-02 3.14344211e+02] [-1.89014227e-01 9.81967868e-01 -3.56767910e-03 -2.84819199e+01] [-2.24461197e-02 -6.88267497e-04 9.99747817e-01 -4.44838348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.37, Y:-28.49, Z:-4.45 [[ 9.81629593e-01 1.89539948e-01 2.18620803e-02 3.14372180e+02] [-1.89508621e-01 9.81872766e-01 -3.51486745e-03 -2.84870106e+01] [-2.21319890e-02 -6.92754784e-04 9.99754818e-01 -4.44922993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.40, Y:-28.49, Z:-4.45 [[ 9.81988251e-01 1.87815212e-01 2.06039198e-02 3.14398435e+02] [-1.87787037e-01 9.82204187e-01 -3.31118361e-03 -2.84916837e+01] [-2.08591469e-02 -6.17605654e-04 9.99782234e-01 -4.44942563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.43, Y:-28.50, Z:-4.45 [[ 9.82333252e-01 1.85958361e-01 2.09969116e-02 3.14426230e+02] [-1.85928718e-01 9.82557448e-01 -3.37242313e-03 -2.84957995e+01] [-2.12578021e-02 -5.91085473e-04 9.99773853e-01 -4.44981634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.45, Y:-28.50, Z:-4.45 [[ 9.82773780e-01 1.83492152e-01 2.20528493e-02 3.14453510e+02] [-1.83458869e-01 9.83021012e-01 -3.54034132e-03 -2.84997937e+01] [-2.23280391e-02 -5.66436165e-04 9.99750538e-01 -4.45071333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.48, Y:-28.50, Z:-4.45 [[ 9.83378821e-01 1.80062612e-01 2.33141523e-02 3.14479896e+02] [-1.80024491e-01 9.83655014e-01 -3.74104364e-03 -2.85035510e+01] [-2.36067049e-02 -5.18255310e-04 9.99721189e-01 -4.45176621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.51, Y:-28.51, Z:-4.45 [[ 9.84946129e-01 1.70872283e-01 2.61493041e-02 3.14507357e+02] [-1.70821148e-01 9.85293129e-01 -4.19354547e-03 -2.85068441e+01] [-2.64812903e-02 -3.36437759e-04 9.99649253e-01 -4.45239896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.54, Y:-28.51, Z:-4.45 [[ 9.85705027e-01 1.66236061e-01 2.74075296e-02 3.14535213e+02] [-1.66178150e-01 9.86085961e-01 -4.39326375e-03 -2.85103323e+01] [-2.77564990e-02 -2.24070396e-04 9.99614689e-01 -4.45291029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.56, Y:-28.52, Z:-4.45 [[ 9.86900880e-01 1.58909580e-01 2.78280238e-02 3.14561346e+02] [-1.58847020e-01 9.87293140e-01 -4.45859794e-03 -2.85156634e+01] [-2.81829309e-02 -2.02044198e-05 9.99602782e-01 -4.45400568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.59, Y:-28.52, Z:-4.45 [[ 9.87369251e-01 1.56185832e-01 2.66072946e-02 3.14588886e+02] [-1.56127709e-01 9.87727687e-01 -4.26092099e-03 -2.85220684e+01] [-2.69462570e-02 5.29664187e-05 9.99636882e-01 -4.45491313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.62, Y:-28.53, Z:-4.46 [[ 9.88067390e-01 1.52185981e-01 2.37120301e-02 3.14617274e+02] [-1.52138704e-01 9.88351864e-01 -3.79577368e-03 -2.85286585e+01] [-2.40134927e-02 1.42962656e-04 9.99711624e-01 -4.45661741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.65, Y:-28.53, Z:-4.46 [[ 9.88284321e-01 1.50772655e-01 2.37003867e-02 3.14645005e+02] [-1.50725045e-01 9.88568448e-01 -3.79279869e-03 -2.85330395e+01] [-2.40013048e-02 1.76121625e-04 9.99711912e-01 -4.45759944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.67, Y:-28.54, Z:-4.46 [[ 9.88378588e-01 1.49999947e-01 2.46532601e-02 3.14671422e+02] [-1.49948237e-01 9.88685984e-01 -3.94344685e-03 -2.85377556e+01] [-2.49658496e-02 2.00905542e-04 9.99688284e-01 -4.45814942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.70, Y:-28.54, Z:-4.46 [[ 9.88481371e-01 1.49018404e-01 2.64214849e-02 3.14699929e+02] [-1.48958718e-01 9.88834394e-01 -4.22402473e-03 -2.85444236e+01] [-2.67559304e-02 2.39659240e-04 9.99641967e-01 -4.45997731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.73, Y:-28.55, Z:-4.46 [[ 9.88557658e-01 1.48579823e-01 2.60344732e-02 3.14727248e+02] [-1.48521756e-01 9.88900387e-01 -4.16084225e-03 -2.85491346e+01] [-2.63637179e-02 2.46546787e-04 9.99652386e-01 -4.46121856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.76, Y:-28.55, Z:-4.46 [[ 9.88655499e-01 1.48073640e-01 2.51893288e-02 3.14755192e+02] [-1.48019157e-01 9.88976306e-01 -4.02425302e-03 -2.85530649e+01] [-2.55075352e-02 2.50096658e-04 9.99674599e-01 -4.46241906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.78, Y:-28.56, Z:-4.46 [[ 9.88881867e-01 1.46805390e-01 2.36818407e-02 3.14784121e+02] [-1.46756902e-01 9.89165359e-01 -3.78209834e-03 -2.85571863e+01] [-2.39804888e-02 2.64574891e-04 9.99712392e-01 -4.46410646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.085898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:314.81, Y:-28.56, Z:-4.46 [[ 9.89113399e-01 1.45345261e-01 2.30095207e-02 3.14812223e+02] [-1.45299117e-01 9.89380953e-01 -3.67367138e-03 -2.85620461e+01] [-2.32991323e-02 2.90414538e-04 9.99728496e-01 -4.46476425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.84, Y:-28.57, Z:-4.47 [[ 9.89433227e-01 1.43237403e-01 2.24707947e-02 3.14839097e+02] [-1.43192874e-01 9.89688303e-01 -3.58664138e-03 -2.85673847e+01] [-2.27528239e-02 3.31084478e-04 9.99741066e-01 -4.46604104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.87, Y:-28.57, Z:-4.47 [[ 9.90281877e-01 1.37493441e-01 2.09131020e-02 3.14867398e+02] [-1.37453616e-01 9.90502584e-01 -3.33683771e-03 -2.85732661e+01] [-2.11732749e-02 4.29828415e-04 9.99775729e-01 -4.46732638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.90, Y:-28.58, Z:-4.47 [[ 9.90746067e-01 1.34120904e-01 2.08282191e-02 3.14895623e+02] [-1.34080677e-01 9.90964850e-01 -3.32232630e-03 -2.85788011e+01] [-2.10856264e-02 4.98919999e-04 9.99777549e-01 -4.46817011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.92, Y:-28.58, Z:-4.47 [[ 9.91172827e-01 1.30921929e-01 2.08776176e-02 3.14923235e+02] [-1.30880822e-01 9.91392519e-01 -3.32924096e-03 -2.85846702e+01] [-2.11337846e-02 5.67373420e-04 9.99776496e-01 -4.46855556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.95, Y:-28.59, Z:-4.47 [[ 9.91756474e-01 1.26358615e-01 2.12743141e-02 3.14951408e+02] [-1.26314910e-01 9.91984397e-01 -3.39117769e-03 -2.85929727e+01] [-2.15322922e-02 6.75959367e-04 9.99767925e-01 -4.46831391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.98, Y:-28.60, Z:-4.47 [[ 9.91883131e-01 1.25355799e-01 2.13020880e-02 3.14979669e+02] [-1.25311770e-01 9.92111605e-01 -3.39456990e-03 -2.85990364e+01] [-2.15595777e-02 6.97614271e-04 9.99767322e-01 -4.46873123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.01, Y:-28.61, Z:-4.47 [[ 9.91978183e-01 1.24468803e-01 2.20635715e-02 3.15006169e+02] [-1.24421376e-01 9.92223245e-01 -3.51480518e-03 -2.86068032e+01] [-2.23294721e-02 7.41430134e-04 9.99750391e-01 -4.46945649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.03, Y:-28.61, Z:-4.47 [[ 9.92068465e-01 1.23809488e-01 2.17111019e-02 3.15034583e+02] [-1.23763437e-01 9.92305728e-01 -3.45731416e-03 -2.86130095e+01] [-2.19720991e-02 7.42851764e-04 9.99758308e-01 -4.47064325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.06, Y:-28.62, Z:-4.47 [[ 9.92180774e-01 1.23090836e-01 2.06387333e-02 3.15062508e+02] [-1.23049085e-01 9.92395147e-01 -3.28563855e-03 -2.86196709e+01] [-2.08862107e-02 7.20370155e-04 9.99781600e-01 -4.47079831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.09, Y:-28.63, Z:-4.47 [[ 9.92203098e-01 1.22994597e-01 2.01330913e-02 3.15090583e+02] [-1.22954868e-01 9.92407091e-01 -3.20414528e-03 -2.86259751e+01] [-2.03743151e-02 7.03701299e-04 9.99792174e-01 -4.47205854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.12, Y:-28.63, Z:-4.47 [[ 9.91927123e-01 1.25118979e-01 2.06354862e-02 3.15116985e+02] [-1.25077716e-01 9.92141514e-01 -3.28337070e-03 -2.86341867e+01] [-2.08841345e-02 6.75824967e-04 9.99781674e-01 -4.47187002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.14, Y:-28.64, Z:-4.47 [[ 9.91671120e-01 1.27106275e-01 2.07938818e-02 3.15144754e+02] [-1.27064833e-01 9.91888899e-01 -3.30759788e-03 -2.86402085e+01] [-2.10456370e-02 6.37878183e-04 9.99778313e-01 -4.47212710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.17, Y:-28.65, Z:-4.47 [[ 9.91002578e-01 1.32285097e-01 2.03603621e-02 3.15172402e+02] [-1.32246475e-01 9.91211575e-01 -3.23776297e-03 -2.86464443e+01] [-2.06097344e-02 5.16045329e-04 9.99787464e-01 -4.47271628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.20, Y:-28.65, Z:-4.47 [[ 9.90708212e-01 1.34514329e-01 2.00781866e-02 3.15200317e+02] [-1.34477254e-01 9.90911541e-01 -3.19157179e-03 -2.86519001e+01] [-2.03250190e-02 4.61856984e-04 9.99793319e-01 -4.47370436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.23, Y:-28.66, Z:-4.47 [[ 9.90394939e-01 1.36479672e-01 2.21622044e-02 3.15227305e+02] [-1.36435017e-01 9.90642763e-01 -3.52174192e-03 -2.86591148e+01] [-2.24354736e-02 4.64214653e-04 9.99748185e-01 -4.47440333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.26, Y:-28.67, Z:-4.47 [[ 9.90330445e-01 1.36739152e-01 2.34096866e-02 3.15255879e+02] [-1.36689433e-01 9.90606971e-01 -3.71856552e-03 -2.86653585e+01] [-2.36982722e-02 4.82751861e-04 9.99719040e-01 -4.47469099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.28, Y:-28.67, Z:-4.47 [[ 9.90277299e-01 1.37011151e-01 2.40585681e-02 3.15283732e+02] [-1.36958745e-01 9.90569385e-01 -3.82046591e-03 -2.86714956e+01] [-2.43551274e-02 4.88289362e-04 9.99703251e-01 -4.47462763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.31, Y:-28.68, Z:-4.48 [[ 9.90150092e-01 1.37919654e-01 2.41032155e-02 3.15311196e+02] [-1.37867352e-01 9.90443311e-01 -3.82637219e-03 -2.86782827e+01] [-2.44006005e-02 4.65636275e-04 9.99702153e-01 -4.47525900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.34, Y:-28.68, Z:-4.48 [[ 9.90084762e-01 1.38369274e-01 2.42096652e-02 3.15339335e+02] [-1.38316672e-01 9.90380602e-01 -3.84207933e-03 -2.86830663e+01] [-2.45084085e-02 4.55383883e-04 9.99699520e-01 -4.47515130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.37, Y:-28.69, Z:-4.48 [[ 9.89987543e-01 1.39011044e-01 2.45070170e-02 3.15367890e+02] [-1.38957367e-01 9.90290731e-01 -3.88808344e-03 -2.86873180e+01] [-2.48095583e-02 4.43723607e-04 9.99692097e-01 -4.47542159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.40, Y:-28.69, Z:-4.48 [[ 9.89951254e-01 1.39168090e-01 2.50750574e-02 3.15395163e+02] [-1.39111978e-01 9.90268671e-01 -3.97697218e-03 -2.86908158e+01] [-2.53845114e-02 4.48767765e-04 9.99677661e-01 -4.47612799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.42, Y:-28.69, Z:-4.48 [[ 9.90030123e-01 1.38623464e-01 2.49777946e-02 3.15423939e+02] [-1.38567650e-01 9.90345053e-01 -3.96009309e-03 -2.86942999e+01] [-2.52855971e-02 4.59497144e-04 9.99680163e-01 -4.47655850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.45, Y:-28.70, Z:-4.48 [[ 9.90150781e-01 1.37879544e-01 2.43035496e-02 3.15453080e+02] [-1.37826499e-01 9.90448896e-01 -3.85236067e-03 -2.86962339e+01] [-2.46025856e-02 4.64744763e-04 9.99697203e-01 -4.47838405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.48, Y:-28.70, Z:-4.48 [[ 9.90244279e-01 1.37406325e-01 2.31467121e-02 3.15481522e+02] [-1.37358107e-01 9.90514663e-01 -3.66792743e-03 -2.86997704e+01] [-2.34311541e-02 4.52755599e-04 9.99725350e-01 -4.47989415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.51, Y:-28.70, Z:-4.48 [[ 9.90397950e-01 1.36427741e-01 2.23466394e-02 3.15508784e+02] [-1.36382573e-01 9.90649919e-01 -3.54012495e-03 -2.87040536e+01] [-2.26206678e-02 4.58440298e-04 9.99744015e-01 -4.48102947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.54, Y:-28.71, Z:-4.48 [[ 9.90963568e-01 1.32076519e-01 2.33880426e-02 3.15537806e+02] [-1.32025866e-01 9.91239353e-01 -3.70360540e-03 -2.87104531e+01] [-2.36723075e-02 5.82311451e-04 9.99719602e-01 -4.48167210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.57, Y:-28.72, Z:-4.48 [[ 9.91353218e-01 1.28987146e-01 2.41062784e-02 3.15566808e+02] [-1.28932435e-01 9.91646036e-01 -3.81674932e-03 -2.87163901e+01] [-2.43972070e-02 6.75665559e-04 9.99702116e-01 -4.48242716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.60, Y:-28.72, Z:-4.48 [[ 9.91722967e-01 1.26038590e-01 2.44914205e-02 3.15596248e+02] [-1.25981232e-01 9.92025049e-01 -3.87715073e-03 -2.87226093e+01] [-2.47847732e-02 7.59600099e-04 9.99692522e-01 -4.48281119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.62, Y:-28.73, Z:-4.48 [[ 9.92096817e-01 1.23123985e-01 2.41741746e-02 3.15624824e+02] [-1.23067239e-01 9.92390956e-01 -3.82692788e-03 -2.87285141e+01] [-2.44614189e-02 8.21634033e-04 9.99700437e-01 -4.48382406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.65, Y:-28.73, Z:-4.49 [[ 9.92490902e-01 1.20231796e-01 2.24972171e-02 3.15654161e+02] [-1.20181915e-01 9.92745499e-01 -3.56118948e-03 -2.87348646e+01] [-2.27621793e-02 8.30689516e-04 9.99740563e-01 -4.48552124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.68, Y:-28.74, Z:-4.49 [[ 9.92549729e-01 1.19813711e-01 2.21293853e-02 3.15684229e+02] [-1.19765344e-01 9.92796047e-01 -3.50296366e-03 -2.87393615e+01] [-2.23896693e-02 8.26532188e-04 9.99748978e-01 -4.48663447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.71, Y:-28.74, Z:-4.49 [[ 9.92505634e-01 1.20113733e-01 2.24779433e-02 3.15713564e+02] [-1.20063907e-01 9.92759789e-01 -3.55815786e-03 -2.87442850e+01] [-2.27425819e-02 8.32702013e-04 9.99741007e-01 -4.48663391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.74, Y:-28.75, Z:-4.49 [[ 9.92504287e-01 1.20124851e-01 2.24779903e-02 3.15744174e+02] [-1.20075035e-01 9.92758444e-01 -3.55786099e-03 -2.87491356e+01] [-2.27426022e-02 8.32146819e-04 9.99741007e-01 -4.48739063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.77, Y:-28.75, Z:-4.49 [[ 9.92477414e-01 1.20470017e-01 2.18073014e-02 3.15773455e+02] [-1.20423206e-01 9.92716644e-01 -3.45199817e-03 -2.87543974e+01] [-2.20643333e-02 7.99925065e-04 9.99756233e-01 -4.48806216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.80, Y:-28.76, Z:-4.49 [[ 9.92490332e-01 1.20585762e-01 2.05430234e-02 3.15803327e+02] [-1.20544252e-01 9.92702629e-01 -3.25160877e-03 -2.87597187e+01] [-2.07852110e-02 7.50846873e-04 9.99783682e-01 -4.48922283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.83, Y:-28.76, Z:-4.49 [[ 9.92556885e-01 1.20198524e-01 1.95740639e-02 3.15832543e+02] [-1.20160765e-01 9.92749612e-01 -3.09817810e-03 -2.87644458e+01] [-1.98045408e-02 7.23083520e-04 9.99803609e-01 -4.49116558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.86, Y:-28.77, Z:-4.49 [[ 9.92662680e-01 1.19249298e-01 2.00102261e-02 3.15861800e+02] [-1.19209636e-01 9.92864054e-01 -3.16764129e-03 -2.87690980e+01] [-2.02451732e-02 7.58987529e-04 9.99794757e-01 -4.49151137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.89, Y:-28.77, Z:-4.49 [[ 9.92798591e-01 1.17945848e-01 2.09698696e-02 3.15890135e+02] [-1.17902010e-01 9.93019688e-01 -3.31903951e-03 -2.87730934e+01] [-2.12149603e-02 8.22747964e-04 9.99774599e-01 -4.49202233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.92, Y:-28.77, Z:-4.49 [[ 9.92990381e-01 1.16357863e-01 2.07593577e-02 3.15921168e+02] [-1.16314567e-01 9.93206992e-01 -3.28512636e-03 -2.87748877e+01] [-2.10005895e-02 8.47483167e-04 9.99779104e-01 -4.49119797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.95, Y:-28.78, Z:-4.49 [[ 9.92936070e-01 1.16868100e-01 2.04892459e-02 3.15950881e+02] [-1.16826032e-01 9.93147102e-01 -3.24233170e-03 -2.87773925e+01] [-2.07277603e-02 8.25750784e-04 9.99784816e-01 -4.49144267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.315898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:315.98, Y:-28.78, Z:-4.49 [[ 9.92671469e-01 1.18751877e-01 2.23907751e-02 3.15981548e+02] [-1.18702107e-01 9.92923588e-01 -3.54364423e-03 -2.87766323e+01] [-2.26531431e-02 8.59842345e-04 9.99743015e-01 -4.49100038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.01, Y:-28.78, Z:-4.49 [[ 9.92539198e-01 1.19541242e-01 2.39965169e-02 3.16009872e+02] [-1.19484321e-01 9.92828826e-01 -3.79717749e-03 -2.87786465e+01] [-2.42783531e-02 9.01639975e-04 9.99704831e-01 -4.49108915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.04, Y:-28.78, Z:-4.49 [[ 9.92528456e-01 1.19392901e-01 2.51515339e-02 3.16039891e+02] [-1.19330342e-01 9.92846633e-01 -3.97904659e-03 -2.87798704e+01] [-2.54466857e-02 9.47975814e-04 9.99675731e-01 -4.49138885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.07, Y:-28.78, Z:-4.49 [[ 9.92679066e-01 1.18181413e-01 2.49284218e-02 3.16069242e+02] [-1.18119592e-01 9.92991547e-01 -3.94317886e-03 -2.87810588e+01] [-2.52197226e-02 9.69776092e-04 9.99681462e-01 -4.49263773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.10, Y:-28.78, Z:-4.50 [[ 9.93368404e-01 1.12654260e-01 2.29832895e-02 3.16098574e+02] [-1.12600247e-01 9.93633721e-01 -3.63496630e-03 -2.87820301e+01] [-2.32464659e-02 1.02293660e-03 9.99729241e-01 -4.49512248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.13, Y:-28.79, Z:-4.50 [[ 9.93841831e-01 1.08609099e-01 2.19653902e-02 3.16128483e+02] [-1.08558784e-01 9.94083962e-01 -3.47374770e-03 -2.87858917e+01] [-2.22127227e-02 1.06781972e-03 9.99752697e-01 -4.49567271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.16, Y:-28.79, Z:-4.50 [[ 9.94674901e-01 1.00591541e-01 2.24317498e-02 3.16159223e+02] [-1.00537045e-01 9.94926993e-01 -3.54692868e-03 -2.87888341e+01] [-2.26747444e-02 1.27281909e-03 9.99742085e-01 -4.49595147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.19, Y:-28.79, Z:-4.50 [[ 9.94953791e-01 9.75960152e-02 2.32802765e-02 3.16189777e+02] [-9.75365008e-02 9.95225141e-01 -3.68108878e-03 -2.87928529e+01] [-2.35283761e-02 1.39183653e-03 9.99722201e-01 -4.49607387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.22, Y:-28.80, Z:-4.50 [[ 9.95239923e-01 9.46395668e-02 2.32561255e-02 3.16220672e+02] [-9.45793654e-02 9.95510532e-01 -3.67753241e-03 -2.87977478e+01] [-2.34997579e-02 1.46047749e-03 9.99722776e-01 -4.49658901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.25, Y:-28.80, Z:-4.50 [[ 9.95312095e-01 9.40747465e-02 2.24449412e-02 3.16251467e+02] [-9.40185180e-02 9.95564120e-01 -3.54975848e-03 -2.88025213e+01] [-2.26793208e-02 1.42287744e-03 9.99741779e-01 -4.49782242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.28, Y:-28.81, Z:-4.50 [[ 9.95321411e-01 9.42873145e-02 2.10995329e-02 3.16282582e+02] [-9.42376640e-02 9.95544135e-01 -3.33743163e-03 -2.88076647e+01] [-2.13201937e-02 1.33344647e-03 9.99771810e-01 -4.49862352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.31, Y:-28.81, Z:-4.50 [[ 9.95267557e-01 9.51075483e-02 1.99259850e-02 3.16311239e+02] [-9.50634203e-02 9.95466227e-01 -3.15237618e-03 -2.88124948e+01] [-2.01354599e-02 1.24322545e-03 9.99796488e-01 -4.49972998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.34, Y:-28.82, Z:-4.50 [[ 9.95052103e-01 9.75483773e-02 1.88580663e-02 3.16340911e+02] [-9.75092948e-02 9.95230143e-01 -2.98316501e-03 -2.88185718e+01] [-1.90591190e-02 1.12956787e-03 9.99817720e-01 -4.50049876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.705898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:316.37, Y:-28.82, Z:-4.50 [[ 9.94912445e-01 9.88524569e-02 1.94272522e-02 3.16370914e+02] [-9.88112268e-02 9.95101451e-01 -3.07320475e-03 -2.88237433e+01] [-1.96358807e-02 1.13793903e-03 9.99806550e-01 -4.50043159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.40, Y:-28.83, Z:-4.50 [[ 9.94462090e-01 1.03038923e-01 2.06913455e-02 3.16399696e+02] [-1.02993054e-01 9.94676690e-01 -3.27321200e-03 -2.88290281e+01] [-2.09184673e-02 1.12402040e-03 9.99780553e-01 -4.50073406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.43, Y:-28.83, Z:-4.50 [[ 9.94257298e-01 1.05001407e-01 2.06671182e-02 3.16429520e+02] [-1.04956072e-01 9.94471485e-01 -3.26917936e-03 -2.88332877e+01] [-2.08961282e-02 1.08126589e-03 9.99781067e-01 -4.50129814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.46, Y:-28.84, Z:-4.50 [[ 9.94149736e-01 1.06124216e-01 2.00985938e-02 3.16458291e+02] [-1.06081578e-01 9.94352349e-01 -3.17884014e-03 -2.88371700e+01] [-2.03224359e-02 1.02815253e-03 9.99792949e-01 -4.50243424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.49, Y:-28.84, Z:-4.50 [[ 9.94163310e-01 1.06078677e-01 1.96628190e-02 3.16488232e+02] [-1.06037874e-01 9.94357231e-01 -3.10919448e-03 -2.88405950e+01] [-1.98816855e-02 1.00604355e-03 9.99801834e-01 -4.50353063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.52, Y:-28.84, Z:-4.50 [[ 9.94223058e-01 1.05484463e-01 1.98378191e-02 3.16516938e+02] [-1.05442821e-01 9.94420421e-01 -3.13644679e-03 -2.88443014e+01] [-2.00579788e-02 1.02657211e-03 9.99798291e-01 -4.50377885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.55, Y:-28.85, Z:-4.50 [[ 9.94309767e-01 1.04672568e-01 1.97924239e-02 3.16546177e+02] [-1.04630971e-01 9.94506195e-01 -3.12853094e-03 -2.88482963e+01] [-2.00111595e-02 1.03982834e-03 9.99799216e-01 -4.50438758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.57, Y:-28.85, Z:-4.51 [[ 9.94424751e-01 1.03518866e-01 2.00813172e-02 3.16574024e+02] [-1.03475820e-01 9.94626906e-01 -3.17376723e-03 -2.88526109e+01] [-2.03019632e-02 1.07814194e-03 9.99793313e-01 -4.50507011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.60, Y:-28.86, Z:-4.51 [[ 9.94857206e-01 9.88538580e-02 2.20692938e-02 3.16601824e+02] [-9.88007393e-02 9.95101128e-01 -3.48710769e-03 -2.88574514e+01] [-2.23058932e-02 1.28871167e-03 9.99750362e-01 -4.50577802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.63, Y:-28.86, Z:-4.51 [[ 9.95133344e-01 9.59289198e-02 2.25226512e-02 3.16632958e+02] [-9.58728688e-02 9.95387228e-01 -3.55788700e-03 -2.88627174e+01] [-2.27600636e-02 1.38126080e-03 9.99740002e-01 -4.50627715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.66, Y:-28.87, Z:-4.51 [[ 9.95523470e-01 9.19458001e-02 2.18858508e-02 3.16664124e+02] [-9.18919049e-02 9.95762985e-01 -3.45777035e-03 -2.88692965e+01] [-2.21110476e-02 1.43115902e-03 9.99754497e-01 -4.50724695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.69, Y:-28.88, Z:-4.51 [[ 9.95660788e-01 9.05860492e-02 2.13017014e-02 3.16694046e+02] [-9.05346727e-02 9.95887616e-01 -3.36597435e-03 -2.88752467e+01] [-2.15190109e-02 1.42282612e-03 9.99767427e-01 -4.50822805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.72, Y:-28.88, Z:-4.51 [[ 9.95798974e-01 8.92561379e-02 2.04388158e-02 3.16724452e+02] [-8.92085576e-02 9.96007732e-01 -3.22980173e-03 -2.88820881e+01] [-2.06454982e-02 1.39291597e-03 9.99785889e-01 -4.50895880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.75, Y:-28.89, Z:-4.51 [[ 9.95811557e-01 8.91502377e-02 2.02873839e-02 3.16754160e+02] [-8.91033280e-02 9.96017227e-01 -3.20636490e-03 -2.88873274e+01] [-2.04924321e-02 1.38526180e-03 9.99789048e-01 -4.50952724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.125898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:316.79, Y:-28.89, Z:-4.51 [[ 9.95791458e-01 8.93410115e-02 2.04341926e-02 3.16785231e+02] [-8.92934564e-02 9.96000124e-01 -3.22975500e-03 -2.88928702e+01] [-2.06410079e-02 1.39152275e-03 9.99785983e-01 -4.50979891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.82, Y:-28.90, Z:-4.51 [[ 9.95649386e-01 9.05549359e-02 2.19568622e-02 3.16816187e+02] [-9.05003101e-02 9.95890379e-01 -3.47095478e-03 -2.88988462e+01] [-2.21809399e-02 1.46875116e-03 9.99752894e-01 -4.51047463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.185898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:316.85, Y:-28.90, Z:-4.51 [[ 9.95586129e-01 9.11658998e-02 2.22943575e-02 3.16847550e+02] [-9.11097221e-02 9.95834622e-01 -3.52483152e-03 -2.89036266e+01] [-2.25228375e-02 1.47804065e-03 9.99745236e-01 -4.51094752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.88, Y:-28.91, Z:-4.51 [[ 9.95539485e-01 9.17716346e-02 2.18883627e-02 3.16878033e+02] [-9.17176188e-02 9.95779041e-01 -3.46117008e-03 -2.89080318e+01] [-2.21136101e-02 1.43818298e-03 9.99754430e-01 -4.51206783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.91, Y:-28.91, Z:-4.51 [[ 9.95514832e-01 9.22610139e-02 2.09314466e-02 3.16908185e+02] [-9.22117214e-02 9.95733921e-01 -3.31008489e-03 -2.89126478e+01] [-2.11475432e-02 1.36511388e-03 9.99775434e-01 -4.51261332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:316.94, Y:-28.92, Z:-4.51 [[ 9.95410785e-01 9.36408449e-02 1.97170404e-02 3.16939014e+02] [-9.35973734e-02 9.95605247e-01 -3.11819816e-03 -2.89182805e+01] [-1.99223796e-02 1.25842488e-03 9.99800738e-01 -4.51382313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:316.97, Y:-28.92, Z:-4.51 [[ 9.95345771e-01 9.42558886e-02 2.00654912e-02 3.16968700e+02] [-9.42109798e-02 9.95547195e-01 -3.17386970e-03 -2.89229597e+01] [-2.02752994e-02 1.26870819e-03 9.99793630e-01 -4.51443608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.00, Y:-28.93, Z:-4.51 [[ 9.95068113e-01 9.68356778e-02 2.15011958e-02 3.16997745e+02] [-9.67847117e-02 9.95299529e-01 -3.40092933e-03 -2.89263257e+01] [-2.17294614e-02 1.30316930e-03 9.99763038e-01 -4.51429314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.03, Y:-28.93, Z:-4.51 [[ 9.94904003e-01 9.83459935e-02 2.22281482e-02 3.17027788e+02] [-9.82918904e-02 9.95151416e-01 -3.51623635e-03 -2.89293882e+01] [-2.24661809e-02 1.31347091e-03 9.99746741e-01 -4.51493651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.395898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:317.06, Y:-28.93, Z:-4.52 [[ 9.94776247e-01 9.95962485e-02 2.23786948e-02 3.17058400e+02] [-9.95417252e-02 9.95027092e-01 -3.54005108e-03 -2.89317257e+01] [-2.26199834e-02 1.29394484e-03 9.99743298e-01 -4.51595968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:317.09, Y:-28.93, Z:-4.52 [[ 9.94763664e-01 1.00102477e-01 2.06093781e-02 3.17089632e+02] [-1.00056344e-01 9.94976432e-01 -3.26016561e-03 -2.89319590e+01] [-2.08321961e-02 1.18099528e-03 9.99782289e-01 -4.51732021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.455898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:317.12, Y:-28.93, Z:-4.52 [[ 9.94838710e-01 9.95372610e-02 1.97046745e-02 3.17118671e+02] [-9.94949784e-02 9.95033182e-01 -3.11710278e-03 -2.89344890e+01] [-1.99170729e-02 1.14049834e-03 9.99800985e-01 -4.51871767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48589822699995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:317.15, Y:-28.94, Z:-4.52 [[ 9.94888242e-01 9.91253661e-02 1.92755713e-02 3.17148336e+02] [-9.90848313e-02 9.95074319e-01 -3.04906236e-03 -2.89372144e+01] [-1.94828654e-02 1.12355957e-03 9.99809560e-01 -4.51998900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.515898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.18, Y:-28.94, Z:-4.52 [[ 9.94850555e-01 9.92309627e-02 2.06297941e-02 3.17177611e+02] [-9.91845639e-02 9.95063705e-01 -3.26279954e-03 -2.89365305e+01] [-2.08517301e-02 1.19984080e-03 9.99781859e-01 -4.52037160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.21, Y:-28.94, Z:-4.52 [[ 9.94780146e-01 9.96203854e-02 2.20961675e-02 3.17206481e+02] [-9.95672690e-02 9.95024699e-01 -3.49389379e-03 -2.89379791e+01] [-2.23342955e-02 1.27560113e-03 9.99749745e-01 -4.52144415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.575898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:317.24, Y:-28.94, Z:-4.52 [[ 9.94787802e-01 9.95091349e-02 2.22521971e-02 3.17236872e+02] [-9.94552553e-02 9.95035817e-01 -3.51779103e-03 -2.89371505e+01] [-2.24917855e-02 1.28635766e-03 9.99746200e-01 -4.52330329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:317.27, Y:-28.94, Z:-4.52 [[ 9.94810463e-01 9.95810341e-02 2.08748962e-02 3.17267027e+02] [-9.95336437e-02 9.95028726e-01 -3.29962913e-03 -2.89391774e+01] [-2.10997019e-02 1.20475110e-03 9.99776651e-01 -4.52460959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.635898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:317.30, Y:-28.94, Z:-4.53 [[ 9.94800957e-01 9.99089063e-02 1.97298225e-02 3.17295822e+02] [-9.98666458e-02 9.94995945e-01 -3.11820963e-03 -2.89415608e+01] [-1.99426303e-02 1.13164673e-03 9.99800486e-01 -4.52611469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:317.32, Y:-28.94, Z:-4.53 [[ 9.94729033e-01 1.00606937e-01 1.98089663e-02 3.17323644e+02] [-1.00564482e-01 9.94925618e-01 -3.13037541e-03 -2.89421197e+01] [-2.00233855e-02 1.12179688e-03 9.99798883e-01 -4.52691531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.695898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:317.35, Y:-28.94, Z:-4.53 [[ 9.94696184e-01 1.00677161e-01 2.10620559e-02 3.17352382e+02] [-1.00629212e-01 9.94918436e-01 -3.32686045e-03 -2.89445173e+01] [-2.12899666e-02 1.18975731e-03 9.99772635e-01 -4.52703660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:317.38, Y:-28.95, Z:-4.53 [[ 9.94710636e-01 1.00396997e-01 2.17069839e-02 3.17381283e+02] [-1.00346023e-01 9.94946696e-01 -3.42764158e-03 -2.89469064e+01] [-2.19414168e-02 1.23130203e-03 9.99758500e-01 -4.52740139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.755898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.41, Y:-28.95, Z:-4.53 [[ 9.94806944e-01 9.93534515e-02 2.20915554e-02 3.17410511e+02] [-9.93004104e-02 9.95051387e-01 -3.48784901e-03 -2.89475119e+01] [-2.23287626e-02 1.27603590e-03 9.99749868e-01 -4.52833010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:317.44, Y:-28.95, Z:-4.53 [[ 9.94821798e-01 9.91699120e-02 2.22467519e-02 3.17439519e+02] [-9.91160994e-02 9.95069681e-01 -3.51136145e-03 -2.89501992e+01] [-2.24852897e-02 1.28816763e-03 9.99746344e-01 -4.52961244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.815898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:317.47, Y:-28.95, Z:-4.53 [[ 9.94820154e-01 9.93406799e-02 2.15474126e-02 3.17467516e+02] [-9.92902581e-02 9.95052704e-01 -3.40005401e-03 -2.89504304e+01] [-2.17785749e-02 1.24299410e-03 9.99762046e-01 -4.53073145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:317.50, Y:-28.95, Z:-4.53 [[ 9.94826234e-01 9.94642032e-02 2.06793604e-02 3.17495842e+02] [-9.94178138e-02 9.95040430e-01 -3.26191103e-03 -2.89529648e+01] [-2.09012430e-02 1.18913787e-03 9.99780838e-01 -4.53181559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.875898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.52, Y:-28.96, Z:-4.53 [[ 9.94783695e-01 1.00140525e-01 1.94235722e-02 3.17524752e+02] [-1.00099744e-01 9.94972693e-01 -3.06300186e-03 -2.89559706e+01] [-1.96326545e-02 1.10272971e-03 9.99806653e-01 -4.53400561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90589822699997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:317.55, Y:-28.96, Z:-4.53 [[ 9.94749012e-01 1.00648121e-01 1.85569370e-02 3.17553416e+02] [-1.00611001e-01 9.94921538e-01 -2.92554339e-03 -2.89584827e+01] [-1.87571467e-02 1.04314939e-03 9.99823525e-01 -4.53492475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.935898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.58, Y:-28.96, Z:-4.54 [[ 9.94806704e-01 1.00219729e-01 1.77659192e-02 3.17581745e+02] [-1.00185652e-01 9.94964821e-01 -2.80012226e-03 -2.89596181e+01] [-1.79570921e-02 1.00569021e-03 9.99838253e-01 -4.53639481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.61, Y:-28.96, Z:-4.54 [[ 9.94934459e-01 9.89708121e-02 1.76125059e-02 3.17610817e+02] [-9.89371456e-02 9.95089816e-01 -2.77483261e-03 -2.89625433e+01] [-1.78006527e-02 1.01824553e-03 9.99841037e-01 -4.53742266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.64, Y:-28.97, Z:-4.54 [[ 9.94941742e-01 9.88975583e-02 1.76125974e-02 3.17639786e+02] [-9.88638906e-02 9.95097098e-01 -2.77425155e-03 -2.89670064e+01] [-1.78006113e-02 1.01896876e-03 9.99841037e-01 -4.53813842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02589822699997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:317.67, Y:-28.97, Z:-4.54 [[ 9.95121194e-01 9.70792553e-02 1.75905457e-02 3.17668073e+02] [-9.70454157e-02 9.95276102e-01 -2.76926386e-03 -2.89703223e+01] [-1.77762879e-02 1.04867133e-03 9.99841439e-01 -4.53849333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:317.70, Y:-28.97, Z:-4.54 [[ 9.95385772e-01 9.39318355e-02 1.95953010e-02 3.17695422e+02] [-9.38892530e-02 9.95577871e-01 -3.08391890e-03 -2.89730149e+01] [-1.97983262e-02 1.22990083e-03 9.99803237e-01 -4.53877685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.085898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:317.72, Y:-28.98, Z:-4.54 [[ 9.95490628e-01 9.25362261e-02 2.08675824e-02 3.17723757e+02] [-9.24876604e-02 9.95708420e-01 -3.28261738e-03 -2.89755092e+01] [-2.10817885e-02 1.33782096e-03 9.99776859e-01 -4.53874196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:317.75, Y:-28.98, Z:-4.54 [[ 9.95560726e-01 9.15270807e-02 2.19461803e-02 3.17752817e+02] [-9.14731431e-02 9.95801563e-01 -3.45123076e-03 -2.89774462e+01] [-2.21699217e-02 1.42842371e-03 9.99753197e-01 -4.53856313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.78, Y:-28.98, Z:-4.54 [[ 9.95618562e-01 9.07073003e-02 2.27126541e-02 3.17781140e+02] [-9.06493400e-02 9.95876472e-01 -3.57072395e-03 -2.89788342e+01] [-2.29428885e-02 1.49619194e-03 9.99735658e-01 -4.53891375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:317.81, Y:-28.98, Z:-4.54 [[ 9.95779073e-01 8.88222793e-02 2.31222771e-02 3.17809148e+02] [-8.87617389e-02 9.96046259e-01 -3.63359324e-03 -2.89770304e+01] [-2.33536016e-02 1.56588259e-03 9.99726041e-01 -4.53984780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.205898227 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:317.84, Y:-28.98, Z:-4.54 [[ 9.95895757e-01 8.73900482e-02 2.35503892e-02 3.17838493e+02] [-8.73268782e-02 9.96172841e-01 -3.69952408e-03 -2.89785794e+01] [-2.37835597e-02 1.62775836e-03 9.99715806e-01 -4.54023912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:317.87, Y:-28.98, Z:-4.54 [[ 9.96036423e-01 8.56741250e-02 2.39037149e-02 3.17867256e+02] [-8.56085790e-02 9.96321775e-01 -3.75395546e-03 -2.89800095e+01] [-2.41374085e-02 1.69271331e-03 9.99707217e-01 -4.54047885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.90, Y:-28.98, Z:-4.54 [[ 9.96364029e-01 8.17749631e-02 2.39076695e-02 3.17897395e+02] [-8.17083044e-02 9.96649218e-01 -3.75350758e-03 -2.89796481e+01] [-2.41345030e-02 1.78640480e-03 9.99707124e-01 -4.54067836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:317.93, Y:-28.98, Z:-4.54 [[ 9.96515928e-01 7.98763533e-02 2.39952888e-02 3.17926280e+02] [-7.98086712e-02 9.96803084e-01 -3.76670593e-03 -2.89822741e+01] [-2.42194486e-02 1.83855034e-03 9.99704976e-01 -4.54257593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.325898227 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:317.96, Y:-28.98, Z:-4.54 [[ 9.96790077e-01 7.66655282e-02 2.30638123e-02 3.17956089e+02] [-7.66021638e-02 9.97055167e-01 -3.61970601e-03 -2.89821993e+01] [-2.32733999e-02 1.84134911e-03 9.99727442e-01 -4.54408244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35589822699995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:317.99, Y:-28.98, Z:-4.54 [[ 9.96864189e-01 7.59039752e-02 2.23690669e-02 3.17985480e+02] [-7.58441918e-02 9.97113503e-01 -3.51019646e-03 -2.89837227e+01] [-2.25709365e-02 1.80262535e-03 9.99743619e-01 -4.54409300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.385898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:318.01, Y:-28.99, Z:-4.55 [[ 9.96881828e-01 7.58666752e-02 2.16995267e-02 3.18013904e+02] [-7.58104196e-02 9.97116437e-01 -3.40464902e-03 -2.89854572e+01] [-2.18952541e-02 1.74898252e-03 9.99758740e-01 -4.54522830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:318.04, Y:-28.99, Z:-4.55 [[ 9.96841692e-01 7.70160681e-02 1.93692251e-02 3.18042645e+02] [-7.69714691e-02 9.97028665e-01 -3.03874315e-03 -2.89851891e+01] [-1.95457046e-02 1.53826816e-03 9.99807781e-01 -4.54685960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.445898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:318.07, Y:-28.99, Z:-4.55 [[ 9.96812165e-01 7.76492162e-02 1.83332417e-02 3.18071558e+02] [-7.76093814e-02 9.96979697e-01 -2.87546358e-03 -2.89875933e+01] [-1.85011472e-02 1.44346553e-03 9.99827797e-01 -4.54780586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.10, Y:-28.99, Z:-4.55 [[ 9.96762833e-01 7.83679068e-02 1.79534639e-02 3.18098938e+02] [-7.83298343e-02 9.96923524e-01 -2.81518363e-03 -2.89899085e+01] [-1.81188505e-02 1.39977856e-03 9.99834860e-01 -4.54916889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.505898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:318.13, Y:-28.99, Z:-4.55 [[ 9.96713514e-01 7.90050158e-02 1.78991227e-02 3.18127732e+02] [-7.89672976e-02 9.96873259e-01 -2.80544355e-03 -2.89925230e+01] [-1.80648009e-02 1.38277815e-03 9.99835862e-01 -4.54983000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.16, Y:-28.99, Z:-4.55 [[ 9.96561806e-01 8.07775075e-02 1.84271828e-02 3.18155495e+02] [-8.07378466e-02 9.96731189e-01 -2.88741268e-03 -2.89932786e+01] [-1.86001859e-02 1.38971414e-03 9.99826036e-01 -4.55064626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:318.18, Y:-29.00, Z:-4.55 [[ 9.96468956e-01 8.17886254e-02 1.89800135e-02 3.18184357e+02] [-8.17467543e-02 9.96648700e-01 -2.97282794e-03 -2.89953329e+01] [-1.91595493e-02 1.41077625e-03 9.99815444e-01 -4.55127680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:318.21, Y:-29.00, Z:-4.55 [[ 9.96343812e-01 8.30463049e-02 2.00579129e-02 3.18213711e+02] [-8.29998095e-02 9.96544613e-01 -3.14096083e-03 -2.89973154e+01] [-2.02494503e-02 1.46467394e-03 9.99793886e-01 -4.55153994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.625898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:318.24, Y:-29.00, Z:-4.55 [[ 9.96110704e-01 8.49415737e-02 2.34178366e-02 3.18243606e+02] [-8.48787440e-02 9.96384545e-01 -3.66582830e-03 -2.89954806e+01] [-2.36445517e-02 1.66389425e-03 9.99719044e-01 -4.54997398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65589822699997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:318.27, Y:-29.00, Z:-4.55 [[ 9.96088379e-01 8.48225812e-02 2.47602687e-02 3.18272938e+02] [-8.47523336e-02 9.96394514e-01 -3.87475564e-03 -2.89960025e+01] [-2.49996626e-02 1.76110851e-03 9.99685908e-01 -4.54993815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.685898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.30, Y:-29.00, Z:-4.55 [[ 9.96130587e-01 8.39861327e-02 2.58878836e-02 3.18300697e+02] [-8.39090917e-02 9.96465184e-01 -4.04993888e-03 -2.89979157e+01] [-2.61365134e-02 1.86203919e-03 9.99656649e-01 -4.55104113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:318.33, Y:-29.00, Z:-4.55 [[ 9.96302578e-01 8.18296851e-02 2.61739515e-02 3.18328107e+02] [-8.17502346e-02 9.96644443e-01 -4.09305946e-03 -2.90005343e+01] [-2.64210571e-02 1.93819902e-03 9.99649024e-01 -4.55187297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.36, Y:-29.00, Z:-4.55 [[ 9.96909000e-01 7.45264599e-02 2.48646840e-02 3.18357002e+02] [-7.44525359e-02 9.97216983e-01 -3.88697309e-03 -2.90031956e+01] [-2.50851675e-02 2.02371967e-03 9.99683269e-01 -4.55337513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:318.39, Y:-29.01, Z:-4.55 [[ 9.97179549e-01 7.09059424e-02 2.46027431e-02 3.18385991e+02] [-7.08325006e-02 9.97480814e-01 -3.84494073e-03 -2.90066257e+01] [-2.48133934e-02 2.09142244e-03 9.99689913e-01 -4.55458252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80589822699994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:318.42, Y:-29.01, Z:-4.56 [[ 9.97378871e-01 6.81096082e-02 2.44227220e-02 3.18415388e+02] [-6.80364323e-02 9.97675541e-01 -3.81571459e-03 -2.90105784e+01] [-2.46258392e-02 2.14407823e-03 9.99694439e-01 -4.55536382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.835898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.44, Y:-29.02, Z:-4.56 [[ 9.97606184e-01 6.49257999e-02 2.38021487e-02 3.18444472e+02] [-6.48554101e-02 9.97887744e-01 -3.71823108e-03 -2.90157704e+01] [-2.39932816e-02 2.16563221e-03 9.99709774e-01 -4.55591594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86589822699995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:318.47, Y:-29.02, Z:-4.56 [[ 9.97642423e-01 6.43305527e-02 2.38992825e-02 3.18472792e+02] [-6.42594307e-02 9.97926245e-01 -3.73286503e-03 -2.90212299e+01] [-2.40898585e-02 2.18831022e-03 9.99707402e-01 -4.55656556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.895898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:318.50, Y:-29.03, Z:-4.56 [[ 9.97654526e-01 6.45780148e-02 2.26964227e-02 3.18500877e+02] [-6.45139534e-02 9.97910511e-01 -3.54426480e-03 -2.90275406e+01] [-2.28778804e-02 2.07171586e-03 9.99736120e-01 -4.55780273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.53, Y:-29.03, Z:-4.56 [[ 9.97606791e-01 6.55997017e-02 2.18487897e-02 3.18528919e+02] [-6.55405947e-02 9.97844073e-01 -3.41122583e-03 -2.90327095e+01] [-2.20254607e-02 1.97107938e-03 9.99755467e-01 -4.55852194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.955898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:318.56, Y:-29.04, Z:-4.56 [[ 9.97502526e-01 6.72816803e-02 2.14915417e-02 3.18555955e+02] [-6.72248983e-02 9.97732209e-01 -3.35451152e-03 -2.90376207e+01] [-2.16685005e-02 1.90136700e-03 9.99763402e-01 -4.55921406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:318.58, Y:-29.04, Z:-4.56 [[ 9.97200727e-01 7.19599827e-02 2.03093777e-02 3.18583260e+02] [-7.19102640e-02 9.97406072e-01 -3.16879176e-03 -2.90444272e+01] [-2.04847228e-02 1.69946873e-03 9.99788722e-01 -4.56028053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.015898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.61, Y:-29.05, Z:-4.56 [[ 9.97059922e-01 7.41792914e-02 1.92079449e-02 3.18611665e+02] [-7.41352496e-02 9.97243696e-01 -2.99587240e-03 -2.90500466e+01] [-1.93772337e-02 1.56307850e-03 9.99811022e-01 -4.56081045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.64, Y:-29.06, Z:-4.56 [[ 9.96911030e-01 7.62567132e-02 1.87965920e-02 3.18638791e+02] [-7.62149195e-02 9.97087105e-01 -2.93093438e-03 -2.90553707e+01] [-1.89653430e-02 1.48930007e-03 9.99819033e-01 -4.56193436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.67, Y:-29.06, Z:-4.56 [[ 9.96526161e-01 8.10492999e-02 1.91473865e-02 3.18667329e+02] [-8.10068331e-02 9.96709078e-01 -2.98445803e-03 -2.90616185e+01] [-1.93262622e-02 1.42302136e-03 9.99812218e-01 -4.56254690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.70, Y:-29.07, Z:-4.56 [[ 9.96306394e-01 8.36900203e-02 1.92236676e-02 3.18695872e+02] [-8.36477205e-02 9.96490886e-01 -2.99545865e-03 -2.90673100e+01] [-1.94068995e-02 1.37637864e-03 9.99810721e-01 -4.56338993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.135898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.72, Y:-29.07, Z:-4.56 [[ 9.96087397e-01 8.62583782e-02 1.92195338e-02 3.18723089e+02] [-8.62165884e-02 9.96271919e-01 -2.99397980e-03 -2.90727198e+01] [-1.94061377e-02 1.32522291e-03 9.99810805e-01 -4.56478087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16589822699996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:318.75, Y:-29.08, Z:-4.57 [[ 9.95937757e-01 8.81176097e-02 1.85275662e-02 3.18751108e+02] [-8.80791155e-02 9.96109304e-01 -2.88511079e-03 -2.90775945e+01] [-1.87097101e-02 1.24149912e-03 9.99824187e-01 -4.56551371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.195898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.78, Y:-29.08, Z:-4.57 [[ 9.95811620e-01 8.95838459e-02 1.82743784e-02 3.18778693e+02] [-8.95466563e-02 9.95978565e-01 -2.84493760e-03 -2.90826146e+01] [-1.84557497e-02 1.19661244e-03 9.99828962e-01 -4.56627243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.81, Y:-29.09, Z:-4.57 [[ 9.95708367e-01 9.06628793e-02 1.85765969e-02 3.18806053e+02] [-9.06246581e-02 9.95880924e-01 -2.89082473e-03 -2.90894885e+01] [-1.87621690e-02 1.19492063e-03 9.99823261e-01 -4.56612838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.255898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:318.83, Y:-29.10, Z:-4.57 [[ 9.95702418e-01 9.06142290e-02 1.91247797e-02 3.18833577e+02] [-9.05737375e-02 9.95885309e-01 -2.97468104e-03 -2.90962213e+01] [-1.93156356e-02 1.22969433e-03 9.99812679e-01 -4.56692657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28589822699996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:318.86, Y:-29.11, Z:-4.57 [[ 9.95590400e-01 9.12013832e-02 2.19559543e-02 3.18859624e+02] [-9.11935776e-02 9.95832258e-01 -1.35858204e-03 -2.91067774e+01] [-2.19883521e-02 -6.49650787e-04 9.99758016e-01 -4.56728107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:-29.11, Z:-4.57 [[ 9.95510417e-01 9.21645743e-02 2.15569387e-02 3.18886780e+02] [-9.20685683e-02 9.95737991e-01 -5.40657830e-03 -2.91114986e+01] [-2.19633578e-02 3.39758854e-03 9.99753003e-01 -4.56640031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.92, Y:-29.12, Z:-4.57 [[ 9.95374268e-01 9.35226683e-02 2.19903859e-02 3.18915024e+02] [-9.34699275e-02 9.95616242e-01 -3.41634848e-03 -2.91181058e+01] [-2.22134914e-02 1.34510559e-03 9.99752345e-01 -4.56703762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.375898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.94, Y:-29.12, Z:-4.57 [[ 9.95243776e-01 9.50680983e-02 2.12575193e-02 3.18942867e+02] [-9.50191855e-02 9.95469966e-01 -3.30159037e-03 -2.91231527e+01] [-2.14750979e-02 1.26601510e-03 9.99768582e-01 -4.56700164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:318.97, Y:-29.13, Z:-4.57 [[ 9.94956309e-01 9.83737606e-02 1.96098377e-02 3.18970821e+02] [-9.83327981e-02 9.95148929e-01 -3.04462522e-03 -2.91278503e+01] [-1.98142202e-02 1.10097886e-03 9.99803073e-01 -4.56743541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.00, Y:-29.13, Z:-4.57 [[ 9.94855585e-01 9.93674820e-02 1.97096035e-02 3.18997510e+02] [-9.93263094e-02 9.95050212e-01 -3.05944250e-03 -2.91312889e+01] [-1.99160542e-02 1.08602128e-03 9.99801066e-01 -4.56781629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:319.02, Y:-29.13, Z:-4.57 [[ 9.94773660e-01 1.00029726e-01 2.04797345e-02 3.19024011e+02] [-9.99854564e-02 9.94983827e-01 -3.17686001e-03 -2.91344983e+01] [-2.06947851e-02 1.11258106e-03 9.99785221e-01 -4.56794312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49589822699994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:319.05, Y:-29.14, Z:-4.57 [[ 9.94723425e-01 1.00051899e-01 2.26919616e-02 3.19052094e+02] [-9.99976095e-02 9.94981460e-01 -3.51752570e-03 -2.91366273e+01] [-2.29300162e-02 1.22982329e-03 9.99736316e-01 -4.56924598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:319.08, Y:-29.14, Z:-4.57 [[ 9.94776327e-01 9.94788556e-02 2.28913939e-02 3.19079793e+02] [-9.94234935e-02 9.95038888e-01 -3.54684498e-03 -2.91390755e+01] [-2.31306632e-02 1.25237507e-03 9.99731666e-01 -4.56950282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.11, Y:-29.14, Z:-4.57 [[ 9.94988742e-01 9.74730182e-02 2.22803441e-02 3.19107955e+02] [-9.74200990e-02 9.95237366e-01 -3.45094255e-03 -2.91391202e+01] [-2.25106047e-02 1.26309566e-03 9.99745806e-01 -4.57002983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.14, Y:-29.14, Z:-4.57 [[ 9.95138457e-01 9.60808936e-02 2.16313134e-02 3.19136416e+02] [-9.60307114e-02 9.95372737e-01 -3.34922099e-03 -2.91411999e+01] [-2.18530157e-02 1.25566820e-03 9.99760406e-01 -4.57012564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.16, Y:-29.14, Z:-4.57 [[ 9.95259643e-01 9.47741677e-02 2.18197133e-02 3.19164320e+02] [-9.47228283e-02 9.95497957e-01 -3.37685515e-03 -2.91437216e+01] [-2.20415186e-02 1.29402270e-03 9.99756219e-01 -4.57064220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.19, Y:-29.15, Z:-4.57 [[ 9.95425464e-01 9.28264385e-02 2.26141123e-02 3.19191719e+02] [-9.27708304e-02 9.95681343e-01 -3.49808342e-03 -2.91456910e+01] [-2.28411643e-02 1.38415134e-03 9.99738148e-01 -4.57177759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.22, Y:-29.15, Z:-4.57 [[ 9.95756231e-01 8.88772218e-02 2.38823694e-02 3.19220952e+02] [-8.88141050e-02 9.96041374e-01 -3.69274856e-03 -2.91455125e+01] [-2.41160292e-02 1.55598612e-03 9.99707955e-01 -4.57236375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.25, Y:-29.15, Z:-4.57 [[ 9.95888397e-01 8.73788987e-02 2.39004004e-02 3.19249718e+02] [-8.73152834e-02 9.96173877e-01 -3.69444178e-03 -2.91475631e+01] [-2.41317707e-02 1.59238147e-03 9.99707518e-01 -4.57269797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:319.28, Y:-29.15, Z:-4.57 [[ 9.96037149e-01 8.58256944e-02 2.33227000e-02 3.19278135e+02] [-8.57647188e-02 9.96308900e-01 -3.60409063e-03 -2.91494722e+01] [-2.35459372e-02 1.58954335e-03 9.99721492e-01 -4.57313201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.31, Y:-29.15, Z:-4.57 [[ 9.96344138e-01 8.29457466e-02 2.04539088e-02 3.19306647e+02] [-8.28982633e-02 9.96553005e-01 -3.16000210e-03 -2.91500546e+01] [-2.06455130e-02 1.45285605e-03 9.99785803e-01 -4.57461284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:319.34, Y:-29.15, Z:-4.58 [[ 9.96506590e-01 8.13277579e-02 1.89845409e-02 3.19335515e+02] [-8.12865808e-02 9.96686458e-01 -2.93194018e-03 -2.91527618e+01] [-1.91600829e-02 1.37850929e-03 9.99815478e-01 -4.57539482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.825898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:319.36, Y:-29.16, Z:-4.58 [[ 9.96651165e-01 7.97363926e-02 1.81263166e-02 3.19363494e+02] [-7.96986062e-02 9.96815078e-01 -2.79867916e-03 -2.91558589e+01] [-1.82917422e-02 1.34466468e-03 9.99831788e-01 -4.57688819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.39, Y:-29.16, Z:-4.58 [[ 9.96877295e-01 7.68004461e-02 1.83670894e-02 3.19391482e+02] [-7.67611744e-02 9.97045479e-01 -2.83472456e-03 -2.91602020e+01] [-1.85305315e-02 1.41599320e-03 9.99827292e-01 -4.57845200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.42, Y:-29.16, Z:-4.58 [[ 9.96879884e-01 7.67668077e-02 1.83672273e-02 3.19420467e+02] [-7.67275467e-02 9.97048070e-01 -2.83383057e-03 -2.91645967e+01] [-1.85305526e-02 1.41571640e-03 9.99827292e-01 -4.57916802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.45, Y:-29.17, Z:-4.58 [[ 9.96963927e-01 7.56250151e-02 1.85414353e-02 3.19448559e+02] [-7.55848204e-02 9.97135274e-01 -2.86012452e-03 -2.91695763e+01] [-1.87046162e-02 1.44998991e-03 9.99824002e-01 -4.58008128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.945898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:319.48, Y:-29.17, Z:-4.58 [[ 9.97038756e-01 7.47995986e-02 1.78532407e-02 3.19477166e+02] [-7.47622152e-02 9.97197589e-01 -2.75318631e-03 -2.91741832e+01] [-1.80091458e-02 1.41028564e-03 9.99836828e-01 -4.58072797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.50, Y:-29.18, Z:-4.58 [[ 9.97000422e-01 7.57604025e-02 1.58278182e-02 3.19504852e+02] [-7.57311494e-02 9.97125287e-01 -2.44033246e-03 -2.91800563e+01] [-1.59671983e-02 1.23435363e-03 9.99871754e-01 -4.58168242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.53, Y:-29.19, Z:-4.58 [[ 9.96945161e-01 7.65542253e-02 1.54853946e-02 3.19532222e+02] [-7.65263325e-02 9.97064704e-01 -2.38671588e-03 -2.91850090e+01] [-1.56226536e-02 1.19438439e-03 9.99877246e-01 -4.58180896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.56, Y:-29.19, Z:-4.58 [[ 9.96774763e-01 7.85910983e-02 1.62330117e-02 3.19560402e+02] [-7.85607348e-02 9.96906193e-01 -2.50075332e-03 -2.91892588e+01] [-1.63793269e-02 1.21741047e-03 9.99865109e-01 -4.58139942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.065898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:319.59, Y:-29.19, Z:-4.58 [[ 9.96687110e-01 7.95332667e-02 1.70077736e-02 3.19587887e+02] [-7.95000845e-02 9.96831418e-01 -2.61936288e-03 -2.91912171e+01] [-1.71622096e-02 1.25856578e-03 9.99851926e-01 -4.58133561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.62, Y:-29.19, Z:-4.58 [[ 9.96590374e-01 8.04949628e-02 1.81159291e-02 3.19615848e+02] [-8.04574935e-02 9.96754139e-01 -2.78891542e-03 -2.91940300e+01] [-1.82816210e-02 1.32184402e-03 9.99832003e-01 -4.58226215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:-29.20, Z:-4.58 [[ 9.96598745e-01 8.02505634e-02 1.87293616e-02 3.19644893e+02] [-8.02104921e-02 9.96773781e-01 -2.88219858e-03 -2.91969062e+01] [-1.89002346e-02 1.37010417e-03 9.99820436e-01 -4.58303160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15589822699997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:319.67, Y:-29.20, Z:-4.58 [[ 9.96792555e-01 7.77967425e-02 1.87688568e-02 3.19674108e+02] [-7.77560854e-02 9.96968231e-01 -2.88742699e-03 -2.91996455e+01] [-1.89365864e-02 1.41877289e-03 9.99819680e-01 -4.58445699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.70, Y:-29.20, Z:-4.59 [[ 9.96862180e-01 7.68468418e-02 1.89830622e-02 3.19701817e+02] [-7.68050956e-02 9.97041851e-01 -2.91956869e-03 -2.92030170e+01] [-1.91512671e-02 1.45241170e-03 9.99815543e-01 -4.58506895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.73, Y:-29.21, Z:-4.59 [[ 9.96909282e-01 7.61605701e-02 1.92730621e-02 3.19729538e+02] [-7.61174324e-02 9.97094457e-01 -2.96307060e-03 -2.92057176e+01] [-1.94427325e-02 1.48689658e-03 9.99809867e-01 -4.58600684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.76, Y:-29.21, Z:-4.59 [[ 9.96930166e-01 7.57697138e-02 1.97280307e-02 3.19757811e+02] [-7.57244622e-02 9.97124172e-01 -3.03185379e-03 -2.92088022e+01] [-1.99010190e-02 1.52865198e-03 9.99800786e-01 -4.58663787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.79, Y:-29.21, Z:-4.59 [[ 9.96895113e-01 7.60444584e-02 2.04297265e-02 3.19785987e+02] [-7.59960065e-02 9.97103182e-01 -3.13875528e-03 -2.92108424e+01] [-2.06092303e-02 1.57643217e-03 9.99786364e-01 -4.58692206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.81, Y:-29.21, Z:-4.59 [[ 9.96942005e-01 7.56516104e-02 1.95824459e-02 3.19813252e+02] [-7.56070405e-02 9.97133156e-01 -3.00751242e-03 -2.92138409e+01] [-1.97538292e-02 1.51774469e-03 9.99803722e-01 -4.58752115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.335898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:319.84, Y:-29.22, Z:-4.59 [[ 9.97008977e-01 7.50103656e-02 1.86157255e-02 3.19842152e+02] [-7.49699964e-02 9.97181694e-01 -2.85801713e-03 -2.92172726e+01] [-1.87776416e-02 1.45384786e-03 9.99822628e-01 -4.58832460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.87, Y:-29.22, Z:-4.59 [[ 9.97032703e-01 7.50297770e-02 1.72140074e-02 3.19870971e+02] [-7.49952742e-02 9.97180389e-01 -2.64210826e-03 -2.92220277e+01] [-1.73637074e-02 1.34329913e-03 9.99848337e-01 -4.58854824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:-29.23, Z:-4.59 [[ 9.96973810e-01 7.56933915e-02 1.77124800e-02 3.19898052e+02] [-7.56569792e-02 9.97130200e-01 -2.71784340e-03 -2.92264122e+01] [-1.78673715e-02 1.36954596e-03 9.99839428e-01 -4.58900617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.93, Y:-29.23, Z:-4.59 [[ 9.96795633e-01 7.79474870e-02 1.79626255e-02 3.19926904e+02] [-7.79104227e-02 9.96956556e-01 -2.75511426e-03 -2.92314236e+01] [-1.81227115e-02 1.34681012e-03 9.99834863e-01 -4.58917039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.95, Y:-29.24, Z:-4.59 [[ 9.96707625e-01 7.92013718e-02 1.73509040e-02 3.19954294e+02] [-7.91669903e-02 9.96857818e-01 -2.66060235e-03 -2.92353889e+01] [-1.75071077e-02 1.27822380e-03 9.99845922e-01 -4.59061218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.98, Y:-29.24, Z:-4.59 [[ 9.96631010e-01 8.03792896e-02 1.63033543e-02 3.19981553e+02] [-8.03491055e-02 9.96763651e-01 -2.49912014e-03 -2.92390356e+01] [-1.64514685e-02 1.18074070e-03 9.99863968e-01 -4.59144758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.01, Y:-29.24, Z:-4.59 [[ 9.96440435e-01 8.28810650e-02 1.54009037e-02 3.20009807e+02] [-8.28544383e-02 9.96558865e-01 -2.36009379e-03 -2.92425046e+01] [-1.55435142e-02 1.07565966e-03 9.99878614e-01 -4.59209717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.04, Y:-29.25, Z:-4.59 [[ 9.96331566e-01 8.42655541e-02 1.49240116e-02 3.20036716e+02] [-8.42407186e-02 9.96442811e-01 -2.28614032e-03 -2.92462887e+01] [-1.50635669e-02 1.02054430e-03 9.99886017e-01 -4.59279102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.06, Y:-29.25, Z:-4.59 [[ 9.96254471e-01 8.53068691e-02 1.41338678e-02 3.20064812e+02] [-8.52847143e-02 9.96354272e-01 -2.16398367e-03 -2.92496977e+01] [-1.42669423e-02 9.50475527e-04 9.99897770e-01 -4.59307467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:-29.25, Z:-4.59 [[ 9.96214317e-01 8.57870510e-02 1.40575799e-02 3.20091478e+02] [-8.57651945e-02 9.96313055e-01 -2.15144492e-03 -2.92525532e+01] [-1.41903165e-02 9.37649154e-04 9.99898873e-01 -4.59381638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:-29.26, Z:-4.60 [[ 9.96277615e-01 8.49358140e-02 1.47248268e-02 3.20119180e+02] [-8.49117619e-02 9.96385930e-01 -2.25214063e-03 -2.92551119e+01] [-1.48628976e-02 9.93446309e-04 9.99889048e-01 -4.59592125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:-29.26, Z:-4.60 [[ 9.96365143e-01 8.38731220e-02 1.48930071e-02 3.20146924e+02] [-8.38484143e-02 9.96475920e-01 -2.27684889e-03 -2.92590803e+01] [-1.50314894e-02 1.01981784e-03 9.99886501e-01 -4.59653885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:-29.26, Z:-4.60 [[ 9.96451702e-01 8.28277220e-02 1.49524072e-02 3.20174504e+02] [-8.28027148e-02 9.96563339e-01 -2.28492458e-03 -2.92630713e+01] [-1.50902759e-02 1.03871708e-03 9.99885596e-01 -4.59701375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.20, Y:-29.27, Z:-4.60 [[ 9.96610017e-01 8.03477415e-02 1.76837274e-02 3.20202439e+02] [-8.03124005e-02 9.96766083e-01 -2.70082497e-03 -2.92672201e+01] [-1.78435449e-02 1.27144663e-03 9.99839983e-01 -4.59793172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.23, Y:-29.27, Z:-4.60 [[ 9.96704281e-01 7.87897951e-02 1.93065825e-02 3.20230005e+02] [-7.87474084e-02 9.96890245e-01 -2.94713248e-03 -2.92714143e+01] [-1.94787477e-02 1.41707623e-03 9.99809267e-01 -4.59807835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.26, Y:-29.28, Z:-4.60 [[ 9.96830862e-01 7.67162408e-02 2.10440103e-02 3.20257836e+02] [-7.66654493e-02 9.97051703e-01 -3.21101516e-03 -2.92751290e+01] [-2.12283033e-02 1.58749051e-03 9.99773394e-01 -4.59877495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.29, Y:-29.28, Z:-4.60 [[ 9.97141271e-01 7.21492032e-02 2.24450051e-02 3.20286428e+02] [-7.20903032e-02 9.97392234e-01 -3.42341024e-03 -2.92778429e+01] [-2.26334701e-02 1.79555641e-03 9.99742218e-01 -4.59895609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.31, Y:-29.28, Z:-4.60 [[ 9.97299225e-01 6.96845365e-02 2.32017710e-02 3.20314676e+02] [-6.96209586e-02 9.97567244e-01 -3.53779103e-03 -2.92815751e+01] [-2.33918561e-02 1.91290672e-03 9.99724543e-01 -4.59924008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.34, Y:-29.28, Z:-4.60 [[ 9.97586223e-01 6.47766254e-02 2.50143282e-02 3.20342170e+02] [-6.47012209e-02 9.97897396e-01 -3.81298738e-03 -2.92848937e+01] [-2.52087255e-02 2.18532611e-03 9.99679821e-01 -4.59948551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.37, Y:-29.29, Z:-4.60 [[ 9.97711175e-01 6.27405292e-02 2.52197611e-02 3.20370192e+02] [-6.26632700e-02 9.98027328e-01 -3.84293560e-03 -2.92892877e+01] [-2.54111186e-02 2.25378710e-03 9.99674545e-01 -4.59988837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.40, Y:-29.29, Z:-4.60 [[ 9.97824892e-01 6.10535286e-02 2.48586478e-02 3.20397418e+02] [-6.09779758e-02 9.98131929e-01 -3.78677538e-03 -2.92936707e+01] [-2.50434060e-02 2.26270871e-03 9.99683804e-01 -4.60071322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.43, Y:-29.30, Z:-4.60 [[ 9.97971609e-01 5.91712276e-02 2.34826167e-02 3.20426009e+02] [-5.91033234e-02 9.98245466e-01 -3.57587646e-03 -2.92987444e+01] [-2.36530046e-02 2.18072250e-03 9.99717850e-01 -4.60197540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.45, Y:-29.31, Z:-4.60 [[ 9.98353622e-01 5.37232878e-02 2.00961327e-02 3.20454939e+02] [-5.36724744e-02 9.98553906e-01 -3.05977856e-03 -2.93068616e+01] [-2.02314532e-02 1.97613183e-03 9.99793370e-01 -4.60343727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.48, Y:-29.31, Z:-4.60 [[ 9.98553882e-01 5.02821357e-02 1.90223846e-02 3.20482395e+02] [-5.02359962e-02 9.98733177e-01 -2.89596008e-03 -2.93138323e+01] [-1.91439016e-02 1.93616374e-03 9.99814864e-01 -4.60451167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.51, Y:-29.32, Z:-4.61 [[ 9.98708655e-01 4.72751841e-02 1.86032012e-02 3.20511494e+02] [-4.72305520e-02 9.98880002e-01 -2.83149415e-03 -2.93213535e+01] [-1.87162250e-02 1.94919825e-03 9.99822936e-01 -4.60522817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.54, Y:-29.33, Z:-4.61 [[ 9.98794813e-01 4.53305440e-02 1.88165730e-02 3.20539447e+02] [-4.52845486e-02 9.98970024e-01 -2.86356160e-03 -2.93286244e+01] [-1.89269992e-02 2.00801046e-03 9.99818852e-01 -4.60556863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.57, Y:-29.34, Z:-4.61 [[ 9.98713574e-01 4.69827436e-02 1.90740407e-02 3.20567697e+02] [-4.69357874e-02 9.98893692e-01 -2.90228567e-03 -2.93399695e+01] [-1.91892962e-02 2.00329698e-03 9.99813862e-01 -4.60548248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.60, Y:-29.35, Z:-4.61 [[ 9.98594899e-01 4.96109166e-02 1.86275393e-02 3.20596260e+02] [-4.95665938e-02 9.98766801e-01 -2.83390378e-03 -2.93479476e+01] [-1.87451604e-02 1.90661818e-03 9.99822476e-01 -4.60672803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.62, Y:-29.36, Z:-4.61 [[ 9.98288764e-01 5.59435915e-02 1.70252438e-02 3.20624542e+02] [-5.59074797e-02 9.98432594e-01 -2.59006038e-03 -2.93579903e+01] [-1.71434556e-02 1.63378970e-03 9.99851705e-01 -4.60766520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.65, Y:-29.37, Z:-4.61 [[ 9.98146806e-01 5.86760553e-02 1.61267866e-02 3.20652668e+02] [-5.86440104e-02 9.98275945e-01 -2.45323676e-03 -2.93650186e+01] [-1.62429294e-02 1.50295100e-03 9.99866945e-01 -4.60877146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.68, Y:-29.37, Z:-4.61 [[ 9.98020945e-01 6.07623849e-02 1.61903253e-02 3.20679615e+02] [-6.07303696e-02 9.98151171e-01 -2.46225908e-03 -2.93723962e+01] [-1.63100049e-02 1.47414169e-03 9.99865896e-01 -4.60973365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.71, Y:-29.38, Z:-4.61 [[ 9.97895183e-01 6.25415293e-02 1.71394524e-02 3.20707117e+02] [-6.25059292e-02 9.98041192e-01 -2.60549325e-03 -2.93802154e+01] [-1.72688310e-02 1.52869176e-03 9.99849714e-01 -4.61042825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.73, Y:-29.39, Z:-4.61 [[ 9.97638546e-01 6.57878177e-02 1.97305431e-02 3.20733794e+02] [-6.57412878e-02 9.97832197e-01 -2.99839361e-03 -2.93919968e+01] [-1.98850289e-02 1.69420173e-03 9.99800838e-01 -4.61030915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.325898227 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:320.76, Y:-29.40, Z:-4.61 [[ 9.97504707e-01 6.77535891e-02 1.98446823e-02 3.20762199e+02] [-6.77069310e-02 9.97700699e-01 -3.01445199e-03 -2.93994351e+01] [-2.00032933e-02 1.66330752e-03 9.99798531e-01 -4.61033550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.79, Y:-29.41, Z:-4.61 [[ 9.97164324e-01 7.27564768e-02 1.92303496e-02 3.20789592e+02] [-7.27136027e-02 9.97348587e-01 -2.92032248e-03 -2.94111757e+01] [-1.93918344e-02 1.51373339e-03 9.99810815e-01 -4.61309670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.82, Y:-29.42, Z:-4.61 [[ 9.97002432e-01 7.50073915e-02 1.89747858e-02 3.20816537e+02] [-7.49660701e-02 9.97181924e-01 -2.88070829e-03 -2.94178769e+01] [-1.91373878e-02 1.44960805e-03 9.99815813e-01 -4.61323482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.84, Y:-29.42, Z:-4.61 [[ 9.96813378e-01 7.73601569e-02 1.94549622e-02 3.20844384e+02] [-7.73171866e-02 9.97002175e-01 -2.95239352e-03 -2.94237331e+01] [-1.96250373e-02 1.43878241e-03 9.99806375e-01 -4.61337170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.87, Y:-29.43, Z:-4.61 [[ 9.96617384e-01 7.97234996e-02 1.99487944e-02 3.20871541e+02] [-7.96788088e-02 9.96815995e-01 -3.02642914e-03 -2.94289145e+01] [-2.01265549e-02 1.42669572e-03 9.99796422e-01 -4.61291850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.90, Y:-29.43, Z:-4.61 [[ 9.96183935e-01 8.48176191e-02 2.05800800e-02 3.20899725e+02] [-8.47711623e-02 9.96395559e-01 -3.12092644e-03 -2.94344297e+01] [-2.07706098e-02 1.36441948e-03 9.99783337e-01 -4.61254070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.93, Y:-29.44, Z:-4.61 [[ 9.95971962e-01 8.71620381e-02 2.10387677e-02 3.20926910e+02] [-8.71140281e-02 9.96193241e-01 -3.18952708e-03 -2.94386560e+01] [-2.12366839e-02 1.34390774e-03 9.99773573e-01 -4.61323509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.96, Y:-29.44, Z:-4.61 [[ 9.95801831e-01 8.88696927e-02 2.19292395e-02 3.20955655e+02] [-8.88179739e-02 9.96042330e-01 -3.32317871e-03 -2.94423386e+01] [-2.21377807e-02 1.36151682e-03 9.99754002e-01 -4.61364556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.98, Y:-29.44, Z:-4.61 [[ 9.95662548e-01 9.02866298e-02 2.24591979e-02 3.20983951e+02] [-9.02327632e-02 9.95914892e-01 -3.40245003e-03 -2.94439750e+01] [-2.26746454e-02 1.36113658e-03 9.99741971e-01 -4.61348098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.01, Y:-29.45, Z:-4.61 [[ 9.95709160e-01 8.99824503e-02 2.15969136e-02 3.21013030e+02] [-8.99325962e-02 9.95942484e-01 -3.27061422e-03 -2.94469358e+01] [-2.18035817e-02 1.31431403e-03 9.99761410e-01 -4.61439490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.04, Y:-29.45, Z:-4.62 [[ 9.95819241e-01 8.90685386e-02 2.02690480e-02 3.21041153e+02] [-8.90244555e-02 9.96024713e-01 -3.06871225e-03 -2.94498406e+01] [-2.04617985e-02 1.25144173e-03 9.99789852e-01 -4.61516902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.07, Y:-29.45, Z:-4.62 [[ 9.95930819e-01 8.79180641e-02 1.98044928e-02 3.21070288e+02] [-8.78757750e-02 9.96126932e-01 -2.99724264e-03 -2.94530846e+01] [-1.99913004e-02 1.24471117e-03 9.99799379e-01 -4.61651916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.10, Y:-29.46, Z:-4.62 [[ 9.96233546e-01 8.44167030e-02 1.98126946e-02 3.21097790e+02] [-8.43737061e-02 9.96429672e-01 -2.99763955e-03 -2.94557248e+01] [-1.99950076e-02 1.31467861e-03 9.99799215e-01 -4.61797432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.13, Y:-29.46, Z:-4.62 [[ 9.96413842e-01 8.23880551e-02 1.92785895e-02 3.21125980e+02] [-8.23469894e-02 9.96599454e-01 -2.91570388e-03 -2.94596140e+01] [-1.94532509e-02 1.31771390e-03 9.99809899e-01 -4.61871823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.15, Y:-29.46, Z:-4.62 [[ 9.96671985e-01 7.93041675e-02 1.88627342e-02 3.21154585e+02] [-7.92643204e-02 9.96849554e-01 -2.85199509e-03 -2.94625031e+01] [-1.90294833e-02 1.34736180e-03 9.99818015e-01 -4.61963206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.18, Y:-29.47, Z:-4.62 [[ 9.96764058e-01 7.81613888e-02 1.87672563e-02 3.21181943e+02] [-7.81217573e-02 9.96939789e-01 -2.83678311e-03 -2.94656403e+01] [-1.89315515e-02 1.36147241e-03 9.99819855e-01 -4.62062488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.21, Y:-29.47, Z:-4.62 [[ 9.96766569e-01 7.81293168e-02 1.87674285e-02 3.21210943e+02] [-7.80897011e-02 9.96942304e-01 -2.83564340e-03 -2.94699416e+01] [-1.89315903e-02 1.36093167e-03 9.99819855e-01 -4.62134093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.24, Y:-29.47, Z:-4.62 [[ 9.96881132e-01 7.67006424e-02 1.85747162e-02 3.21239254e+02] [-7.66615995e-02 9.97053221e-01 -2.80598808e-03 -2.94726250e+01] [-1.87352017e-02 1.37326911e-03 9.99823538e-01 -4.62148133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.27, Y:-29.48, Z:-4.62 [[ 9.96991741e-01 7.52201481e-02 1.86921712e-02 3.21266735e+02] [-7.51803654e-02 9.97165956e-01 -2.82297248e-03 -2.94754474e+01] [-1.88515411e-02 1.40919599e-03 9.99821301e-01 -4.62196177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.30, Y:-29.48, Z:-4.62 [[ 9.97149309e-01 7.27695056e-02 1.99462789e-02 3.21295021e+02] [-7.27237441e-02 9.97347578e-01 -3.01103598e-03 -2.94783003e+01] [-2.01124846e-02 1.55188436e-03 9.99796519e-01 -4.62290680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92589822699995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:321.32, Y:-29.48, Z:-4.62 [[ 9.97220773e-01 7.15518938e-02 2.07619006e-02 3.21323469e+02] [-7.15020726e-02 9.97435530e-01 -3.13309789e-03 -2.94820134e+01] [-2.09328364e-02 1.63987138e-03 9.99779539e-01 -4.62272137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.35, Y:-29.49, Z:-4.62 [[ 9.97273406e-01 7.06599726e-02 2.12819823e-02 3.21351890e+02] [-7.06074389e-02 9.97499013e-01 -3.21078171e-03 -2.94865289e+01] [-2.14556301e-02 1.69936094e-03 9.99768357e-01 -4.62331914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.38, Y:-29.49, Z:-4.62 [[ 9.97291858e-01 7.03615973e-02 2.14055260e-02 3.21381390e+02] [-7.03083942e-02 9.97520077e-01 -3.22892512e-03 -2.94903931e+01] [-2.15796342e-02 1.71519257e-03 9.99765661e-01 -4.62334228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.41, Y:-29.49, Z:-4.62 [[ 9.97291684e-01 7.05847080e-02 2.06662955e-02 3.21410308e+02] [-7.05351727e-02 9.97504423e-01 -3.11702009e-03 -2.94915885e+01] [-2.08347351e-02 1.65087750e-03 9.99781570e-01 -4.62317226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.44, Y:-29.49, Z:-4.62 [[ 9.97292161e-01 7.04442402e-02 2.11176590e-02 3.21438633e+02] [-7.03925002e-02 9.97514288e-01 -3.18442275e-03 -2.94941005e+01] [-2.12894908e-02 1.68927503e-03 9.99771926e-01 -4.62359525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.47, Y:-29.50, Z:-4.63 [[ 9.97164089e-01 6.98643451e-02 2.79777271e-02 3.21467392e+02] [-7.01564199e-02 9.97489842e-01 9.59648955e-03 -2.95028120e+01] [-2.72370461e-02 -1.15320919e-02 9.99562481e-01 -4.62713335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.50, Y:-29.50, Z:-4.62 [[ 9.97275590e-01 7.05117736e-02 2.16676741e-02 3.21498275e+02] [-7.01641799e-02 9.97400553e-01 -1.64049977e-02 -2.94951005e+01] [-2.27680956e-02 1.48400092e-02 9.99630626e-01 -4.62260783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.53, Y:-29.50, Z:-4.63 [[ 9.97274279e-01 7.01771225e-02 2.27856157e-02 3.21526040e+02] [-7.01168366e-02 9.97532872e-01 -3.43501085e-03 -2.95042095e+01] [-2.29704598e-02 1.82799268e-03 9.99734473e-01 -4.62505179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.56, Y:-29.51, Z:-4.63 [[ 9.97272553e-01 7.06254810e-02 2.14358913e-02 3.21555570e+02] [-7.05722454e-02 9.97501439e-01 -3.23082439e-03 -2.95082880e+01] [-2.16105110e-02 1.70923350e-03 9.99765005e-01 -4.62563400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.58, Y:-29.51, Z:-4.63 [[ 9.97206507e-01 7.15990971e-02 2.12779736e-02 3.21584340e+02] [-7.16756933e-02 9.97423895e-01 2.85823549e-03 -2.95128101e+01] [-2.10185123e-02 -4.37536454e-03 9.99769513e-01 -4.62727993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.61, Y:-29.51, Z:-4.63 [[ 9.97179195e-01 7.29139936e-02 1.78101893e-02 3.21613297e+02] [-7.27667320e-02 9.97310323e-01 -8.78189910e-03 -2.95108544e+01] [-1.84026090e-02 7.46113781e-03 9.99802818e-01 -4.62558170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.64, Y:-29.52, Z:-4.63 [[ 9.97076248e-01 7.39160058e-02 1.93747116e-02 3.21640847e+02] [-7.38731633e-02 9.97263374e-01 -2.91869268e-03 -2.95162006e+01] [-1.95374284e-02 1.47888791e-03 9.99808032e-01 -4.62713145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.67, Y:-29.52, Z:-4.63 [[ 9.96851415e-01 7.64092971e-02 2.11866795e-02 3.21669647e+02] [-7.63586532e-02 9.97075312e-01 -3.19032030e-03 -2.95186503e+01] [-2.13684852e-02 1.56248900e-03 9.99770447e-01 -4.62704663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.70, Y:-29.52, Z:-4.63 [[ 9.96736495e-01 7.77860956e-02 2.15796797e-02 3.21698466e+02] [-7.77338969e-02 9.96968850e-01 -3.24853627e-03 -2.95226350e+01] [-2.17669594e-02 1.56046206e-03 9.99761854e-01 -4.62801119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:321.73, Y:-29.53, Z:-4.63 [[ 9.96647416e-01 7.89505749e-02 2.14647505e-02 3.21725960e+02] [-7.88992202e-02 9.96877364e-01 -3.23027803e-03 -2.95258642e+01] [-2.16527562e-02 1.52589617e-03 9.99764387e-01 -4.62948882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.75, Y:-29.53, Z:-4.63 [[ 9.96477103e-01 8.14294068e-02 2.00657854e-02 3.21753201e+02] [-8.14157241e-02 9.96679102e-01 -1.49922654e-03 -2.95289961e+01] [-2.01212301e-02 -1.39725526e-04 9.99797538e-01 -4.63195292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.78, Y:-29.53, Z:-4.63 [[ 9.96468139e-01 8.18009092e-02 1.89699351e-02 3.21780881e+02] [-8.17325825e-02 9.96644799e-01 -4.35089791e-03 -2.95302642e+01] [-1.92621946e-02 2.78506936e-03 9.99810588e-01 -4.63255832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.81, Y:-29.53, Z:-4.63 [[ 9.96431328e-01 8.20444112e-02 1.98323574e-02 3.21808941e+02] [-8.20012501e-02 9.96627768e-01 -2.98118107e-03 -2.95338396e+01] [-2.00100673e-02 1.34426412e-03 9.99798875e-01 -4.63347609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.84, Y:-29.54, Z:-4.63 [[ 9.96406483e-01 8.20685686e-02 2.09492278e-02 3.21838022e+02] [-8.20204423e-02 9.96625676e-01 -3.14771614e-03 -2.95376185e+01] [-2.11368669e-02 1.41813984e-03 9.99775586e-01 -4.63344799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.87, Y:-29.54, Z:-4.63 [[ 9.96431572e-01 8.18041199e-02 2.07895984e-02 3.21865246e+02] [-8.17566858e-02 9.96647426e-01 -3.12283615e-03 -2.95416731e+01] [-2.09753606e-02 1.41200388e-03 9.99778996e-01 -4.63430056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.89, Y:-29.55, Z:-4.63 [[ 9.96452956e-01 8.17177859e-02 2.00925562e-02 3.21892368e+02] [-8.16734846e-02 9.96654574e-01 -3.01703496e-03 -2.95454798e+01] [-2.02718835e-02 1.36530432e-03 9.99793572e-01 -4.63479211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.92, Y:-29.55, Z:-4.63 [[ 9.96431339e-01 8.20012620e-02 2.00094970e-02 3.21920783e+02] [-8.19574066e-02 9.96631308e-01 -3.00340401e-03 -2.95483943e+01] [-2.01883740e-02 1.35275940e-03 9.99795279e-01 -4.63490243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.95, Y:-29.55, Z:-4.63 [[ 9.96262331e-01 8.40198894e-02 2.00505778e-02 3.21948938e+02] [-8.39762781e-02 9.96463212e-01 -3.00870393e-03 -2.95461136e+01] [-2.02324541e-02 1.31368549e-03 9.99794440e-01 -4.63448892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61589822699995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:321.98, Y:-29.55, Z:-4.63 [[ 9.96168487e-01 8.50803494e-02 2.02405529e-02 3.21977630e+02] [-8.50361517e-02 9.96373241e-01 -3.03593238e-03 -2.95452465e+01] [-2.04254434e-02 1.30312145e-03 9.99790530e-01 -4.63487106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.01, Y:-29.55, Z:-4.64 [[ 9.96112461e-01 8.57461491e-02 2.01881992e-02 3.22005986e+02] [-8.57023445e-02 9.96316188e-01 -3.02667882e-03 -2.95453239e+01] [-2.03733558e-02 1.28473648e-03 9.99791616e-01 -4.63559813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.03, Y:-29.55, Z:-4.64 [[ 9.96155402e-01 8.51803503e-02 2.04627060e-02 3.22033541e+02] [-8.51352477e-02 9.96364684e-01 -3.06684350e-03 -2.95460414e+01] [-2.06495524e-02 1.31295518e-03 9.99785913e-01 -4.63656950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.06, Y:-29.55, Z:-4.64 [[ 9.96565920e-01 8.01569361e-02 2.07661514e-02 3.22061742e+02] [-8.01094427e-02 9.96781221e-01 -3.11026531e-03 -2.95465437e+01] [-2.09486191e-02 1.43601960e-03 9.99779522e-01 -4.63834144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.09, Y:-29.55, Z:-4.64 [[ 9.96922371e-01 7.58767002e-02 1.97107250e-02 3.22090393e+02] [-7.58331053e-02 9.97116158e-01 -2.95091652e-03 -2.95506229e+01] [-1.98777882e-02 1.44710921e-03 9.99801370e-01 -4.63948644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.12, Y:-29.56, Z:-4.64 [[ 9.97758120e-01 6.47543608e-02 1.68998885e-02 3.22118988e+02] [-6.47207377e-02 9.97900209e-01 -2.52952326e-03 -2.95558539e+01] [-1.70281999e-02 1.43007912e-03 9.99853987e-01 -4.64059725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.15, Y:-29.56, Z:-4.64 [[ 9.98054284e-01 5.95270287e-02 1.85520435e-02 3.22146580e+02] [-5.95934325e-02 9.98218082e-01 3.04679353e-03 -2.95639720e+01] [-1.83376187e-02 -4.14644529e-03 9.99823254e-01 -4.64229327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.18, Y:-29.57, Z:-4.64 [[ 9.98320466e-01 5.55513690e-02 1.64405884e-02 3.22175003e+02] [-5.54206713e-02 9.98428581e-01 -8.30165823e-03 -2.95656249e+01] [-1.68759219e-02 7.37656686e-03 9.99830380e-01 -4.64030194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.20, Y:-29.58, Z:-4.64 [[ 9.98478092e-01 5.12241504e-02 2.04349072e-02 3.22202503e+02] [-5.11722332e-02 9.98685168e-01 -3.05582165e-03 -2.95764761e+01] [-2.05645706e-02 2.00547114e-03 9.99786515e-01 -4.64185168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.23, Y:-29.58, Z:-4.64 [[ 9.98439162e-01 5.15543814e-02 2.14799032e-02 3.22231827e+02] [-5.14971167e-02 9.98667981e-01 -3.21099852e-03 -2.95831627e+01] [-2.16168326e-02 2.09983359e-03 9.99764124e-01 -4.64215953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.26, Y:-29.59, Z:-4.64 [[ 9.98348195e-01 5.29432679e-02 2.23134835e-02 3.22260638e+02] [-5.28818289e-02 9.98595208e-01 -3.33498865e-03 -2.95899728e+01] [-2.24587029e-02 2.14950208e-03 9.99745461e-01 -4.64315914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.945898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:322.29, Y:-29.60, Z:-4.64 [[ 9.98219071e-01 5.51674336e-02 2.26989036e-02 3.22289689e+02] [-5.51044146e-02 9.98474833e-01 -3.39296038e-03 -2.95962903e+01] [-2.28514649e-02 2.13610796e-03 9.99736589e-01 -4.64357916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.32, Y:-29.61, Z:-4.65 [[ 9.97849387e-01 6.07234851e-02 2.46831814e-02 3.22317328e+02] [-6.07824180e-02 9.98149686e-01 1.64366789e-03 -2.96072591e+01] [-2.45377005e-02 -3.14043644e-03 9.99693973e-01 -4.64621073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.35, Y:-29.61, Z:-4.65 [[ 9.97802751e-01 6.25607828e-02 2.18132804e-02 3.22347535e+02] [-6.23923526e-02 9.98017028e-01 -8.31903665e-03 -2.96088901e+01] [-2.22904707e-02 6.93977578e-03 9.99727450e-01 -4.64525995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.38, Y:-29.62, Z:-4.65 [[ 9.97727491e-01 6.36447055e-02 2.21180044e-02 3.22375326e+02] [-6.35869380e-02 9.97970827e-01 -3.30605398e-03 -2.96168475e+01] [-2.22835359e-02 1.89212477e-03 9.99749901e-01 -4.64694125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.40, Y:-29.63, Z:-4.65 [[ 9.97751390e-01 6.37300485e-02 2.07519714e-02 3.22403618e+02] [-6.36792285e-02 9.97965600e-01 -3.10126402e-03 -2.96255178e+01] [-2.09073973e-02 1.77282095e-03 9.99779845e-01 -4.64838444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.43, Y:-29.63, Z:-4.65 [[ 9.97815725e-01 6.29518162e-02 2.00211947e-02 3.22431625e+02] [-6.29043748e-02 9.98015076e-01 -2.99119301e-03 -2.96315501e+01] [-2.01697552e-02 1.72523868e-03 9.99795081e-01 -4.64893054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.46, Y:-29.64, Z:-4.65 [[ 9.97886227e-01 6.19476545e-02 1.96358495e-02 3.22459833e+02] [-6.19018483e-02 9.98077933e-01 -2.93265059e-03 -2.96374081e+01] [-1.97797789e-02 1.71095625e-03 9.99802897e-01 -4.64999386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.49, Y:-29.65, Z:-4.65 [[ 9.97926440e-01 6.10618330e-02 2.03537074e-02 3.22488380e+02] [-6.10124497e-02 9.98132379e-01 -3.03904806e-03 -2.96465116e+01] [-2.05012642e-02 1.79091686e-03 9.99788223e-01 -4.65050239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.52, Y:-29.65, Z:-4.65 [[ 9.97911096e-01 6.11133775e-02 2.09427515e-02 3.22516264e+02] [-6.10611144e-02 9.98129132e-01 -3.12656266e-03 -2.96531507e+01] [-2.10946452e-02 1.84124383e-03 9.99775788e-01 -4.65116233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:-29.66, Z:-4.65 [[ 9.97880445e-01 6.16762704e-02 2.07522357e-02 3.22544989e+02] [-6.16250900e-02 9.98094562e-01 -3.09739442e-03 -2.96600051e+01] [-2.09037294e-02 1.81197092e-03 9.99779851e-01 -4.65165181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.57, Y:-29.67, Z:-4.65 [[ 9.97846654e-01 6.24411117e-02 2.00789153e-02 3.22574402e+02] [-6.23933624e-02 9.98047138e-01 -2.99642004e-03 -2.96662853e+01] [-2.02268037e-02 1.73717667e-03 9.99793908e-01 -4.65207708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.60, Y:-29.68, Z:-4.65 [[ 9.97768766e-01 6.43967511e-02 1.76223998e-02 3.22601905e+02] [-6.43602749e-02 9.97923263e-01 -2.62983285e-03 -2.96751602e+01] [-1.77551554e-02 1.48978258e-03 9.99841255e-01 -4.65338707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:-29.68, Z:-4.65 [[ 9.97756179e-01 6.48693769e-02 1.65702166e-02 3.22630978e+02] [-6.48372016e-02 9.97892793e-01 -2.47221949e-03 -2.96824701e+01] [-1.66956711e-02 1.39230579e-03 9.99859648e-01 -4.65482217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:-29.69, Z:-4.66 [[ 9.97729824e-01 6.53070760e-02 1.64372649e-02 3.22660252e+02] [-6.52754799e-02 9.97864269e-01 -2.45202308e-03 -2.96894768e+01] [-1.65622937e-02 1.37350620e-03 9.99861892e-01 -4.65568871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:-29.70, Z:-4.66 [[ 9.97594439e-01 6.66121675e-02 1.91873485e-02 3.22687582e+02] [-6.65693612e-02 9.97777696e-01 -2.86180460e-03 -2.96981559e+01] [-1.93353394e-02 1.57763082e-03 9.99811810e-01 -4.65535388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.72, Y:-29.70, Z:-4.66 [[ 9.97512252e-01 6.73354310e-02 2.08625691e-02 3.22716245e+02] [-6.72849966e-02 9.97728947e-01 -3.11084480e-03 -2.97041531e+01] [-2.10246592e-02 1.69936791e-03 9.99777513e-01 -4.65521298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.74, Y:-29.71, Z:-4.66 [[ 9.97426606e-01 6.82100778e-02 2.20805702e-02 3.22744779e+02] [-6.81538051e-02 9.97669395e-01 -3.29197134e-03 -2.97099278e+01] [-2.22536547e-02 1.77862492e-03 9.99750775e-01 -4.65628168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.77, Y:-29.72, Z:-4.66 [[ 9.97330212e-01 7.00396710e-02 2.06613873e-02 3.22774171e+02] [-6.99908070e-02 9.97542883e-01 -3.07960472e-03 -2.97162525e+01] [-2.08263143e-02 1.62527566e-03 9.99781788e-01 -4.65753059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:-29.72, Z:-4.66 [[ 9.97290579e-01 7.08842465e-02 1.96703865e-02 3.22802077e+02] [-7.08401190e-02 9.97483374e-01 -2.93201995e-03 -2.97200329e+01] [-1.98287175e-02 1.53062335e-03 9.99802220e-01 -4.65825156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.83, Y:-29.72, Z:-4.66 [[ 9.97241577e-01 7.17103081e-02 1.91538043e-02 3.22831077e+02] [-7.16686282e-02 9.97424413e-01 -2.85458657e-03 -2.97238993e+01] [-1.93091753e-02 1.47398553e-03 9.99812474e-01 -4.65919555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.86, Y:-29.73, Z:-4.66 [[ 9.97226878e-01 7.20256757e-02 1.87311648e-02 3.22860821e+02] [-7.19858779e-02 9.97401746e-01 -2.79119898e-03 -2.97275124e+01] [-1.88835345e-02 1.43507930e-03 9.99820660e-01 -4.65938721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.89, Y:-29.73, Z:-4.66 [[ 9.97312759e-01 7.05508648e-02 1.97442678e-02 3.22889644e+02] [-7.05063662e-02 9.97506992e-01 -2.94173147e-03 -2.97293498e+01] [-1.99025869e-02 1.54172976e-03 9.99800735e-01 -4.66100364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.92, Y:-29.73, Z:-4.66 [[ 9.97409522e-01 6.91990191e-02 1.96403141e-02 3.22918578e+02] [-6.91547409e-02 9.97601655e-01 -2.92555940e-03 -2.97317630e+01] [-1.97956557e-02 1.55975996e-03 9.99802830e-01 -4.66207760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.95, Y:-29.73, Z:-4.66 [[ 9.97528512e-01 6.76392687e-02 1.90209851e-02 3.22947220e+02] [-6.75974711e-02 9.97708654e-01 -2.83260645e-03 -2.97338503e+01] [-1.91689969e-02 1.53983521e-03 9.99815072e-01 -4.66336780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.98, Y:-29.74, Z:-4.66 [[ 9.97767473e-01 6.42535447e-02 1.82085518e-02 3.22976816e+02] [-6.42146893e-02 9.97932424e-01 -2.71122022e-03 -2.97363428e+01] [-1.83451098e-02 1.53591085e-03 9.99830535e-01 -4.66402712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.01, Y:-29.74, Z:-4.66 [[ 9.97769634e-01 6.42199670e-02 1.82086015e-02 3.23005824e+02] [-6.41811120e-02 9.97934585e-01 -2.71088689e-03 -2.97405840e+01] [-1.83450862e-02 1.53619233e-03 9.99830535e-01 -4.66477063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.03, Y:-29.74, Z:-4.66 [[ 9.97881916e-01 6.23325767e-02 1.86099643e-02 3.23034274e+02] [-6.22916762e-02 9.98054144e-01 -2.76998134e-03 -2.97444298e+01] [-1.87464121e-02 1.60486841e-03 9.99822983e-01 -4.66462033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.06, Y:-29.75, Z:-4.66 [[ 9.97988159e-01 6.05686067e-02 1.87370940e-02 3.23063744e+02] [-6.05268504e-02 9.98162675e-01 -2.78818410e-03 -2.97476899e+01] [-1.88715443e-02 1.64847743e-03 9.99820558e-01 -4.66431718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.09, Y:-29.75, Z:-4.67 [[ 9.98122520e-01 5.85636829e-02 1.79368194e-02 3.23093477e+02] [-5.85251051e-02 9.98282370e-01 -2.66863193e-03 -2.97491462e+01] [-1.80622955e-02 1.61386739e-03 9.99835561e-01 -4.66541319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.12, Y:-29.75, Z:-4.67 [[ 9.98175005e-01 5.79799705e-02 1.68813998e-02 3.23122907e+02] [-5.79457183e-02 9.98316576e-01 -2.51152078e-03 -2.97526472e+01] [-1.69985992e-02 1.52873243e-03 9.99854345e-01 -4.66685356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.15, Y:-29.76, Z:-4.67 [[ 9.98244026e-01 5.67447821e-02 1.69969125e-02 3.23152634e+02] [-5.67098884e-02 9.98387498e-01 -2.52832763e-03 -2.97559577e+01] [-1.71129743e-02 1.55999494e-03 9.99852345e-01 -4.66844112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.18, Y:-29.76, Z:-4.67 [[ 9.98276579e-01 5.58423780e-02 1.80416624e-02 3.23181876e+02] [-5.58029239e-02 9.98438197e-01 -2.68330075e-03 -2.97595648e+01] [-1.81633267e-02 1.67189878e-03 9.99833635e-01 -4.66908526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.21, Y:-29.76, Z:-4.67 [[ 9.98317830e-01 5.47230291e-02 1.91546385e-02 3.23210779e+02] [-5.46783622e-02 9.98499957e-01 -2.84831113e-03 -2.97632277e+01] [-1.92817739e-02 1.79617552e-03 9.99812476e-01 -4.66957967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.24, Y:-29.77, Z:-4.67 [[ 9.98377900e-01 5.33351835e-02 1.99230180e-02 3.23240561e+02] [-5.32865923e-02 9.98574866e-01 -2.96228375e-03 -2.97675698e+01] [-2.00526189e-02 1.89584889e-03 9.99797129e-01 -4.67004689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.27, Y:-29.77, Z:-4.67 [[ 9.98501497e-01 5.11379145e-02 1.94852386e-02 3.23269378e+02] [-5.10910199e-02 9.98689799e-01 -2.89725259e-03 -2.97741914e+01] [-1.96078685e-02 1.89739033e-03 9.99805947e-01 -4.67100678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.30, Y:-29.78, Z:-4.67 [[ 9.98520538e-01 5.08614560e-02 1.92314258e-02 3.23299501e+02] [-5.08157298e-02 9.98703953e-01 -2.85924444e-03 -2.97806863e+01] [-1.93519263e-02 1.87775536e-03 9.99810971e-01 -4.67162296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02589822699997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:323.33, Y:-29.79, Z:-4.67 [[ 9.98519977e-01 5.09963777e-02 1.89004014e-02 3.23329219e+02] [-5.09522363e-02 9.98697138e-01 -2.81002918e-03 -2.97868575e+01] [-1.90190781e-02 1.84285255e-03 9.99817423e-01 -4.67207309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.36, Y:-29.80, Z:-4.67 [[ 9.98374389e-01 5.36627947e-02 1.92063287e-02 3.23357737e+02] [-5.36177012e-02 9.98557454e-01 -2.85551311e-03 -2.97959527e+01] [-1.93318575e-02 1.82107196e-03 9.99811464e-01 -4.67359327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.39, Y:-29.80, Z:-4.67 [[ 9.98238083e-01 5.55301424e-02 2.09077114e-02 3.23387889e+02] [-5.55381437e-02 9.98456547e-01 -1.98209239e-04 -2.98040677e+01] [-2.08864479e-02 -9.63315470e-04 9.99781390e-01 -4.67492725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.42, Y:-29.81, Z:-4.68 [[ 9.98114319e-01 5.79223373e-02 2.03176997e-02 3.23416492e+02] [-5.78294138e-02 9.98313288e-01 -5.13212611e-03 -2.98085813e+01] [-2.05806943e-02 3.94748790e-03 9.99780402e-01 -4.67515160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.45, Y:-29.82, Z:-4.68 [[ 9.98000638e-01 5.95692591e-02 2.11241767e-02 3.23446496e+02] [-5.94983622e-02 9.98220511e-01 -3.96952098e-03 -2.98157801e+01] [-2.13230479e-02 2.70473055e-03 9.99768979e-01 -4.67503886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.48, Y:-29.82, Z:-4.67 [[ 9.97867824e-01 6.13692336e-02 2.22176495e-02 3.23476024e+02] [-6.13107270e-02 9.98113254e-01 -3.30564713e-03 -2.98249904e+01] [-2.23785955e-02 1.93641866e-03 9.99747693e-01 -4.67406717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.51, Y:-29.83, Z:-4.67 [[ 9.97876230e-01 6.13300647e-02 2.19465834e-02 3.23506654e+02] [-6.12729695e-02 9.98115705e-01 -3.26524464e-03 -2.98321990e+01] [-2.21054872e-02 1.91357768e-03 9.99753813e-01 -4.67410334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.54, Y:-29.84, Z:-4.67 [[ 9.97913390e-01 6.09235146e-02 2.13820396e-02 3.23536055e+02] [-6.08692157e-02 9.98140679e-01 -3.18177358e-03 -2.98391583e+01] [-2.15361284e-02 1.87362648e-03 9.99766315e-01 -4.67486832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.56, Y:-29.85, Z:-4.68 [[ 9.97986896e-01 6.02923773e-02 1.96719306e-02 3.23564864e+02] [-6.02462923e-02 9.98179249e-01 -2.92750468e-03 -2.98489285e+01] [-1.98126192e-02 1.73645042e-03 9.99802203e-01 -4.67788706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.59, Y:-29.86, Z:-4.68 [[ 9.98028636e-01 5.98524698e-02 1.88818192e-02 3.23594202e+02] [-5.98099298e-02 9.98205828e-01 -2.81019145e-03 -2.98558509e+01] [-1.90161389e-02 1.67533126e-03 9.99817773e-01 -4.67976470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.62, Y:-29.86, Z:-4.68 [[ 9.98016311e-01 5.99868902e-02 1.91054052e-02 3.23623965e+02] [-5.99433623e-02 9.98197730e-01 -2.84340151e-03 -2.98629348e+01] [-1.92415389e-02 1.69251886e-03 9.99813432e-01 -4.68107671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.65, Y:-29.87, Z:-4.68 [[ 9.97994120e-01 6.02184725e-02 1.95313269e-02 3.23653960e+02] [-6.01730215e-02 9.98183729e-01 -2.90701446e-03 -2.98698653e+01] [-1.96709087e-02 1.72592438e-03 9.99805019e-01 -4.68150863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.68, Y:-29.88, Z:-4.68 [[ 9.97931019e-01 6.13534813e-02 1.92206037e-02 3.23683542e+02] [-6.13096687e-02 9.98114692e-01 -2.86104068e-03 -2.98786255e+01] [-1.93599017e-02 1.67671240e-03 9.99811174e-01 -4.68091594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.71, Y:-29.88, Z:-4.68 [[ 9.97875945e-01 6.25278051e-02 1.82721396e-02 3.23714207e+02] [-6.24884087e-02 9.98041984e-01 -2.71970413e-03 -2.98848878e+01] [-1.84064196e-02 1.57213040e-03 9.99829352e-01 -4.68103424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.74, Y:-29.89, Z:-4.68 [[ 9.97821162e-01 6.38032255e-02 1.67951215e-02 3.23743561e+02] [-6.38535322e-02 9.97956210e-01 2.47575277e-03 -2.98920521e+01] [-1.66028348e-02 -3.54278634e-03 9.99855887e-01 -4.67908228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47589822699996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:323.77, Y:-29.89, Z:-4.68 [[ 9.97555387e-01 6.80025377e-02 1.60905436e-02 3.23773561e+02] [-6.78915279e-02 9.97665648e-01 -7.34819588e-03 -2.98939796e+01] [-1.65526785e-02 6.23782080e-03 9.99843537e-01 -4.68240508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.80, Y:-29.90, Z:-4.68 [[ 9.97372523e-01 7.04940741e-02 1.66923896e-02 3.23802400e+02] [-7.04622938e-02 9.97511348e-01 -2.48515252e-03 -2.99017272e+01] [-1.68260366e-02 1.30243878e-03 9.99857584e-01 -4.68399694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.83, Y:-29.91, Z:-4.68 [[ 9.97163166e-01 7.32328533e-02 1.73945458e-02 3.23831861e+02] [-7.31987593e-02 9.97314011e-01 -2.58955260e-03 -2.99068779e+01] [-1.75374646e-02 1.30894730e-03 9.99845350e-01 -4.68486074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.86, Y:-29.91, Z:-4.69 [[ 9.96556605e-01 8.08431968e-02 1.84203729e-02 3.23861243e+02] [-8.08062629e-02 9.96726056e-01 -2.74183940e-03 -2.99139055e+01] [-1.85817247e-02 1.24391667e-03 9.99826571e-01 -4.68503077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.89, Y:-29.92, Z:-4.69 [[ 9.96205717e-01 8.50122022e-02 1.86304730e-02 3.23890242e+02] [-8.49751547e-02 9.96379213e-01 -2.77266969e-03 -2.99183840e+01] [-1.87987267e-02 1.17902208e-03 9.99822593e-01 -4.68517639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.92, Y:-29.92, Z:-4.69 [[ 9.95820572e-01 8.93030752e-02 1.91402493e-02 3.23918908e+02] [-8.92647704e-02 9.96003860e-01 -2.84807502e-03 -2.99225564e+01] [-1.93181040e-02 1.12762174e-03 9.99812752e-01 -4.68529254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.95, Y:-29.93, Z:-4.68 [[ 9.95171458e-01 9.58451713e-02 2.11535330e-02 3.23947327e+02] [-9.57998652e-02 9.95395640e-01 -3.14718506e-03 -2.99265227e+01] [-2.13577771e-02 1.10548313e-03 9.99771285e-01 -4.68471349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:-29.93, Z:-4.69 [[ 9.95019096e-01 9.73686104e-02 2.13624052e-02 3.23975727e+02] [-9.73227764e-02 9.95247799e-01 -3.17727187e-03 -2.99315769e+01] [-2.15702533e-02 1.08239759e-03 9.99766749e-01 -4.68501752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.00, Y:-29.94, Z:-4.69 [[ 9.94976156e-01 9.77581525e-02 2.15822186e-02 3.24004168e+02] [-9.77114855e-02 9.95209610e-01 -3.20887165e-03 -2.99376461e+01] [-2.17925247e-02 1.08392015e-03 9.99761927e-01 -4.68622295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.03, Y:-29.95, Z:-4.69 [[ 9.95035087e-01 9.68626122e-02 2.28650184e-02 3.24032523e+02] [-9.68100166e-02 9.95297076e-01 -3.39870002e-03 -2.99473233e+01] [-2.30866929e-02 1.16826295e-03 9.99732784e-01 -4.68740344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.06, Y:-29.95, Z:-4.69 [[ 9.95012809e-01 9.68269759e-02 2.39592832e-02 3.24060603e+02] [-9.67692285e-02 9.95300476e-01 -3.56076445e-03 -2.99547344e+01] [-2.41914641e-02 1.22448488e-03 9.99706594e-01 -4.68812598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.09, Y:-29.96, Z:-4.69 [[ 9.94914593e-01 9.77993944e-02 2.40879748e-02 3.24089487e+02] [-9.77413304e-02 9.95205418e-01 -3.57901382e-03 -2.99616211e+01] [-2.43225084e-02 1.20642237e-03 9.99703436e-01 -4.68818478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.12, Y:-29.97, Z:-4.69 [[ 9.94664538e-01 1.00491087e-01 2.33237888e-02 3.24118794e+02] [-1.00437400e-01 9.94937346e-01 -3.46494707e-03 -2.99678751e+01] [-2.35539048e-02 1.10387928e-03 9.99721959e-01 -4.68857074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.15, Y:-29.97, Z:-4.69 [[ 9.93681017e-01 1.10180356e-01 2.14085585e-02 3.24145618e+02] [-1.10137375e-01 9.93911287e-01 -3.18005208e-03 -2.99736307e+01] [-2.16285872e-02 8.02074952e-04 9.99765753e-01 -4.68846160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.17, Y:-29.98, Z:-4.69 [[ 9.93040941e-01 1.15869775e-01 2.10685628e-02 3.24174006e+02] [-1.15829447e-01 9.93264190e-01 -3.12856518e-03 -2.99783502e+01] [-2.12891551e-02 6.66433326e-04 9.99773138e-01 -4.68851972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.20, Y:-29.98, Z:-4.69 [[ 9.92441242e-01 1.20916284e-01 2.09674561e-02 3.24202072e+02] [-1.20877488e-01 9.92662553e-01 -3.11259222e-03 -2.99829642e+01] [-2.11899716e-02 5.54571462e-04 9.99775314e-01 -4.68909938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.23, Y:-29.99, Z:-4.69 [[ 9.91331916e-01 1.29554387e-01 2.18333176e-02 3.24229399e+02] [-1.29514436e-01 9.91572243e-01 -3.24004512e-03 -2.99867654e+01] [-2.20690738e-02 3.84230334e-04 9.99756374e-01 -4.68940794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.26, Y:-29.99, Z:-4.69 [[ 9.90830478e-01 1.33281337e-01 2.21596112e-02 3.24258354e+02] [-1.33241145e-01 9.91078197e-01 -3.28704354e-03 -2.99912144e+01] [-2.24000091e-02 3.04330950e-04 9.99749042e-01 -4.68990755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.29, Y:-30.00, Z:-4.69 [[ 9.90378566e-01 1.36607893e-01 2.21038395e-02 3.24286485e+02] [-1.36568755e-01 9.90625172e-01 -3.27773439e-03 -2.99952733e+01] [-2.23443842e-02 2.27504051e-04 9.99750307e-01 -4.69060179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.31, Y:-30.00, Z:-4.69 [[ 9.89607409e-01 1.42343795e-01 2.03818392e-02 3.24314166e+02] [-1.42311750e-01 9.89817274e-01 -3.02156305e-03 -2.99974710e+01] [-2.06043972e-02 8.95859901e-05 9.99787703e-01 -4.69109724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.075898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:324.34, Y:-30.00, Z:-4.69 [[ 9.89284765e-01 1.44730066e-01 1.92057545e-02 3.24341975e+02] [-1.44702082e-01 9.89471175e-01 -2.84622644e-03 -2.99990242e+01] [-1.94154750e-02 3.66158017e-05 9.99811501e-01 -4.69210851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.37, Y:-30.00, Z:-4.69 [[ 9.88959697e-01 1.47074992e-01 1.81014964e-02 3.24369983e+02] [-1.47050547e-01 9.89125344e-01 -2.68142695e-03 -3.00002420e+01] [-1.82990197e-02 -1.00117610e-05 9.99832559e-01 -4.69232108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.135898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:324.40, Y:-30.00, Z:-4.69 [[ 9.88662599e-01 1.49072554e-01 1.79899708e-02 3.24397731e+02] [-1.49048762e-01 9.88826259e-01 -2.66365743e-03 -3.00013294e+01] [-1.81860338e-02 -4.79244090e-05 9.99834619e-01 -4.69344886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.43, Y:-30.00, Z:-4.69 [[ 9.88181252e-01 1.52044005e-01 1.95047267e-02 3.24425048e+02] [-1.52016641e-01 9.88373719e-01 -2.88665648e-03 -3.00012669e+01] [-1.97168581e-02 -1.12503226e-04 9.99805598e-01 -4.69472338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.45, Y:-30.00, Z:-4.70 [[ 9.88131888e-01 1.52289761e-01 2.00798744e-02 3.24453415e+02] [-1.52260870e-01 9.88335881e-01 -2.96889827e-03 -3.00030543e+01] [-2.02977932e-02 -1.23716093e-04 9.99793971e-01 -4.69588983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.48, Y:-30.00, Z:-4.70 [[ 9.88392376e-01 1.50695310e-01 1.92726655e-02 3.24481058e+02] [-1.50668417e-01 9.88580253e-01 -2.84823260e-03 -3.00040874e+01] [-1.94817918e-02 -8.86106191e-05 9.99810208e-01 -4.69673010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.255898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:324.51, Y:-30.01, Z:-4.70 [[ 9.88765342e-01 1.48313622e-01 1.86056157e-02 3.24508340e+02] [-1.48288159e-01 9.88940376e-01 -2.74845480e-03 -3.00069065e+01] [-1.88074778e-02 -4.14156537e-05 9.99823123e-01 -4.69742628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.54, Y:-30.01, Z:-4.70 [[ 9.89115479e-01 1.46029212e-01 1.80565572e-02 3.24535030e+02] [-1.46004876e-01 9.89280278e-01 -2.66590119e-03 -3.00110293e+01] [-1.82522954e-02 5.38737354e-07 9.99833413e-01 -4.69783736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.56, Y:-30.02, Z:-4.70 [[ 9.89643711e-01 1.42317918e-01 1.87332790e-02 3.24562921e+02] [-1.42291090e-01 9.89820997e-01 -2.76410912e-03 -3.00151758e+01] [-1.89359751e-02 6.99045165e-05 9.99820696e-01 -4.69920477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.59, Y:-30.02, Z:-4.70 [[ 9.89674381e-01 1.41982401e-01 1.96371660e-02 3.24590030e+02] [-1.41952884e-01 9.89869179e-01 -2.89601528e-03 -3.00200167e+01] [-1.98494086e-02 7.85597712e-05 9.99802978e-01 -4.69977663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.62, Y:-30.02, Z:-4.70 [[ 9.89552933e-01 1.42631573e-01 2.10054158e-02 3.24616840e+02] [-1.42597977e-01 9.89775848e-01 -3.09634091e-03 -3.00243861e+01] [-2.12322892e-02 6.86634226e-05 9.99774567e-01 -4.69985508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.64, Y:-30.03, Z:-4.70 [[ 9.88735197e-01 1.47978411e-01 2.24744173e-02 3.24644861e+02] [-1.47941392e-01 9.88990590e-01 -3.31019458e-03 -3.00282902e+01] [-2.27168246e-02 -5.19907020e-05 9.99741938e-01 -4.69851005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.67, Y:-30.03, Z:-4.70 [[ 9.88166913e-01 1.51792312e-01 2.20282952e-02 3.24672109e+02] [-1.51757728e-01 9.88412401e-01 -3.24299326e-03 -3.00320784e+01] [-2.22653016e-02 -1.38345394e-04 9.99752088e-01 -4.69891584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.70, Y:-30.04, Z:-4.70 [[ 9.87578913e-01 1.55700232e-01 2.11028163e-02 3.24699940e+02] [-1.55669415e-01 9.87804328e-01 -3.10531183e-03 -3.00366926e+01] [-2.13289511e-02 -2.18322599e-04 9.99772488e-01 -4.70014295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.73, Y:-30.04, Z:-4.70 [[ 9.87051822e-01 1.59161993e-01 1.99037841e-02 3.24726423e+02] [-1.59135302e-01 9.87252441e-01 -2.92793040e-03 -3.00413580e+01] [-2.01160747e-02 -2.77375650e-04 9.99797613e-01 -4.70081126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.75, Y:-30.05, Z:-4.70 [[ 9.86310296e-01 1.63890093e-01 1.82219069e-02 3.24754242e+02] [-1.63868553e-01 9.86478545e-01 -2.67915436e-03 -3.00475864e+01] [-1.84146071e-02 -3.43519998e-04 9.99830378e-01 -4.70229703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.78, Y:-30.05, Z:-4.70 [[ 9.86123794e-01 1.65006158e-01 1.82436570e-02 3.24782326e+02] [-1.64984781e-01 9.86292469e-01 -2.68107080e-03 -3.00521965e+01] [-1.84359747e-02 -3.66058055e-04 9.99829976e-01 -4.70288956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.81, Y:-30.06, Z:-4.70 [[ 9.85922662e-01 1.66137693e-01 1.88353808e-02 3.24809126e+02] [-1.66115138e-01 9.86102483e-01 -2.76672749e-03 -3.00566226e+01] [-1.90332735e-02 -4.01062562e-04 9.99818770e-01 -4.70346365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.84, Y:-30.06, Z:-4.70 [[ 9.85932070e-01 1.66081824e-01 1.88356222e-02 3.24837325e+02] [-1.66059290e-01 9.86111894e-01 -2.76508336e-03 -3.00606276e+01] [-1.90332611e-02 -4.01645686e-04 9.99818770e-01 -4.70418554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.86, Y:-30.07, Z:-4.70 [[ 9.85685430e-01 1.67458476e-01 1.95420408e-02 3.24864207e+02] [-1.67434511e-01 9.85879029e-01 -2.86772667e-03 -3.00653835e+01] [-1.97463133e-02 -4.45335650e-04 9.99804923e-01 -4.70454362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.89, Y:-30.07, Z:-4.70 [[ 9.84809871e-01 1.72457716e-01 2.01953806e-02 3.24891289e+02] [-1.72433207e-01 9.85016759e-01 -2.96184957e-03 -3.00704364e+01] [-2.04035822e-02 -5.65495561e-04 9.99791665e-01 -4.70428639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.92, Y:-30.07, Z:-4.71 [[ 9.84344006e-01 1.75165592e-01 1.95931920e-02 3.24917567e+02] [-1.75143084e-01 9.84538801e-01 -2.87229375e-03 -3.00741508e+01] [-1.97933848e-02 -6.04286931e-04 9.99803909e-01 -4.70503477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.95, Y:-30.08, Z:-4.71 [[ 9.84087791e-01 1.76674935e-01 1.88994020e-02 3.24945205e+02] [-1.76654299e-01 9.84269064e-01 -2.76907534e-03 -3.00782504e+01] [-1.90913230e-02 -6.13647391e-04 9.99817556e-01 -4.70633781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.97, Y:-30.09, Z:-4.71 [[ 9.84241668e-01 1.75637395e-01 2.04900969e-02 3.24971143e+02] [-1.75612946e-01 9.84454717e-01 -3.00064309e-03 -3.00861158e+01] [-2.06985977e-02 -6.44968305e-04 9.99785553e-01 -4.70720349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.00, Y:-30.09, Z:-4.71 [[ 9.84555865e-01 1.73653127e-01 2.22337459e-02 3.24997891e+02] [-1.73623877e-01 9.84806662e-01 -3.25401899e-03 -3.00936114e+01] [-2.24610117e-02 -6.56545698e-04 9.99747504e-01 -4.70835907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.02, Y:-30.10, Z:-4.71 [[ 9.85063584e-01 1.70653364e-01 2.29600687e-02 3.25024200e+02] [-1.70621395e-01 9.85330939e-01 -3.35873868e-03 -3.01010035e+01] [-2.31964461e-02 -6.08907793e-04 9.99730741e-01 -4.70886411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:-30.11, Z:-4.71 [[ 9.86176775e-01 1.64361401e-01 2.09928016e-02 3.25050906e+02] [-1.64333283e-01 9.86400097e-01 -3.06938298e-03 -3.01123899e+01] [-2.12117896e-02 -4.22861801e-04 9.99774915e-01 -4.71033561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.08, Y:-30.12, Z:-4.71 [[ 9.86598851e-01 1.61945812e-01 1.99063240e-02 3.25077882e+02] [-1.61920056e-01 9.86799589e-01 -2.90958479e-03 -3.01203932e+01] [-2.01147475e-02 -3.52640104e-04 9.99797616e-01 -4.71142502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.10, Y:-30.13, Z:-4.71 [[ 9.86802033e-01 1.60720517e-01 1.97652084e-02 3.25104564e+02] [-1.60694908e-01 9.86999903e-01 -2.88755672e-03 -3.01288961e+01] [-1.99723484e-02 -3.26721498e-04 9.99800479e-01 -4.71238246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.13, Y:-30.14, Z:-4.71 [[ 9.86820445e-01 1.60518927e-01 2.04715442e-02 3.25131269e+02] [-1.60491443e-01 9.87032705e-01 -2.98920519e-03 -3.01376127e+01] [-2.06859077e-02 -3.35698872e-04 9.99785967e-01 -4.71264680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.16, Y:-30.15, Z:-4.71 [[ 9.86502794e-01 1.62189055e-01 2.25155110e-02 3.25157495e+02] [-1.62156284e-01 9.86759617e-01 -3.28585756e-03 -3.01515991e+01] [-2.27503271e-02 -4.09523929e-04 9.99741094e-01 -4.71330671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.18, Y:-30.16, Z:-4.71 [[ 9.86303576e-01 1.63401973e-01 2.24733569e-02 3.25184366e+02] [-1.63369677e-01 9.86559478e-01 -3.27806134e-03 -3.01606532e+01] [-2.27069450e-02 -4.38301434e-04 9.99742068e-01 -4.71424285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03589822699996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:325.21, Y:-30.17, Z:-4.71 [[ 9.86036163e-01 1.65049812e-01 2.21640320e-02 3.25211835e+02] [-1.65018845e-01 9.86285120e-01 -3.23161030e-03 -3.01691696e+01] [-2.23934316e-02 -4.70998324e-04 9.99749125e-01 -4.71486852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.24, Y:-30.18, Z:-4.72 [[ 9.85061181e-01 1.70779147e-01 2.21122773e-02 3.25238627e+02] [-1.70749788e-01 9.85309150e-01 -3.22300464e-03 -3.01828302e+01] [-2.23378512e-02 -6.00809916e-04 9.99750299e-01 -4.71520269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.27, Y:-30.19, Z:-4.72 [[ 9.84479108e-01 1.74070825e-01 2.23659034e-02 3.25266121e+02] [-1.74041662e-01 9.84732898e-01 -3.25889072e-03 -3.01907467e+01] [-2.25917187e-02 -6.84289170e-04 9.99744540e-01 -4.71589831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.29, Y:-30.20, Z:-4.72 [[ 9.83470441e-01 1.79679668e-01 2.23854739e-02 3.25293606e+02] [-1.79651927e-01 9.83724836e-01 -3.26068358e-03 -3.02015041e+01] [-2.26070252e-02 -8.14807603e-04 9.99744097e-01 -4.71705478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.32, Y:-30.21, Z:-4.72 [[ 9.83147071e-01 1.81474575e-01 2.21091698e-02 3.25320973e+02] [-1.81447991e-01 9.83395273e-01 -3.21941105e-03 -3.02088404e+01] [-2.23262943e-02 -8.46509888e-04 9.99750379e-01 -4.71807017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.35, Y:-30.22, Z:-4.72 [[ 9.82986652e-01 1.82346081e-01 2.20714363e-02 3.25349138e+02] [-1.82319837e-01 9.83234029e-01 -3.21254579e-03 -3.02162952e+01] [-2.22871823e-02 -8.66171036e-04 9.99751235e-01 -4.71951083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.38, Y:-30.22, Z:-4.72 [[ 9.82917209e-01 1.82739581e-01 2.19090137e-02 3.25375949e+02] [-1.82713842e-01 9.83160968e-01 -3.18790539e-03 -3.02234427e+01] [-2.21226436e-02 -8.69633000e-04 9.99754886e-01 -4.72021962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.40, Y:-30.23, Z:-4.72 [[ 9.82852831e-01 1.83051909e-01 2.21880646e-02 3.25403190e+02] [-1.83025620e-01 9.83102847e-01 -3.22714843e-03 -3.02330693e+01] [-2.24038852e-02 -8.89172312e-04 9.99748606e-01 -4.72081340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.43, Y:-30.24, Z:-4.72 [[ 9.82788325e-01 1.83430001e-01 2.19212959e-02 3.25431385e+02] [-1.83404457e-01 9.83032373e-01 -3.18732509e-03 -3.02393148e+01] [-2.21339946e-02 -8.87997488e-04 9.99754619e-01 -4.72156047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:-30.25, Z:-4.72 [[ 9.82576361e-01 1.84635110e-01 2.12972189e-02 3.25459947e+02] [-1.84611303e-01 9.82806738e-01 -3.09560902e-03 -3.02460154e+01] [-2.15026083e-02 -8.90035078e-04 9.99768396e-01 -4.72291042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.49, Y:-30.25, Z:-4.72 [[ 9.82406366e-01 1.85558235e-01 2.11157085e-02 3.25486993e+02] [-1.85535066e-01 9.82632854e-01 -3.06827740e-03 -3.02502497e+01] [-2.13183330e-02 -9.03409108e-04 9.99772330e-01 -4.72372500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.52, Y:-30.25, Z:-4.73 [[ 9.82165600e-01 1.86860460e-01 2.08303334e-02 3.25515565e+02] [-1.86838231e-01 9.82386035e-01 -3.02554668e-03 -3.02548445e+01] [-2.10287837e-02 -9.20314773e-04 9.99778447e-01 -4.72501265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.54, Y:-30.26, Z:-4.73 [[ 9.82036146e-01 1.87631293e-01 1.99876230e-02 3.25543547e+02] [-1.87611004e-01 9.82239120e-01 -2.90225505e-03 -3.02594368e+01] [-2.01771791e-02 -8.99778644e-04 9.99796015e-01 -4.72593227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42589822699995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:325.57, Y:-30.26, Z:-4.73 [[ 9.82027313e-01 1.87728479e-01 1.95031985e-02 3.25571188e+02] [-1.87709197e-01 9.82220567e-01 -2.83110689e-03 -3.02640949e+01] [-1.96879221e-02 -8.80705422e-04 9.99805786e-01 -4.72694261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.60, Y:-30.27, Z:-4.73 [[ 9.82242557e-01 1.86645622e-01 1.90517744e-02 3.25599171e+02] [-1.86627043e-01 9.82426947e-01 -2.76429509e-03 -3.02738411e+01] [-1.92329201e-02 -8.40368024e-04 9.99814677e-01 -4.72854495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.63, Y:-30.28, Z:-4.73 [[ 9.82458194e-01 1.85527774e-01 1.88505255e-02 3.25627321e+02] [-1.85509396e-01 9.82638686e-01 -2.73423433e-03 -3.02808759e+01] [-1.90305320e-02 -8.10678686e-04 9.99818574e-01 -4.72979560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.65, Y:-30.29, Z:-4.73 [[ 9.82602725e-01 1.84815912e-01 1.83020163e-02 3.25653559e+02] [-1.84798479e-01 9.82772852e-01 -2.65393051e-03 -3.02913121e+01] [-1.84772134e-02 -7.74425416e-04 9.99828982e-01 -4.73087192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.68, Y:-30.30, Z:-4.73 [[ 9.82414327e-01 1.85788343e-01 1.85682964e-02 3.25680943e+02] [-1.85770593e-01 9.82589458e-01 -2.69144266e-03 -3.02976944e+01] [-1.87450510e-02 -8.05331602e-04 9.99823972e-01 -4.73102685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.71, Y:-30.30, Z:-4.73 [[ 9.82062991e-01 1.87553186e-01 1.93928876e-02 3.25709162e+02] [-1.87534192e-01 9.82254057e-01 -2.80971753e-03 -3.03033462e+01] [-1.95757140e-02 -8.77509892e-04 9.99807992e-01 -4.73189723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.74, Y:-30.31, Z:-4.73 [[ 9.81029056e-01 1.92843008e-01 1.98385037e-02 3.25737683e+02] [-1.92824227e-01 9.81229107e-01 -2.87335295e-03 -3.03097843e+01] [-2.00202233e-02 -1.00650142e-03 9.99799069e-01 -4.73131103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.77, Y:-30.31, Z:-4.73 [[ 9.80441427e-01 1.95829071e-01 1.96362878e-02 3.25765354e+02] [-1.95811285e-01 9.80637475e-01 -2.84321572e-03 -3.03147870e+01] [-1.98128639e-02 -1.05740026e-03 9.99803147e-01 -4.73148881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.79, Y:-30.32, Z:-4.73 [[ 9.79817658e-01 1.98959218e-01 1.93025101e-02 3.25793947e+02] [-1.98942659e-01 9.80007150e-01 -2.79372045e-03 -3.03200281e+01] [-1.94724343e-02 -1.10275606e-03 9.99809786e-01 -4.73194327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.82, Y:-30.33, Z:-4.73 [[ 9.78793077e-01 2.03952524e-01 1.91697532e-02 3.25820916e+02] [-2.03937161e-01 9.78980051e-01 -2.77372167e-03 -3.03253969e+01] [-1.93325135e-02 -1.19452548e-03 9.99812396e-01 -4.73276663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.85, Y:-30.33, Z:-4.73 [[ 9.78436865e-01 2.05619025e-01 1.95478403e-02 3.25849802e+02] [-2.05603406e-01 9.78631313e-01 -2.82711407e-03 -3.03295515e+01] [-1.97114371e-02 -1.25294994e-03 9.99804926e-01 -4.73361413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.88, Y:-30.33, Z:-4.73 [[ 9.78184867e-01 2.06780748e-01 1.99019632e-02 3.25877243e+02] [-2.06764815e-01 9.78386443e-01 -2.87745156e-03 -3.03335992e+01] [-2.00668126e-02 -1.30034618e-03 9.99797796e-01 -4.73487580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.90, Y:-30.34, Z:-4.74 [[ 9.78002044e-01 2.07675207e-01 1.95706467e-02 3.25904832e+02] [-2.07660000e-01 9.78196976e-01 -2.82844725e-03 -3.03376352e+01] [-1.97313457e-02 -1.29781330e-03 9.99804476e-01 -4.73577469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.93, Y:-30.34, Z:-4.74 [[ 9.77778595e-01 2.08817651e-01 1.85528191e-02 3.25933152e+02] [-2.08804209e-01 9.77953792e-01 -2.68030274e-03 -3.03427861e+01] [-1.87034943e-02 -1.25316406e-03 9.99824289e-01 -4.73760173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.96, Y:-30.35, Z:-4.74 [[ 9.77799542e-01 2.08731661e-01 1.84159890e-02 3.25961532e+02] [-2.08718417e-01 9.77972161e-01 -2.65972868e-03 -3.03473666e+01] [-1.85654941e-02 -1.24307457e-03 9.99826874e-01 -4.73858033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:-30.35, Z:-4.74 [[ 9.77941195e-01 2.07983622e-01 1.93347264e-02 3.25989049e+02] [-2.07968894e-01 9.78131457e-01 -2.79155122e-03 -3.03517376e+01] [-1.94925010e-02 -1.29104874e-03 9.99809170e-01 -4.73939008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.02, Y:-30.36, Z:-4.74 [[ 9.78125041e-01 2.06947531e-01 2.10742367e-02 3.26016533e+02] [-2.06929823e-01 9.78351061e-01 -3.04138272e-03 -3.03560501e+01] [-2.12474085e-02 -1.38603547e-03 9.99773288e-01 -4.73982890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.04, Y:-30.36, Z:-4.74 [[ 9.78064221e-01 2.06978716e-01 2.34561521e-02 3.26044519e+02] [-2.06956822e-01 9.78344226e-01 -3.38369734e-03 -3.03609085e+01] [-2.36485443e-02 -1.54493740e-03 9.99719140e-01 -4.74024183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:326.07, Y:-30.36, Z:-4.74 [[ 9.77779718e-01 2.08345365e-01 2.32170385e-02 3.26071678e+02] [-2.08324324e-01 9.78054071e-01 -3.34816057e-03 -3.03642191e+01] [-2.34050928e-02 -1.56291035e-03 9.99724842e-01 -4.74073512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.10, Y:-30.37, Z:-4.74 [[ 9.77022515e-01 2.12054594e-01 2.14442194e-02 3.26100506e+02] [-2.12037556e-01 9.77256629e-01 -3.09133763e-03 -3.03664086e+01] [-2.16120379e-02 -1.52667341e-03 9.99765267e-01 -4.74273666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.13, Y:-30.37, Z:-4.74 [[ 9.76765194e-01 2.13311666e-01 2.06854961e-02 3.26129185e+02] [-2.13296112e-01 9.76983051e-01 -2.98105254e-03 -3.03691006e+01] [-2.08452724e-02 -1.50034751e-03 9.99781588e-01 -4.74417365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.16, Y:-30.37, Z:-4.75 [[ 9.76671666e-01 2.13730840e-01 2.07746120e-02 3.26157489e+02] [-2.13715266e-01 9.76891410e-01 -2.99292152e-03 -3.03721284e+01] [-2.09342196e-02 -1.51675009e-03 9.99779705e-01 -4.74550608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.19, Y:-30.38, Z:-4.75 [[ 9.76775685e-01 2.13166327e-01 2.16651261e-02 3.26185753e+02] [-2.13149274e-01 9.77014663e-01 -3.12015617e-03 -3.03753516e+01] [-2.18322581e-02 -1.57021322e-03 9.99760415e-01 -4.74607822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.21, Y:-30.38, Z:-4.75 [[ 9.77340106e-01 2.10392174e-01 2.32690664e-02 3.26214964e+02] [-2.10371748e-01 9.77615725e-01 -3.34998152e-03 -3.03773016e+01] [-2.34530151e-02 -1.62108289e-03 9.99723626e-01 -4.74506237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.24, Y:-30.38, Z:-4.75 [[ 9.77797685e-01 2.08218352e-01 2.35967058e-02 3.26242545e+02] [-2.08196743e-01 9.78081072e-01 -3.39604064e-03 -3.03795116e+01] [-2.37866093e-02 -1.59211663e-03 9.99715791e-01 -4.74558636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.27, Y:-30.38, Z:-4.75 [[ 9.78276063e-01 2.05968337e-01 2.35157066e-02 3.26270265e+02] [-2.05946261e-01 9.78557455e-01 -3.38300777e-03 -3.03813585e+01] [-2.37082625e-02 -1.53345634e-03 9.99717744e-01 -4.74617975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.30, Y:-30.38, Z:-4.75 [[ 9.78719831e-01 2.03826926e-01 2.37081435e-02 3.26299280e+02] [-2.03803895e-01 9.79005796e-01 -3.40930210e-03 -3.03836016e+01] [-2.39053175e-02 -1.49506041e-03 9.99713109e-01 -4.74740813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.33, Y:-30.38, Z:-4.75 [[ 9.79525473e-01 1.99838614e-01 2.43798389e-02 3.26327416e+02] [-1.99813057e-01 9.79827770e-01 -3.50473461e-03 -3.03841874e+01] [-2.45884245e-02 -1.43843330e-03 9.99696624e-01 -4.74804554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.36, Y:-30.39, Z:-4.75 [[ 9.79865302e-01 1.98138208e-01 2.46016334e-02 3.26355729e+02] [-1.98111688e-01 9.80173078e-01 -3.53506531e-03 -3.03862328e+01] [-2.48142902e-02 -1.40998329e-03 9.99691084e-01 -4.74821584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.39, Y:-30.39, Z:-4.75 [[ 9.80303575e-01 1.96044318e-01 2.39066184e-02 3.26385089e+02] [-1.96018686e-01 9.80594148e-01 -3.43386089e-03 -3.03865999e+01] [-2.41158790e-02 -1.31991782e-03 9.99708299e-01 -4.74862393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.41, Y:-30.39, Z:-4.75 [[ 9.80276842e-01 1.96274700e-01 2.30988078e-02 3.26414001e+02] [-1.96250859e-01 9.80548112e-01 -3.31680656e-03 -3.03882484e+01] [-2.33004976e-02 -1.28177220e-03 9.99727685e-01 -4.74977484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.44, Y:-30.39, Z:-4.75 [[ 9.80038899e-01 1.97569461e-01 2.21374136e-02 3.26441663e+02] [-1.97547913e-01 9.80288082e-01 -3.17780864e-03 -3.03891793e+01] [-2.23288807e-02 -1.25882379e-03 9.99749887e-01 -4.75096463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.47, Y:-30.39, Z:-4.75 [[ 9.79226411e-01 2.01678461e-01 2.10103135e-02 3.26469038e+02] [-2.01660016e-01 9.79450942e-01 -3.01495742e-03 -3.03850215e+01] [-2.11866233e-02 -1.28461422e-03 9.99774713e-01 -4.75173767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.50, Y:-30.38, Z:-4.75 [[ 9.78733339e-01 2.04074703e-01 2.08462447e-02 3.26497845e+02] [-2.04057121e-01 9.78954418e-01 -2.98972294e-03 -3.03842520e+01] [-2.10176501e-02 -1.32768314e-03 9.99778223e-01 -4.75313450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.53, Y:-30.38, Z:-4.75 [[ 9.78218391e-01 2.06538371e-01 2.07528682e-02 3.26525982e+02] [-2.06521528e-01 9.78437534e-01 -2.97489929e-03 -3.03841814e+01] [-2.09198160e-02 -1.37581284e-03 9.99780210e-01 -4.75448621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.55, Y:-30.38, Z:-4.76 [[ 9.77753147e-01 2.08712415e-01 2.09263493e-02 3.26554038e+02] [-2.08695816e-01 9.77976005e-01 -2.99830558e-03 -3.03845223e+01] [-2.10912511e-02 -1.43563883e-03 9.99776524e-01 -4.75504570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.58, Y:-30.39, Z:-4.76 [[ 9.77764930e-01 2.08657186e-01 2.09265591e-02 3.26582254e+02] [-2.08640606e-01 9.77987790e-01 -2.99684032e-03 -3.03884379e+01] [-2.10912316e-02 -1.43592461e-03 9.99776524e-01 -4.75576755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.61, Y:-30.39, Z:-4.76 [[ 9.77066138e-01 2.11760992e-01 2.23393026e-02 3.26611203e+02] [-2.11742934e-01 9.77320164e-01 -3.19780628e-03 -3.03861768e+01] [-2.25098216e-02 -1.60572125e-03 9.99745332e-01 -4.75611365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.64, Y:-30.39, Z:-4.76 [[ 9.76899242e-01 2.12461263e-01 2.29800687e-02 3.26638628e+02] [-2.12442385e-01 9.77168063e-01 -3.28788296e-03 -3.03868601e+01] [-2.31539370e-02 -1.67001024e-03 9.99730517e-01 -4.75614265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.67, Y:-30.38, Z:-4.76 [[ 9.76852006e-01 2.12613641e-01 2.35711130e-02 3.26666141e+02] [-2.12593870e-01 9.77134835e-01 -3.37051404e-03 -3.03847352e+01] [-2.37487728e-02 -1.71858071e-03 9.99716481e-01 -4.75570689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.69, Y:-30.39, Z:-4.76 [[ 9.76855275e-01 2.12636672e-01 2.32253846e-02 3.26692849e+02] [-2.12617546e-01 9.77129862e-01 -3.31838589e-03 -3.03852695e+01] [-2.33998274e-02 -1.69654151e-03 9.99724747e-01 -4.75641936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.72, Y:-30.39, Z:-4.76 [[ 9.76851687e-01 2.12649617e-01 2.32577483e-02 3.26719959e+02] [-2.12630485e-01 9.77127037e-01 -3.32113435e-03 -3.03857571e+01] [-2.34320126e-02 -1.70105061e-03 9.99723986e-01 -4.75723958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.75, Y:-30.39, Z:-4.76 [[ 9.76878215e-01 2.12504931e-01 2.34650158e-02 3.26748405e+02] [-2.12485458e-01 9.77158490e-01 -3.34891546e-03 -3.03863015e+01] [-2.36407005e-02 -1.71449210e-03 9.99719049e-01 -4.75820242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.78, Y:-30.39, Z:-4.76 [[ 9.76796495e-01 2.13025273e-01 2.21097406e-02 3.26777266e+02] [-2.13008149e-01 9.77045332e-01 -3.15406021e-03 -3.03855436e+01] [-2.22741133e-02 -1.62867996e-03 9.99750575e-01 -4.75878272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.80, Y:-30.39, Z:-4.76 [[ 9.76767531e-01 2.13204550e-01 2.16566214e-02 3.26804761e+02] [-2.13188196e-01 9.77006273e-01 -3.08798484e-03 -3.03871978e+01] [-2.18170274e-02 -1.60069273e-03 9.99760699e-01 -4.75962398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77589822699997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:326.83, Y:-30.39, Z:-4.76 [[ 9.76714830e-01 2.13394432e-01 2.21575371e-02 3.26833070e+02] [-2.13395601e-01 9.76963073e-01 -2.33925271e-03 -3.03888221e+01] [-2.21462790e-02 -2.44353812e-03 9.99751755e-01 -4.75932122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.86, Y:-30.39, Z:-4.76 [[ 9.76849901e-01 2.12866220e-01 2.12660205e-02 3.26861034e+02] [-2.12833343e-01 9.77081034e-01 -3.82379476e-03 -3.03882381e+01] [-2.15925821e-02 -7.90844712e-04 9.99766540e-01 -4.76131052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.89, Y:-30.39, Z:-4.76 [[ 9.77124499e-01 2.11650709e-01 2.07771678e-02 3.26888935e+02] [-2.11635397e-01 9.77344211e-01 -2.95825878e-03 -3.03909269e+01] [-2.09325622e-02 -1.50659702e-03 9.99779755e-01 -4.76295312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.92, Y:-30.39, Z:-4.77 [[ 9.77888660e-01 2.08114581e-01 2.05448356e-02 3.26916446e+02] [-2.08098861e-01 9.78103428e-01 -2.92381136e-03 -3.03940267e+01] [-2.07034619e-02 -1.41619490e-03 9.99784657e-01 -4.76527233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.94, Y:-30.40, Z:-4.77 [[ 9.78197681e-01 2.06498040e-01 2.20874751e-02 3.26942494e+02] [-2.06543269e-01 9.78437439e-01 -2.38452311e-04 -3.03992401e+01] [-2.16604525e-02 -4.32876580e-03 9.99756014e-01 -4.76694315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.97, Y:-30.40, Z:-4.77 [[ 9.78630335e-01 2.04511086e-01 2.13982178e-02 3.26970901e+02] [-2.04431984e-01 9.78863324e-01 -5.84440718e-03 -3.04013986e+01] [-2.21411766e-02 1.34503404e-03 9.99753949e-01 -4.76770673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.00, Y:-30.41, Z:-4.77 [[ 9.78973656e-01 2.02764165e-01 2.22996537e-02 3.26998256e+02] [-2.02744344e-01 9.79226574e-01 -3.16986923e-03 -3.04076450e+01] [-2.24791494e-02 -1.41791019e-03 9.99746307e-01 -4.76928631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:327.02, Y:-30.41, Z:-4.77 [[ 9.79566359e-01 1.99972560e-01 2.14644611e-02 3.27024779e+02] [-1.99953559e-01 9.79800629e-01 -3.04970961e-03 -3.04142021e+01] [-2.16407508e-02 -1.30450246e-03 9.99764960e-01 -4.77019919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.05, Y:-30.42, Z:-4.77 [[ 9.79575856e-01 1.99962721e-01 2.11199431e-02 3.27052259e+02] [-1.99944361e-01 9.79802663e-01 -2.99896462e-03 -3.04203427e+01] [-2.12930576e-02 -1.28510019e-03 9.99772451e-01 -4.77239283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.08, Y:-30.43, Z:-4.77 [[ 9.79480983e-01 2.00509471e-01 2.03213157e-02 3.27080209e+02] [-2.00492619e-01 9.79690967e-01 -2.88419912e-03 -3.04254215e+01] [-2.04869186e-02 -1.24925560e-03 9.99789341e-01 -4.77301908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.11, Y:-30.43, Z:-4.77 [[ 9.78598334e-01 2.04779732e-01 2.02623555e-02 3.27107768e+02] [-2.04763917e-01 9.78807170e-01 -2.87438980e-03 -3.04306122e+01] [-2.04215556e-02 -1.33612621e-03 9.99790565e-01 -4.77318994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.13, Y:-30.43, Z:-4.77 [[ 9.78085487e-01 2.07160091e-01 2.08200925e-02 3.27134100e+02] [-2.07143961e-01 9.78306018e-01 -2.95203495e-03 -3.04341238e+01] [-2.09799656e-02 -1.42541388e-03 9.99778880e-01 -4.77385893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.16, Y:-30.44, Z:-4.77 [[ 9.77596723e-01 2.09333139e-01 2.20064705e-02 3.27161047e+02] [-2.09315709e-01 9.77843142e-01 -3.11831770e-03 -3.04374578e+01] [-2.21716435e-02 -1.55784283e-03 9.99752965e-01 -4.77427969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.19, Y:-30.44, Z:-4.77 [[ 9.77195711e-01 2.11105871e-01 2.28660141e-02 3.27188379e+02] [-2.11087581e-01 9.77461788e-01 -3.23814109e-03 -3.04411750e+01] [-2.30342456e-02 -1.66243401e-03 9.99733294e-01 -4.77424156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.21, Y:-30.45, Z:-4.77 [[ 9.76887074e-01 2.12396254e-01 2.40723229e-02 3.27214554e+02] [-2.12376416e-01 9.77181994e-01 -3.40720504e-03 -3.04452668e+01] [-2.42467181e-02 -1.78393908e-03 9.99704413e-01 -4.77477053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.24, Y:-30.45, Z:-4.78 [[ 9.76959946e-01 2.12068728e-01 2.40024873e-02 3.27241438e+02] [-2.12048954e-01 9.77253147e-01 -3.39537607e-03 -3.04503386e+01] [-2.41765594e-02 -1.77255590e-03 9.99706133e-01 -4.77605201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.255898227 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:327.27, Y:-30.46, Z:-4.78 [[ 9.77086391e-01 2.11557343e-01 2.33596824e-02 3.27268862e+02] [-2.11538511e-01 9.77364083e-01 -3.30261205e-03 -3.04555878e+01] [-2.35296064e-02 -1.71453514e-03 9.99721670e-01 -4.77602930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.29, Y:-30.47, Z:-4.78 [[ 9.77181910e-01 2.11099943e-01 2.35016679e-02 3.27294349e+02] [-2.11144291e-01 9.77454715e-01 -6.06455936e-04 -3.04653249e+01] [-2.30998389e-02 -4.36962523e-03 9.99723614e-01 -4.77874915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.32, Y:-30.47, Z:-4.78 [[ 9.77183726e-01 2.11256065e-01 2.19736311e-02 3.27321956e+02] [-2.11177260e-01 9.77430134e-01 -5.87349433e-03 -3.04687153e+01] [-2.27185005e-02 1.09915187e-03 9.99741297e-01 -4.77946070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34589822699996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:327.35, Y:-30.47, Z:-4.78 [[ 9.77048475e-01 2.11783425e-01 2.28923000e-02 3.27349622e+02] [-2.11765559e-01 9.77315158e-01 -3.22970137e-03 -3.04747423e+01] [-2.30569890e-02 -1.69222591e-03 9.99732720e-01 -4.77926818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.38, Y:-30.48, Z:-4.78 [[ 9.76381426e-01 2.14771543e-01 2.35052316e-02 3.27376530e+02] [-2.14753607e-01 9.76662635e-01 -3.31450451e-03 -3.04825779e+01] [-2.36685426e-02 -1.81161262e-03 9.99718219e-01 -4.78048469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.40, Y:-30.49, Z:-4.78 [[ 9.75938318e-01 2.16891928e-01 2.24118555e-02 3.27403584e+02] [-2.16876209e-01 9.76194003e-01 -3.15887312e-03 -3.04873050e+01] [-2.25634530e-02 -1.77773294e-03 9.99743832e-01 -4.78085560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.43, Y:-30.49, Z:-4.78 [[ 9.74931806e-01 2.21541666e-01 2.06703641e-02 3.27431011e+02] [-2.21529365e-01 9.75149354e-01 -2.91185143e-03 -3.04907960e+01] [-2.08017886e-02 -1.74023605e-03 9.99782105e-01 -4.78184013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.46, Y:-30.49, Z:-4.78 [[ 9.74466280e-01 2.23581730e-01 2.06562193e-02 3.27457893e+02] [-2.23569928e-01 9.74683553e-01 -2.90847084e-03 -3.04936667e+01] [-2.07835582e-02 -1.78390271e-03 9.99782407e-01 -4.78238441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.49, Y:-30.50, Z:-4.78 [[ 9.74055358e-01 2.25313846e-01 2.12091789e-02 3.27485241e+02] [-2.25301850e-01 9.74284439e-01 -2.98454918e-03 -3.04963765e+01] [-2.13362332e-02 -1.87135113e-03 9.99770605e-01 -4.78355294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.51, Y:-30.50, Z:-4.78 [[ 9.73637538e-01 2.27014312e-01 2.22361472e-02 3.27512259e+02] [-2.27017776e-01 9.73887653e-01 -2.40179199e-03 -3.04993849e+01] [-2.22007504e-02 -2.70952585e-03 9.99749861e-01 -4.78353499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.54, Y:-30.50, Z:-4.78 [[ 9.73363156e-01 2.28098032e-01 2.31399116e-02 3.27541799e+02] [-2.28068422e-01 9.73637111e-01 -3.94597359e-03 -3.04993476e+01] [-2.34299455e-02 -1.43661782e-03 9.99724449e-01 -4.78389466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.57, Y:-30.50, Z:-4.78 [[ 9.73545975e-01 2.27327553e-01 2.30308293e-02 3.27569050e+02] [-2.27314070e-01 9.73816122e-01 -3.23646947e-03 -3.05008640e+01] [-2.31635316e-02 -2.08437972e-03 9.99729517e-01 -4.78444930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.60, Y:-30.50, Z:-4.79 [[ 9.73909769e-01 2.25816535e-01 2.25089732e-02 3.27596836e+02] [-2.25803321e-01 9.74167785e-01 -3.16025829e-03 -3.05024990e+01] [-2.26411551e-02 -2.00479447e-03 9.99741646e-01 -4.78543050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.62, Y:-30.50, Z:-4.79 [[ 9.75218002e-01 2.20329012e-01 2.01240180e-02 3.27623732e+02] [-2.20317306e-01 9.75424168e-01 -2.82447439e-03 -3.05040621e+01] [-2.02517671e-02 -1.67919116e-03 9.99793502e-01 -4.78587532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.65, Y:-30.51, Z:-4.79 [[ 9.75941081e-01 2.17184587e-01 1.92318116e-02 3.27651099e+02] [-2.17173338e-01 9.76129330e-01 -2.69672193e-03 -3.05077414e+01] [-1.93584218e-02 -1.54479501e-03 9.99811415e-01 -4.78700864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.68, Y:-30.51, Z:-4.79 [[ 9.77122731e-01 2.11828568e-01 1.89691039e-02 3.27678178e+02] [-2.11816646e-01 9.77305807e-01 -2.65852476e-03 -3.05112154e+01] [-1.91017669e-02 -1.42026701e-03 9.99816536e-01 -4.78765722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.70, Y:-30.51, Z:-4.79 [[ 9.77409875e-01 2.10377396e-01 2.02802483e-02 3.27704961e+02] [-2.10363490e-01 9.77619114e-01 -2.84073352e-03 -3.05140887e+01] [-2.04239845e-02 -1.48966282e-03 9.99790299e-01 -4.78821318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.73, Y:-30.52, Z:-4.79 [[ 9.77489125e-01 2.09877818e-01 2.15942671e-02 3.27733101e+02] [-2.09861973e-01 9.77726350e-01 -3.02285175e-03 -3.05167325e+01] [-2.17477134e-02 -1.57701078e-03 9.99762247e-01 -4.78829476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.76, Y:-30.52, Z:-4.79 [[ 9.77696673e-01 2.08854871e-01 2.21101612e-02 3.27760861e+02] [-2.08838034e-01 9.77945349e-01 -3.09354532e-03 -3.05172943e+01] [-2.22686313e-02 -1.59289364e-03 9.99750754e-01 -4.78827978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.79, Y:-30.52, Z:-4.79 [[ 9.77893938e-01 2.07932705e-01 2.20779479e-02 3.27789213e+02] [-2.07915716e-01 9.78141872e-01 -3.08752086e-03 -3.05190243e+01] [-2.22373619e-02 -1.57108443e-03 9.99751485e-01 -4.78960747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.82, Y:-30.52, Z:-4.79 [[ 9.78266623e-01 2.06171343e-01 2.20859902e-02 3.27817021e+02] [-2.06153929e-01 9.78514705e-01 -3.08712318e-03 -3.05202980e+01] [-2.22479425e-02 -1.53308409e-03 9.99751308e-01 -4.79002580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.84, Y:-30.53, Z:-4.79 [[ 9.78612162e-01 2.04223725e-01 2.47165404e-02 3.27843085e+02] [-2.04374583e-01 9.78885716e-01 3.71273787e-03 -3.05253496e+01] [-2.34364392e-02 -8.68476309e-03 9.99687605e-01 -4.79236101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.87, Y:-30.52, Z:-4.79 [[ 9.79769417e-01 1.99178686e-01 1.94869245e-02 3.27872270e+02] [-1.99021422e-01 9.79946922e-01 -9.72126557e-03 -3.05232658e+01] [-2.10324206e-02 5.64628327e-03 9.99762850e-01 -4.79259844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.90, Y:-30.53, Z:-4.79 [[ 9.80544161e-01 1.95286030e-01 1.99126699e-02 3.27898191e+02] [-1.95269750e-01 9.80745640e-01 -2.77761169e-03 -3.05307020e+01] [-2.00716929e-02 -1.16477113e-03 9.99797865e-01 -4.79334759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.93, Y:-30.54, Z:-4.79 [[ 9.81370280e-01 1.91070113e-01 2.01143317e-02 3.27925967e+02] [-1.91052652e-01 9.81575785e-01 -2.80402622e-03 -3.05353486e+01] [-2.02795066e-02 -1.09110844e-03 9.99793754e-01 -4.79362303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.005898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:327.95, Y:-30.54, Z:-4.79 [[ 9.82850514e-01 1.83182315e-01 2.11921513e-02 3.27952312e+02] [-1.83161134e-01 9.83078471e-01 -2.95277454e-03 -3.05400427e+01] [-2.13744438e-02 -9.79442497e-04 9.99771061e-01 -4.79160206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.98, Y:-30.55, Z:-4.79 [[ 9.83328455e-01 1.80571932e-01 2.14225942e-02 3.27979351e+02] [-1.80549708e-01 9.83561337e-01 -2.98310328e-03 -3.05465165e+01] [-2.16091002e-02 -9.34472799e-04 9.99766059e-01 -4.79305310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.01, Y:-30.56, Z:-4.79 [[ 9.83792902e-01 1.78111164e-01 2.06867145e-02 3.28005962e+02] [-1.78089925e-01 9.84010004e-01 -2.87928360e-03 -3.05573798e+01] [-2.08687666e-02 -8.51476672e-04 9.99781861e-01 -4.79425256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.03, Y:-30.56, Z:-4.79 [[ 9.83737079e-01 1.78486706e-01 2.00961633e-02 3.28031850e+02] [-1.78466767e-01 9.83941968e-01 -2.79581790e-03 -3.05648046e+01] [-2.02724748e-02 -8.36147557e-04 9.99794143e-01 -4.79476277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.06, Y:-30.57, Z:-4.80 [[ 9.83536399e-01 1.79614025e-01 1.98734698e-02 3.28058988e+02] [-1.79594787e-01 9.83736793e-01 -2.76321800e-03 -3.05716738e+01] [-2.00465761e-02 -8.51446089e-04 9.99798685e-01 -4.79578191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.09, Y:-30.58, Z:-4.80 [[ 9.82933706e-01 1.82699746e-01 2.14972749e-02 3.28086094e+02] [-1.82678007e-01 9.83168257e-01 -2.98741551e-03 -3.05823552e+01] [-2.16812383e-02 -9.90647925e-04 9.99764444e-01 -4.79760396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.185898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:328.11, Y:-30.59, Z:-4.80 [[ 9.82731559e-01 1.83655022e-01 2.25724496e-02 3.28112268e+02] [-1.83631342e-01 9.82990183e-01 -3.13518709e-03 -3.05892924e+01] [-2.27642892e-02 -1.06396191e-03 9.99740294e-01 -4.79682711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.14, Y:-30.60, Z:-4.80 [[ 9.82526926e-01 1.84664443e-01 2.32353890e-02 3.28140367e+02] [-1.84639680e-01 9.82800990e-01 -3.22525136e-03 -3.05984093e+01] [-2.34313526e-02 -1.12127849e-03 9.99724819e-01 -4.79879408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.17, Y:-30.61, Z:-4.80 [[ 9.82050837e-01 1.87184703e-01 2.31957065e-02 3.28166638e+02] [-1.87160751e-01 9.82324027e-01 -3.21868856e-03 -3.06111278e+01] [-2.33881890e-02 -1.18041004e-03 9.99725762e-01 -4.79921211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.19, Y:-30.62, Z:-4.80 [[ 9.81699251e-01 1.89048776e-01 2.29595647e-02 3.28193740e+02] [-1.89025847e-01 9.81966948e-01 -3.18460334e-03 -3.06188369e+01] [-2.31475790e-02 -1.21362847e-03 9.99731322e-01 -4.80054145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.22, Y:-30.63, Z:-4.80 [[ 9.81267817e-01 1.91316121e-01 2.26188820e-02 3.28222100e+02] [-1.91294498e-01 9.81527677e-01 -3.13604681e-03 -3.06264415e+01] [-2.28010350e-02 -1.24956585e-03 9.99739242e-01 -4.80148178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.25, Y:-30.64, Z:-4.80 [[ 9.80760150e-01 1.93473814e-01 2.60271241e-02 3.28248338e+02] [-1.93654000e-01 9.81059263e-01 4.56635126e-03 -3.06367038e+01] [-2.46506818e-02 -9.51875205e-03 9.99650808e-01 -4.80320772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.28, Y:-30.64, Z:-4.80 [[ 9.79618930e-01 1.99648831e-01 2.20702507e-02 3.28277591e+02] [-1.99447671e-01 9.79846843e-01 -1.09904855e-02 -3.06392525e+01] [-2.38197030e-02 6.36462752e-03 9.99696010e-01 -4.80361136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.30, Y:-30.65, Z:-4.80 [[ 9.78991388e-01 2.02678379e-01 2.23010656e-02 3.28304122e+02] [-2.02660362e-01 9.79244217e-01 -3.08869392e-03 -3.06486484e+01] [-2.24642010e-02 -1.49573730e-03 9.99746529e-01 -4.80373187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.33, Y:-30.65, Z:-4.80 [[ 9.79002457e-01 2.02624886e-01 2.23012437e-02 3.28332357e+02] [-2.02606885e-01 9.79255288e-01 -3.08740748e-03 -3.06524295e+01] [-2.24641964e-02 -1.49580601e-03 9.99746529e-01 -4.80446361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.36, Y:-30.66, Z:-4.80 [[ 9.77985405e-01 2.07660039e-01 2.05391216e-02 3.28358634e+02] [-2.07645893e-01 9.78199930e-01 -2.84253320e-03 -3.06605139e+01] [-2.06816479e-02 -1.48490826e-03 9.99785009e-01 -4.80452581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.39, Y:-30.67, Z:-4.81 [[ 9.77508736e-01 2.09884629e-01 2.06182998e-02 3.28386755e+02] [-2.09870902e-01 9.77724947e-01 -2.85173378e-03 -3.06662173e+01] [-2.07575612e-02 -1.53958649e-03 9.99783353e-01 -4.80527659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.41, Y:-30.67, Z:-4.81 [[ 9.77060271e-01 2.11902545e-01 2.12258895e-02 3.28414906e+02] [-2.11888492e-01 9.77289442e-01 -2.93475108e-03 -3.06713242e+01] [-2.13657189e-02 -1.63009303e-03 9.99770398e-01 -4.80573055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.44, Y:-30.68, Z:-4.81 [[ 9.76260477e-01 2.15378302e-01 2.29710111e-02 3.28442731e+02] [-2.15362825e-01 9.76528942e-01 -3.17489747e-03 -3.06762297e+01] [-2.31156612e-02 -1.84757492e-03 9.99731090e-01 -4.80592480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.47, Y:-30.68, Z:-4.81 [[ 9.75946156e-01 2.16769189e-01 2.32426270e-02 3.28471157e+02] [-2.16753768e-01 9.76221027e-01 -3.21105753e-03 -3.06799260e+01] [-2.33859996e-02 -1.90410774e-03 9.99724697e-01 -4.80614309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.50, Y:-30.68, Z:-4.81 [[ 9.75660623e-01 2.18064471e-01 2.31135319e-02 3.28498990e+02] [-2.18049606e-01 9.75932467e-01 -3.19217490e-03 -3.06833824e+01] [-2.32533461e-02 -1.92541719e-03 9.99727750e-01 -4.80682108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.53, Y:-30.69, Z:-4.81 [[ 9.75343494e-01 2.19697631e-01 2.09289017e-02 3.28526465e+02] [-2.19685841e-01 9.75566391e-01 -2.88925939e-03 -3.06854293e+01] [-2.10522966e-02 -1.77976303e-03 9.99776792e-01 -4.80868619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.55, Y:-30.69, Z:-4.81 [[ 9.75268550e-01 2.20153695e-01 1.95858425e-02 3.28554494e+02] [-2.20143480e-01 9.75463758e-01 -2.70286896e-03 -3.06881449e+01] [-1.97003261e-02 -1.67567243e-03 9.99804526e-01 -4.81069379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.58, Y:-30.69, Z:-4.81 [[ 9.75279216e-01 2.20183351e-01 1.87014348e-02 3.28581882e+02] [-2.20174065e-01 9.75457188e-01 -2.57962356e-03 -3.06907529e+01] [-1.88104392e-02 -1.60171768e-03 9.99821785e-01 -4.81178261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.61, Y:-30.69, Z:-4.81 [[ 9.75325962e-01 2.19975074e-01 1.87145404e-02 3.28608474e+02] [-2.19965760e-01 9.75504181e-01 -2.58020957e-03 -3.06932888e+01] [-1.88236942e-02 -1.60001272e-03 9.99821538e-01 -4.81306085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.64, Y:-30.70, Z:-4.81 [[ 9.75374828e-01 2.19704352e-01 1.93375869e-02 3.28636935e+02] [-2.19694388e-01 9.75565106e-01 -2.66441009e-03 -3.06954223e+01] [-1.94504575e-02 -1.64956077e-03 9.99809461e-01 -4.81311626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.66, Y:-30.70, Z:-4.81 [[ 9.75557177e-01 2.18832816e-01 2.00098355e-02 3.28663324e+02] [-2.18821991e-01 9.75760904e-01 -2.75576241e-03 -3.06983662e+01] [-2.01278664e-02 -1.69018825e-03 9.99795985e-01 -4.81317313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.69, Y:-30.70, Z:-4.81 [[ 9.76248848e-01 2.15509576e-01 2.22218457e-02 3.28691604e+02] [-2.15495428e-01 9.76500061e-01 -3.05783676e-03 -3.07008925e+01] [-2.23586268e-02 -1.80349655e-03 9.99748388e-01 -4.81332725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.72, Y:-30.70, Z:-4.81 [[ 9.76719331e-01 2.13310026e-01 2.27635919e-02 3.28719330e+02] [-2.13294625e-01 9.76982908e-01 -3.13072830e-03 -3.07040868e+01] [-2.29074560e-02 -1.79750895e-03 9.99735974e-01 -4.81458097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.75, Y:-30.71, Z:-4.82 [[ 9.77319892e-01 2.10581623e-01 2.23876809e-02 3.28747560e+02] [-2.10566043e-01 9.77574789e-01 -3.07773106e-03 -3.07075891e+01] [-2.25337461e-02 -1.70615760e-03 9.99744627e-01 -4.81572954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.78, Y:-30.71, Z:-4.82 [[ 9.78446371e-01 2.05333119e-01 2.19319423e-02 3.28776502e+02] [-2.05316876e-01 9.78690909e-01 -3.01406906e-03 -3.07122344e+01] [-2.20834807e-02 -1.55389295e-03 9.99754923e-01 -4.81681782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.935898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.80, Y:-30.72, Z:-4.82 [[ 9.79022938e-01 2.02517061e-01 2.23814049e-02 3.28804107e+02] [-2.02499437e-01 9.79277552e-01 -3.07477635e-03 -3.07163178e+01] [-2.25403021e-02 -1.52194532e-03 9.99744777e-01 -4.81676030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.83, Y:-30.72, Z:-4.82 [[ 9.79478745e-01 2.00223909e-01 2.30602499e-02 3.28831795e+02] [-2.00204600e-01 9.79748994e-01 -3.16660565e-03 -3.07200323e+01] [-2.32272868e-02 -1.51514520e-03 9.99729062e-01 -4.81651285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.86, Y:-30.72, Z:-4.82 [[ 9.80345046e-01 1.95914660e-01 2.32602042e-02 3.28860569e+02] [-1.95893838e-01 9.80619912e-01 -3.19269200e-03 -3.07235153e+01] [-2.34349145e-02 -1.42659089e-03 9.99724347e-01 -4.81667019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.89, Y:-30.73, Z:-4.82 [[ 9.80735766e-01 1.93967343e-01 2.31090355e-02 3.28887831e+02] [-1.93946277e-01 9.81007027e-01 -3.17087380e-03 -3.07282417e+01] [-2.32851721e-02 -1.37212204e-03 9.99727922e-01 -4.81781533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.92, Y:-30.73, Z:-4.82 [[ 9.81165753e-01 1.91816680e-01 2.28062752e-02 3.28915855e+02] [-1.91795618e-01 9.81429905e-01 -3.12783719e-03 -3.07332796e+01] [-2.29827318e-02 -1.30521691e-03 9.99735010e-01 -4.81879043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.085898227 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:328.94, Y:-30.74, Z:-4.82 [[ 9.81975634e-01 1.87643476e-01 2.26667031e-02 3.28943334e+02] [-1.87621587e-01 9.82236470e-01 -3.10758027e-03 -3.07403507e+01] [-2.28471796e-02 -1.20119470e-03 9.99738248e-01 -4.81909064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.97, Y:-30.75, Z:-4.82 [[ 9.82327565e-01 1.85916569e-01 2.16236930e-02 3.28971004e+02] [-1.85896247e-01 9.82564909e-01 -2.96380557e-03 -3.07473597e+01] [-2.17977026e-02 -1.10833549e-03 9.99761788e-01 -4.82102931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.00, Y:-30.76, Z:-4.82 [[ 9.82840781e-01 1.83314097e-01 2.04924459e-02 3.28998118e+02] [-1.83295290e-01 9.83053890e-01 -2.80834553e-03 -3.07580020e+01] [-2.06599880e-02 -9.96012311e-04 9.99786064e-01 -4.82230180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.03, Y:-30.76, Z:-4.82 [[ 9.82930402e-01 1.82820599e-01 2.06022615e-02 3.29027158e+02] [-1.82801498e-01 9.83145790e-01 -2.82265231e-03 -3.07646792e+01] [-2.07710657e-02 -9.91653486e-04 9.99783766e-01 -4.82253416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.06, Y:-30.77, Z:-4.82 [[ 9.82901832e-01 1.82923375e-01 2.10482189e-02 3.29056371e+02] [-1.82903472e-01 9.83126648e-01 -2.88324725e-03 -3.07707788e+01] [-2.12204782e-02 -1.01584331e-03 9.99774304e-01 -4.82263704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.09, Y:-30.78, Z:-4.82 [[ 9.82729290e-01 1.83736414e-01 2.20016572e-02 3.29085954e+02] [-1.83714884e-01 9.82974955e-01 -3.01322849e-03 -3.07768103e+01] [-2.21807178e-02 -1.08084400e-03 9.99753393e-01 -4.82322319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.11, Y:-30.78, Z:-4.82 [[ 9.82157610e-01 1.86645783e-01 2.30169707e-02 3.29114528e+02] [-1.86623016e-01 9.82426543e-01 -3.15230869e-03 -3.07841637e+01] [-2.32008481e-02 -1.19943253e-03 9.99730105e-01 -4.82299394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.14, Y:-30.79, Z:-4.82 [[ 9.81967672e-01 1.87681717e-01 2.26950128e-02 3.29144524e+02] [-1.87659864e-01 9.82229157e-01 -3.10792166e-03 -3.07892529e+01] [-2.28750034e-02 -1.20706443e-03 9.99737604e-01 -4.82358022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.17, Y:-30.79, Z:-4.82 [[ 9.81596364e-01 1.89813287e-01 2.09641017e-02 3.29173915e+02] [-1.89795126e-01 9.81819519e-01 -2.87083402e-03 -3.07947104e+01] [-2.11278867e-02 -1.16088407e-03 9.99776107e-01 -4.82459799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.20, Y:-30.80, Z:-4.82 [[ 9.81410630e-01 1.90803162e-01 2.06719279e-02 3.29203956e+02] [-1.90785717e-01 9.81627625e-01 -2.83111265e-03 -3.07993033e+01] [-2.08323208e-02 -1.16542454e-03 9.99782304e-01 -4.82480101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.23, Y:-30.80, Z:-4.83 [[ 9.81133028e-01 1.92119943e-01 2.16312103e-02 3.29233247e+02] [-1.92101159e-01 9.81370658e-01 -2.96253517e-03 -3.08042538e+01] [-2.17973972e-02 -1.24873947e-03 9.99761629e-01 -4.82552506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.26, Y:-30.81, Z:-4.83 [[ 9.80748900e-01 1.93863695e-01 2.34192772e-02 3.29262867e+02] [-1.93842180e-01 9.81027484e-01 -3.20710077e-03 -3.08105612e+01] [-2.35966950e-02 -1.39428320e-03 9.99720587e-01 -4.82647980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.445898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:329.29, Y:-30.82, Z:-4.83 [[ 9.80632234e-01 1.94517292e-01 2.28789265e-02 3.29292309e+02] [-1.94496935e-01 9.80898122e-01 -3.13313345e-03 -3.08161786e+01] [-2.30513447e-02 -1.37742942e-03 9.99733334e-01 -4.82659307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.32, Y:-30.83, Z:-4.83 [[ 9.80539409e-01 1.95286226e-01 2.01434387e-02 3.29321417e+02] [-1.95270613e-01 9.80745522e-01 -2.75826413e-03 -3.08250930e+01] [-2.02942383e-02 -1.22883494e-03 9.99793296e-01 -4.82899860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.35, Y:-30.83, Z:-4.83 [[ 9.80477504e-01 1.95665789e-01 1.94618296e-02 3.29350667e+02] [-1.95651287e-01 9.80669910e-01 -2.66499958e-03 -3.08312838e+01] [-1.96070799e-02 -1.19475988e-03 9.99807049e-01 -4.82993578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.38, Y:-30.84, Z:-4.83 [[ 9.80396919e-01 1.96088485e-01 1.92662404e-02 3.29380015e+02] [-1.96074359e-01 9.80585482e-01 -2.63799664e-03 -3.08372382e+01] [-1.94094764e-02 -1.19133195e-03 9.99810909e-01 -4.83026534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.41, Y:-30.84, Z:-4.83 [[ 9.80236608e-01 1.96786584e-01 2.02788612e-02 3.29409535e+02] [-1.96771089e-01 9.80445526e-01 -2.77634218e-03 -3.08430819e+01] [-2.04286656e-02 -1.26882137e-03 9.99790508e-01 -4.83130965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.44, Y:-30.85, Z:-4.83 [[ 9.80012981e-01 1.97796343e-01 2.12406316e-02 3.29438168e+02] [-1.97779578e-01 9.80242206e-01 -2.90806485e-03 -3.08484928e+01] [-2.13961682e-02 -1.35102187e-03 9.99770163e-01 -4.83166591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.47, Y:-30.85, Z:-4.83 [[ 9.79281756e-01 2.00993545e-01 2.46746470e-02 3.29467479e+02] [-2.00971940e-01 9.79591175e-01 -3.37789368e-03 -3.08547651e+01] [-2.48500013e-02 -1.65100203e-03 9.99689828e-01 -4.83123265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.50, Y:-30.86, Z:-4.83 [[ 9.78836626e-01 2.03099919e-01 2.50854854e-02 3.29496370e+02] [-2.03078291e-01 9.79156483e-01 -3.43357468e-03 -3.08589337e+01] [-2.52599744e-02 -1.73340886e-03 9.99679413e-01 -4.83106941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.685898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.53, Y:-30.86, Z:-4.83 [[ 9.78195749e-01 2.06416109e-01 2.29230664e-02 3.29526799e+02] [-2.06398960e-01 9.78462890e-01 -3.13734088e-03 -3.08624439e+01] [-2.30769675e-02 -1.66236356e-03 9.99732309e-01 -4.83321785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.56, Y:-30.87, Z:-4.84 [[ 9.78124081e-01 2.06908851e-01 2.14944070e-02 3.29556723e+02] [-2.06893891e-01 9.78358965e-01 -2.94180894e-03 -3.08665255e+01] [-2.16379321e-02 -1.56960732e-03 9.99764640e-01 -4.83528940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74589822699994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:329.59, Y:-30.87, Z:-4.84 [[ 9.78394321e-01 2.05719424e-01 2.05929730e-02 3.29586856e+02] [-2.05705430e-01 9.78609898e-01 -2.81843515e-03 -3.08705353e+01] [-2.07322941e-02 -1.47854542e-03 9.99783970e-01 -4.83606363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.62, Y:-30.88, Z:-4.84 [[ 9.79509077e-01 2.00381056e-01 2.02336374e-02 3.29617620e+02] [-2.00366427e-01 9.79717118e-01 -2.76845682e-03 -3.08781057e+01] [-2.03779872e-02 -1.34241304e-03 9.99791446e-01 -4.83787730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.65, Y:-30.88, Z:-4.84 [[ 9.80184115e-01 1.97025330e-01 2.04968236e-02 3.29647803e+02] [-1.97009522e-01 9.80397555e-01 -2.80766856e-03 -3.08844246e+01] [-2.06482176e-02 -1.28603730e-03 9.99785976e-01 -4.83831454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.68, Y:-30.89, Z:-4.84 [[ 9.80811026e-01 1.93862164e-01 2.06686246e-02 3.29678943e+02] [-1.93845311e-01 9.81028011e-01 -2.83497937e-03 -3.08911526e+01] [-2.08260949e-02 -1.22593693e-03 9.99782362e-01 -4.83836877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.71, Y:-30.90, Z:-4.84 [[ 9.81377184e-01 1.91044729e-01 2.00183683e-02 3.29709071e+02] [-1.91028340e-01 9.81580682e-01 -2.74555255e-03 -3.08983301e+01] [-2.01741670e-02 -1.12965303e-03 9.99795843e-01 -4.83782700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.74, Y:-30.90, Z:-4.84 [[ 9.81178565e-01 1.92016859e-01 2.04486850e-02 3.29740971e+02] [-1.91999906e-01 9.81390928e-01 -2.80754452e-03 -3.09017385e+01] [-2.06072498e-02 -1.17144311e-03 9.99786962e-01 -4.83890451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.77, Y:-30.90, Z:-4.84 [[ 9.80743570e-01 1.94191205e-01 2.07804352e-02 3.29771163e+02] [-1.94174098e-01 9.80962923e-01 -2.85722666e-03 -3.09036349e+01] [-2.09396847e-02 -1.23281558e-03 9.99779981e-01 -4.83972543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.80, Y:-30.90, Z:-4.84 [[ 9.79543348e-01 2.00038283e-01 2.18978241e-02 3.29801602e+02] [-2.00020733e-01 9.79787038e-01 -3.01117143e-03 -3.09041602e+01] [-2.20575537e-02 -1.43044587e-03 9.99755679e-01 -4.84159443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.83, Y:-30.91, Z:-4.84 [[ 9.79066107e-01 2.02380844e-01 2.17152456e-02 3.29831707e+02] [-2.02364159e-01 9.79305790e-01 -2.98606505e-03 -3.09077151e+01] [-2.18701881e-02 -1.47083232e-03 9.99759737e-01 -4.84233264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.86, Y:-30.91, Z:-4.84 [[ 9.78781696e-01 2.03799850e-01 2.12606022e-02 3.29861837e+02] [-2.03784189e-01 9.79011469e-01 -2.92354701e-03 -3.09112268e+01] [-2.14101919e-02 -1.47106028e-03 9.99769693e-01 -4.84308815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.89, Y:-30.91, Z:-4.84 [[ 9.78699452e-01 2.04283117e-01 2.03909507e-02 3.29893242e+02] [-2.04268818e-01 9.78910817e-01 -2.80384014e-03 -3.09139656e+01] [-2.05336995e-02 -1.42111860e-03 9.99788151e-01 -4.84408824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.92, Y:-30.91, Z:-4.85 [[ 9.78907947e-01 2.03268919e-01 2.05177284e-02 3.29923153e+02] [-2.03254205e-01 9.79121936e-01 -2.82194476e-03 -3.09136073e+01] [-2.06629716e-02 -1.40789042e-03 9.99785507e-01 -4.84518326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.95, Y:-30.92, Z:-4.85 [[ 9.79068877e-01 2.02407669e-01 2.13370287e-02 3.29953937e+02] [-2.02391560e-01 9.79300284e-01 -2.93431414e-03 -3.09155780e+01] [-2.14892859e-02 -1.44553888e-03 9.99768034e-01 -4.84578613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.98, Y:-30.92, Z:-4.85 [[ 9.79152925e-01 2.01849167e-01 2.27258363e-02 3.29983377e+02] [-2.01830745e-01 9.79415429e-01 -3.12527282e-03 -3.09176717e+01] [-2.28888684e-02 -1.52665245e-03 9.99736850e-01 -4.84613106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.01, Y:-30.92, Z:-4.85 [[ 9.79063901e-01 2.02111038e-01 2.41868988e-02 3.30013412e+02] [-2.02090242e-01 9.79361255e-01 -3.32655843e-03 -3.09181864e+01] [-2.43600457e-02 -1.63102295e-03 9.99701920e-01 -4.84614390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.04, Y:-30.92, Z:-4.85 [[ 9.78941160e-01 2.02790514e-01 2.34566283e-02 3.30044298e+02] [-2.02771163e-01 9.79220839e-01 -3.22555479e-03 -3.09207385e+01] [-2.36233312e-02 -1.59869945e-03 9.99719652e-01 -4.84680869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.07, Y:-30.92, Z:-4.85 [[ 9.78783856e-01 2.03610475e-01 2.29115201e-02 3.30072650e+02] [-2.03592233e-01 9.79050701e-01 -3.15068428e-03 -3.09230239e+01] [-2.30730521e-02 -1.58076863e-03 9.99732532e-01 -4.84767701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.10, Y:-30.92, Z:-4.85 [[ 9.78320052e-01 2.05827095e-01 2.29146773e-02 3.30102350e+02] [-2.05809472e-01 9.78587010e-01 -3.15029230e-03 -3.09238273e+01] [-2.30724211e-02 -1.63406353e-03 9.99732461e-01 -4.84791375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.13, Y:-30.92, Z:-4.85 [[ 9.78032212e-01 2.07110501e-01 2.36269410e-02 3.30131473e+02] [-2.07092152e-01 9.78316050e-01 -3.24764957e-03 -3.09248987e+01] [-2.37872380e-02 -1.71664817e-03 9.99715570e-01 -4.84869166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.16, Y:-30.93, Z:-4.85 [[ 9.78034593e-01 2.07099243e-01 2.36270610e-02 3.30161354e+02] [-2.07080911e-01 9.78318432e-01 -3.24677636e-03 -3.09289674e+01] [-2.37871942e-02 -1.71725372e-03 9.99715570e-01 -4.84946627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.19, Y:-30.93, Z:-4.85 [[ 9.77610305e-01 2.09119166e-01 2.33937146e-02 3.30189519e+02] [-2.09101774e-01 9.77888601e-01 -3.21453473e-03 -3.09260828e+01] [-2.35486676e-02 -1.74910494e-03 9.99721162e-01 -4.85101925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.22, Y:-30.93, Z:-4.85 [[ 9.77491425e-01 2.09714507e-01 2.30291211e-02 3.30218468e+02] [-2.09697848e-01 9.77761120e-01 -3.16308934e-03 -3.09263182e+01] [-2.31803249e-02 -1.73726442e-03 9.99729791e-01 -4.85241088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.25, Y:-30.93, Z:-4.85 [[ 9.77479032e-01 2.09903545e-01 2.18000791e-02 3.30246805e+02] [-2.09888683e-01 9.77720707e-01 -2.99337877e-03 -3.09260574e+01] [-2.19427095e-02 -1.64962490e-03 9.99757869e-01 -4.85333573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.435898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.28, Y:-30.92, Z:-4.85 [[ 9.77617108e-01 2.09483683e-01 1.95288831e-02 3.30276526e+02] [-2.09471695e-01 9.77811037e-01 -2.68037157e-03 -3.09230956e+01] [-1.96570515e-02 -1.47037113e-03 9.99805700e-01 -4.85451172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.31, Y:-30.92, Z:-4.86 [[ 9.77734888e-01 2.09036685e-01 1.83889326e-02 3.30305369e+02] [-2.09025991e-01 9.77906830e-01 -2.52313124e-03 -3.09244247e+01] [-1.85100897e-02 -1.37681142e-03 9.99827726e-01 -4.85565983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.33, Y:-30.93, Z:-4.86 [[ 9.77808331e-01 2.08747043e-01 1.77634432e-02 3.30332979e+02] [-2.08737027e-01 9.77968770e-01 -2.43671192e-03 -3.09257464e+01] [-1.78807492e-02 -1.32525112e-03 9.99839248e-01 -4.85634531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.36, Y:-30.93, Z:-4.86 [[ 9.77828754e-01 2.08644105e-01 1.78484035e-02 3.30360956e+02] [-2.08633999e-01 9.77990729e-01 -2.44710762e-03 -3.09270380e+01] [-1.79661477e-02 -1.33093161e-03 9.99837710e-01 -4.85649553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.39, Y:-30.93, Z:-4.85 [[ 9.77571967e-01 2.09674727e-01 1.97372312e-02 3.30388283e+02] [-2.09662608e-01 9.77770053e-01 -2.70457997e-03 -3.09258865e+01] [-1.98655557e-02 -1.49423782e-03 9.99801544e-01 -4.85491513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.42, Y:-30.93, Z:-4.86 [[ 9.77470601e-01 2.10097921e-01 2.02506185e-02 3.30415825e+02] [-2.10085289e-01 9.77679130e-01 -2.77318230e-03 -3.09276215e+01] [-2.03812469e-02 -1.54365287e-03 9.99791089e-01 -4.85513150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:330.44, Y:-30.93, Z:-4.85 [[ 9.77482809e-01 2.10056695e-01 2.00883828e-02 3.30443519e+02] [-2.10044284e-01 9.77688007e-01 -2.74958393e-03 -3.09293160e+01] [-2.02177394e-02 -1.53177895e-03 9.99794427e-01 -4.85436067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.47, Y:-30.93, Z:-4.86 [[ 9.77551372e-01 2.09736743e-01 2.00950975e-02 3.30471366e+02] [-2.09724284e-01 9.77756701e-01 -2.74911111e-03 -3.09324752e+01] [-2.02247058e-02 -1.52703259e-03 9.99794294e-01 -4.85627659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.50, Y:-30.94, Z:-4.86 [[ 9.78014454e-01 2.07383290e-01 2.19065984e-02 3.30497807e+02] [-2.07367932e-01 9.78258436e-01 -2.99535901e-03 -3.09359513e+01] [-2.20515022e-02 -1.61322162e-03 9.99755535e-01 -4.85751658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.52, Y:-30.94, Z:-4.85 [[ 9.78308674e-01 2.05847930e-01 2.32113731e-02 3.30523347e+02] [-2.05997227e-01 9.78543519e-01 4.20984792e-03 -3.09444299e+01] [-2.18467502e-02 -8.90000923e-03 9.99721716e-01 -4.85429999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.55, Y:-30.94, Z:-4.86 [[ 9.78778256e-01 2.03567339e-01 2.35258336e-02 3.30552617e+02] [-2.03370248e-01 9.79045473e-01 -1.05120691e-02 -3.09449167e+01] [-2.51727749e-02 5.50453007e-03 9.99667961e-01 -4.85895734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.58, Y:-30.96, Z:-4.86 [[ 9.79395386e-01 2.00265484e-01 2.60463721e-02 3.30579046e+02] [-2.00241435e-01 9.79740134e-01 -3.55499643e-03 -3.09572868e+01] [-2.62306191e-02 -1.73381581e-03 9.99654415e-01 -4.85837072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.61, Y:-30.96, Z:-4.86 [[ 9.79346885e-01 2.00436121e-01 2.65525920e-02 3.30607247e+02] [-2.00411234e-01 9.79705167e-01 -3.62244355e-03 -3.09625183e+01] [-2.67397801e-02 -1.77380893e-03 9.99640854e-01 -4.85903305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.64, Y:-30.97, Z:-4.86 [[ 9.79102140e-01 2.01636533e-01 2.64897694e-02 3.30635971e+02] [-2.01612233e-01 9.79458757e-01 -3.61269073e-03 -3.09666265e+01] [-2.66740870e-02 -1.80346832e-03 9.99642556e-01 -4.86036666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85589822699995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:330.66, Y:-30.97, Z:-4.86 [[ 9.77999638e-01 2.07079117e-01 2.51981453e-02 3.30664482e+02] [-2.07058951e-01 9.78322436e-01 -3.43544220e-03 -3.09701849e+01] [-2.53633192e-02 -1.85764031e-03 9.99676573e-01 -4.86068974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.69, Y:-30.98, Z:-4.86 [[ 9.77522721e-01 2.09390292e-01 2.45974669e-02 3.30692544e+02] [-2.09371830e-01 9.77830352e-01 -3.35245779e-03 -3.09753776e+01] [-2.47541219e-02 -1.87291299e-03 9.99691815e-01 -4.86350752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.72, Y:-30.98, Z:-4.86 [[ 9.77271027e-01 2.10622461e-01 2.40731836e-02 3.30719739e+02] [-2.10605175e-01 9.77565702e-01 -3.27990904e-03 -3.09805732e+01] [-2.42239412e-02 -1.86457697e-03 9.99704818e-01 -4.86443410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.75, Y:-30.99, Z:-4.87 [[ 9.77785956e-01 2.08351050e-01 2.29011850e-02 3.30746615e+02] [-2.08334816e-01 9.78052594e-01 -3.11894823e-03 -3.09894841e+01] [-2.30483996e-02 -1.72145038e-03 9.99732868e-01 -4.86577902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.77, Y:-31.00, Z:-4.87 [[ 9.78316677e-01 2.05805078e-01 2.32540351e-02 3.30774650e+02] [-2.05787655e-01 9.78591549e-01 -3.16567468e-03 -3.09970622e+01] [-2.34077142e-02 -1.68836104e-03 9.99724576e-01 -4.86749639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.80, Y:-31.00, Z:-4.87 [[ 9.78865423e-01 2.03116279e-01 2.37962217e-02 3.30801324e+02] [-2.03097270e-01 9.79153212e-01 -3.23841123e-03 -3.10044431e+01] [-2.39579209e-02 -1.66297887e-03 9.99711585e-01 -4.86780972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.83, Y:-31.01, Z:-4.87 [[ 9.79644804e-01 1.99273934e-01 2.42065443e-02 3.30830859e+02] [-1.99253130e-01 9.79942523e-01 -3.29281022e-03 -3.10145500e+01] [-2.43771933e-02 -1.59744531e-03 9.99701556e-01 -4.86875880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.86, Y:-31.02, Z:-4.87 [[ 9.79775343e-01 1.98842875e-01 2.24006396e-02 3.30859329e+02] [-1.98824947e-01 9.80030283e-01 -3.04719021e-03 -3.10205234e+01] [-2.25592172e-02 -1.46824413e-03 9.99744430e-01 -4.86920999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.89, Y:-31.03, Z:-4.87 [[ 9.79628454e-01 1.99745677e-01 2.07305852e-02 3.30888007e+02] [-1.99730528e-01 9.79846807e-01 -2.81978182e-03 -3.10261478e+01] [-2.08760370e-02 -1.37819224e-03 9.99781122e-01 -4.87058879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.91, Y:-31.03, Z:-4.87 [[ 9.78942091e-01 2.03255519e-01 1.89624872e-02 3.30914839e+02] [-2.03243497e-01 9.79124827e-01 -2.57936082e-03 -3.10332964e+01] [-1.90909113e-02 -1.32895733e-03 9.99816869e-01 -4.87138936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.94, Y:-31.04, Z:-4.87 [[ 9.78590871e-01 2.04899243e-01 1.93960635e-02 3.30943234e+02] [-2.04887009e-01 9.78782079e-01 -2.63717445e-03 -3.10390085e+01] [-1.95248744e-02 -1.39328660e-03 9.99808401e-01 -4.87220311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.185898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.97, Y:-31.05, Z:-4.87 [[ 9.78265706e-01 2.06365873e-01 2.02320097e-02 3.30971868e+02] [-2.06352895e-01 9.78473771e-01 -2.74981052e-03 -3.10451150e+01] [-2.03639579e-02 -1.48488843e-03 9.99791530e-01 -4.87287115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.00, Y:-31.05, Z:-4.87 [[ 9.78035499e-01 2.07364736e-01 2.11288736e-02 3.31000282e+02] [-2.07350824e-01 9.78262435e-01 -2.87122777e-03 -3.10511089e+01] [-2.12649748e-02 -1.57292667e-03 9.99772638e-01 -4.87322903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.03, Y:-31.06, Z:-4.87 [[ 9.77744185e-01 2.08628217e-01 2.21489345e-02 3.31029738e+02] [-2.08613270e-01 9.77993584e-01 -3.00897826e-03 -3.10574961e+01] [-2.22892736e-02 -1.67855065e-03 9.99750154e-01 -4.87337924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.06, Y:-31.06, Z:-4.87 [[ 9.77490059e-01 2.09801327e-01 2.22842613e-02 3.31059626e+02] [-2.09786513e-01 9.77742531e-01 -3.02677034e-03 -3.10618714e+01] [-2.24232905e-02 -1.71629957e-03 9.99747093e-01 -4.87449123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.09, Y:-31.07, Z:-4.88 [[ 9.77222325e-01 2.11041495e-01 2.23162613e-02 3.31089254e+02] [-2.11026959e-01 9.77475542e-01 -3.03115342e-03 -3.10652592e+01] [-2.24532988e-02 -1.74722197e-03 9.99746366e-01 -4.87569293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.12, Y:-31.07, Z:-4.88 [[ 9.76714577e-01 2.13416695e-01 2.19533357e-02 3.31118727e+02] [-2.13403228e-01 9.76959657e-01 -2.98164663e-03 -3.10680966e+01] [-2.20838565e-02 -1.77269499e-03 9.99754550e-01 -4.87720173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.15, Y:-31.07, Z:-4.88 [[ 9.76506209e-01 2.14369633e-01 2.19382012e-02 3.31147219e+02] [-2.14356435e-01 9.76750963e-01 -2.97911517e-03 -3.10716479e+01] [-2.20667910e-02 -1.79347012e-03 9.99754890e-01 -4.87843448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.18, Y:-31.08, Z:-4.88 [[ 9.76846437e-01 2.12862443e-01 2.14620564e-02 3.31176583e+02] [-2.12849466e-01 9.77080660e-01 -2.91367560e-03 -3.10751426e+01] [-2.15903723e-02 -1.72197361e-03 9.99765418e-01 -4.87964298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.21, Y:-31.08, Z:-4.88 [[ 9.77339157e-01 2.10589156e-01 2.14564539e-02 3.31205581e+02] [-2.10575652e-01 9.77573226e-01 -2.91242233e-03 -3.10795892e+01] [-2.15885795e-02 -1.67178239e-03 9.99765542e-01 -4.88128856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.24, Y:-31.08, Z:-4.88 [[ 9.77881212e-01 2.08048620e-01 2.15431286e-02 3.31235213e+02] [-2.08034404e-01 9.78117140e-01 -2.92368779e-03 -3.10848641e+01] [-2.16799726e-02 -1.62269257e-03 9.99763645e-01 -4.88234608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.26, Y:-31.09, Z:-4.88 [[ 9.78386449e-01 2.05617441e-01 2.19413741e-02 3.31263869e+02] [-2.05602099e-01 9.78631143e-01 -2.97717408e-03 -3.10903946e+01] [-2.20846709e-02 -1.59836579e-03 9.99754826e-01 -4.88258539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.29, Y:-31.10, Z:-4.88 [[ 9.78972420e-01 2.02844124e-01 2.16162350e-02 3.31294890e+02] [-2.02828569e-01 9.79209871e-01 -2.93267693e-03 -3.10969285e+01] [-2.17617070e-02 -1.51338018e-03 9.99762041e-01 -4.88348188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.32, Y:-31.10, Z:-4.88 [[ 9.79029682e-01 2.02557580e-01 2.17096328e-02 3.31324053e+02] [-2.02541806e-01 9.79269186e-01 -2.94599290e-03 -3.11014874e+01] [-2.18563076e-02 -1.51289373e-03 9.99759978e-01 -4.88469286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.35, Y:-31.11, Z:-4.89 [[ 9.78782560e-01 2.03650846e-01 2.26060405e-02 3.31352009e+02] [-2.03634037e-01 9.79042272e-01 -3.06741897e-03 -3.11063714e+01] [-2.27569517e-02 -1.60102310e-03 9.99739745e-01 -4.88560181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60589822699995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:331.38, Y:-31.11, Z:-4.88 [[ 9.78518817e-01 2.04897410e-01 2.27590735e-02 3.31381780e+02] [-2.04880728e-01 9.78782078e-01 -3.08732623e-03 -3.11111117e+01] [-2.29087584e-02 -1.64188875e-03 9.99736212e-01 -4.88438201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.635898227 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:331.41, Y:-31.12, Z:-4.88 [[ 9.78219642e-01 2.06402246e-01 2.20101206e-02 3.31411368e+02] [-2.06387023e-01 9.78465882e-01 -2.98572886e-03 -3.11168753e+01] [-2.21524132e-02 -1.62190465e-03 9.99753290e-01 -4.88446932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.44, Y:-31.12, Z:-4.89 [[ 9.77858961e-01 2.08193506e-01 2.11498684e-02 3.31440443e+02] [-2.08179865e-01 9.78086352e-01 -2.86908286e-03 -3.11223966e+01] [-2.12837221e-02 -1.59741837e-03 9.99772200e-01 -4.88611406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.47, Y:-31.13, Z:-4.89 [[ 9.77364487e-01 2.10624149e-01 1.99029540e-02 3.31469300e+02] [-2.10612574e-01 9.77565883e-01 -2.69972047e-03 -3.11268201e+01] [-2.00250751e-02 -1.55320146e-03 9.99798272e-01 -4.88751103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.50, Y:-31.13, Z:-4.89 [[ 9.77294627e-01 2.10904920e-01 2.03550156e-02 3.31498858e+02] [-2.10892877e-01 9.77505280e-01 -2.76085857e-03 -3.11313309e+01] [-2.04794139e-02 -1.59455556e-03 9.99789003e-01 -4.88872700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.53, Y:-31.14, Z:-4.89 [[ 9.77421349e-01 2.10254026e-01 2.09940820e-02 3.31527447e+02] [-2.10241076e-01 9.77645429e-01 -2.84709307e-03 -3.11365712e+01] [-2.11233810e-02 -1.63100883e-03 9.99775546e-01 -4.88944042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.56, Y:-31.14, Z:-4.89 [[ 9.77918664e-01 2.07905952e-01 2.12179475e-02 3.31557499e+02] [-2.07892192e-01 9.78147515e-01 -2.87657979e-03 -3.11449453e+01] [-2.13523407e-02 -1.59798455e-03 9.99770736e-01 -4.88928311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.59, Y:-31.15, Z:-4.89 [[ 9.78174252e-01 2.06795290e-01 2.02692022e-02 3.31587959e+02] [-2.06782499e-01 9.78383078e-01 -2.74783964e-03 -3.11518078e+01] [-2.03992847e-02 -1.50345030e-03 9.99790783e-01 -4.88995162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.62, Y:-31.16, Z:-4.89 [[ 9.78323114e-01 2.06150983e-01 1.96381432e-02 3.31617937e+02] [-2.06138842e-01 9.78519131e-01 -2.66253874e-03 -3.11585048e+01] [-1.97651838e-02 -1.44336091e-03 9.99803608e-01 -4.89122860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.65, Y:-31.17, Z:-4.89 [[ 9.78011869e-01 2.07640350e-01 1.94491682e-02 3.31647594e+02] [-2.07628708e-01 9.78204150e-01 -2.63823161e-03 -3.11658749e+01] [-1.95730604e-02 -1.45798384e-03 9.99807366e-01 -4.89141177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.68, Y:-31.17, Z:-4.89 [[ 9.77328443e-01 2.10755400e-01 2.02799357e-02 3.31676478e+02] [-2.10743407e-01 9.77537543e-01 -2.75098031e-03 -3.11701217e+01] [-2.04041824e-02 -1.58525143e-03 9.99790556e-01 -4.89209175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.71, Y:-31.17, Z:-4.89 [[ 9.76387681e-01 2.15066979e-01 2.03295483e-02 3.31705512e+02] [-2.15055859e-01 9.76597857e-01 -2.75754000e-03 -3.11736819e+01] [-2.04468490e-02 -1.67956038e-03 9.99789531e-01 -4.89272268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96589822699997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:331.74, Y:-31.17, Z:-4.89 [[ 9.74314305e-01 2.24452296e-01 1.82428410e-02 3.31735044e+02] [-2.24444973e-01 9.74483623e-01 -2.47430762e-03 -3.11729079e+01] [-1.83327138e-02 -1.68376065e-03 9.99830524e-01 -4.89297778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.76, Y:-31.17, Z:-4.90 [[ 9.73439457e-01 2.28246867e-01 1.78603428e-02 3.31764192e+02] [-2.28240494e-01 9.73601773e-01 -2.42167238e-03 -3.11732871e+01] [-1.79416006e-02 -1.71910202e-03 9.99837559e-01 -4.89509842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.79, Y:-31.17, Z:-4.90 [[ 9.72713013e-01 2.31258004e-01 1.86849984e-02 3.31791739e+02] [-2.31251593e-01 9.72890685e-01 -2.53272141e-03 -3.11734109e+01] [-1.87641730e-02 -1.85732458e-03 9.99822212e-01 -4.89649550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.82, Y:-31.17, Z:-4.90 [[ 9.72201535e-01 2.33268159e-01 2.02519375e-02 3.31820725e+02] [-2.33261087e-01 9.72410272e-01 -2.74374989e-03 -3.11741965e+01] [-2.03332215e-02 -2.05651110e-03 9.99791144e-01 -4.89722004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.85, Y:-31.17, Z:-4.90 [[ 9.72104969e-01 2.33546703e-01 2.16302400e-02 3.31849275e+02] [-2.33538725e-01 9.72343088e-01 -2.92956466e-03 -3.11720731e+01] [-2.17162045e-02 -2.20365430e-03 9.99761747e-01 -4.89757163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.88, Y:-31.17, Z:-4.90 [[ 9.72603767e-01 2.31415332e-01 2.21101030e-02 3.31877231e+02] [-2.31474835e-01 9.72840882e-01 1.35691319e-04 -3.11744391e+01] [-2.14782110e-02 -5.24990631e-03 9.99755533e-01 -4.89776471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.91, Y:-31.17, Z:-4.90 [[ 9.74406947e-01 2.23934477e-01 1.96074366e-02 3.31906216e+02] [-2.23863138e-01 9.74603398e-01 -5.78893606e-03 -3.11710099e+01] [-2.04058167e-02 1.25139724e-03 9.99790996e-01 -4.89918121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.93, Y:-31.18, Z:-4.90 [[ 9.75406131e-01 2.19455113e-01 2.05507331e-02 3.31933679e+02] [-2.19444873e-01 9.75620941e-01 -2.77989079e-03 -3.11750813e+01] [-2.06597868e-02 -1.79823049e-03 9.99784947e-01 -4.89931704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.96, Y:-31.18, Z:-4.90 [[ 9.76370891e-01 2.14995239e-01 2.18387485e-02 3.31962118e+02] [-2.14982597e-01 9.76613416e-01 -2.95277361e-03 -3.11786729e+01] [-2.19628470e-02 -1.81194866e-03 9.99757146e-01 -4.89995178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.99, Y:-31.18, Z:-4.90 [[ 9.76377564e-01 2.14964918e-01 2.18388754e-02 3.31991188e+02] [-2.14952289e-01 9.76620090e-01 -2.95183475e-03 -3.11825179e+01] [-2.19628253e-02 -1.81221103e-03 9.99757146e-01 -4.90070465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.02, Y:-31.19, Z:-4.90 [[ 9.77238617e-01 2.10892517e-01 2.30006819e-02 3.32018698e+02] [-2.10877405e-01 9.77507575e-01 -3.10815048e-03 -3.11862138e+01] [-2.31388265e-02 -1.81291944e-03 9.99730618e-01 -4.90147015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.05, Y:-31.19, Z:-4.90 [[ 9.78439431e-01 2.05059008e-01 2.46390546e-02 3.32047583e+02] [-2.05039860e-01 9.78747965e-01 -3.32814442e-03 -3.11896810e+01] [-2.47978906e-02 -1.79560059e-03 9.99690872e-01 -4.90248965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.08, Y:-31.19, Z:-4.90 [[ 9.78737821e-01 2.03611636e-01 2.47907113e-02 3.32078177e+02] [-2.03591810e-01 9.79050135e-01 -3.34782974e-03 -3.11939814e+01] [-2.49530064e-02 -1.77053822e-03 9.99687057e-01 -4.90370238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.11, Y:-31.20, Z:-4.90 [[ 9.78953164e-01 2.02604365e-01 2.45392441e-02 3.32108580e+02] [-2.02584624e-01 9.79259153e-01 -3.31387067e-03 -3.11984562e+01] [-2.47016841e-02 -1.72714938e-03 9.99693375e-01 -4.90443015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.14, Y:-31.20, Z:-4.91 [[ 9.79076711e-01 2.02032253e-01 2.43261684e-02 3.32138015e+02] [-2.02012677e-01 9.79377397e-01 -3.28510904e-03 -3.12019913e+01] [-2.44881975e-02 -1.69782064e-03 9.99698677e-01 -4.90514245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.17, Y:-31.20, Z:-4.91 [[ 9.79077340e-01 2.02111876e-01 2.36294598e-02 3.32167962e+02] [-2.02093435e-01 9.79361048e-01 -3.19077705e-03 -3.12036581e+01] [-2.37866664e-02 -1.65134119e-03 9.99715693e-01 -4.90624056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.20, Y:-31.21, Z:-4.91 [[ 9.79048790e-01 2.02219340e-01 2.38915170e-02 3.32198606e+02] [-2.02200533e-01 9.79338828e-01 -3.22557420e-03 -3.12064913e+01] [-2.40501637e-02 -1.67288295e-03 9.99709353e-01 -4.90717895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.23, Y:-31.21, Z:-4.91 [[ 9.79152457e-01 2.01470488e-01 2.58864587e-02 3.32228217e+02] [-2.01448150e-01 9.79492945e-01 -3.49490441e-03 -3.12090813e+01] [-2.60597237e-02 -1.79273497e-03 9.99658780e-01 -4.90903883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.26, Y:-31.21, Z:-4.91 [[ 9.79477701e-01 1.99801117e-01 2.65131294e-02 3.32258609e+02] [-1.99777084e-01 9.79834836e-01 -3.57920646e-03 -3.12127751e+01] [-2.66936173e-02 -1.79096277e-03 9.99642058e-01 -4.90916163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.29, Y:-31.22, Z:-4.91 [[ 9.80080124e-01 1.96756888e-01 2.70125617e-02 3.32289479e+02] [-1.96730788e-01 9.80450763e-01 -3.64666535e-03 -3.12164215e+01] [-2.72019932e-02 -1.74017833e-03 9.99628443e-01 -4.90998421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.32, Y:-31.22, Z:-4.91 [[ 9.81860248e-01 1.87617543e-01 2.73881700e-02 3.32320853e+02] [-1.87587138e-01 9.82241003e-01 -3.69829270e-03 -3.12204920e+01] [-2.75956482e-02 -1.50646185e-03 9.99618032e-01 -4.91141543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.35, Y:-31.23, Z:-4.91 [[ 9.82828121e-01 1.82563672e-01 2.68214681e-02 3.32352634e+02] [-1.82532518e-01 9.83193130e-01 -3.62607522e-03 -3.12254356e+01] [-2.70326728e-02 -1.33198141e-03 9.99633663e-01 -4.91221981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.39, Y:-31.23, Z:-4.91 [[ 9.83775644e-01 1.77462458e-01 2.63165157e-02 3.32385214e+02] [-1.77430524e-01 9.84126882e-01 -3.56233493e-03 -3.12306825e+01] [-2.65309713e-02 -1.16481483e-03 9.99647313e-01 -4.91364734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.42, Y:-31.24, Z:-4.92 [[ 9.85274701e-01 1.69063342e-01 2.55215570e-02 3.32416727e+02] [-1.69030367e-01 9.85604772e-01 -3.45950951e-03 -3.12372637e+01] [-2.57390446e-02 -9.05350954e-04 9.99668286e-01 -4.91526281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.45, Y:-31.24, Z:-4.92 [[ 9.85801348e-01 1.65729672e-01 2.70070142e-02 3.32447911e+02] [-1.65806132e-01 9.86158185e-01 6.01156325e-04 -3.12440394e+01] [-2.65335586e-02 -5.07054927e-03 9.99635063e-01 -4.91664590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.48, Y:-31.25, Z:-4.92 [[ 9.86097191e-01 1.64456877e-01 2.37963469e-02 3.32479507e+02] [-1.64322075e-01 9.86378022e-01 -7.52689888e-03 -3.12467542e+01] [-2.47100438e-02 3.51198876e-03 9.99688491e-01 -4.91741910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.51, Y:-31.25, Z:-4.92 [[ 9.86279368e-01 1.63334911e-01 2.39732236e-02 3.32510472e+02] [-1.63303929e-01 9.86570430e-01 -3.25771451e-03 -3.12543383e+01] [-2.41833720e-02 -7.01904980e-04 9.99707293e-01 -4.91849038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.54, Y:-31.26, Z:-4.92 [[ 9.86559738e-01 1.61294697e-01 2.61515502e-02 3.32542018e+02] [-1.61361151e-01 9.86895328e-01 4.37146871e-04 -3.12619951e+01] [-2.57383332e-02 -4.65111574e-03 9.99657894e-01 -4.91937367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.57, Y:-31.26, Z:-4.92 [[ 9.86399969e-01 1.62602435e-01 2.39906022e-02 3.32572567e+02] [-1.62470756e-01 9.86685965e-01 -7.35253809e-03 -3.12640570e+01] [-2.48667311e-02 3.35477208e-03 9.99685146e-01 -4.91960310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.60, Y:-31.27, Z:-4.92 [[ 9.86360455e-01 1.62761178e-01 2.45326702e-02 3.32603745e+02] [-1.62728527e-01 9.86665245e-01 -3.33486794e-03 -3.12698491e+01] [-2.47483200e-02 -7.02783425e-04 9.99693466e-01 -4.92076166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.64, Y:-31.27, Z:-4.92 [[ 9.86156928e-01 1.64261568e-01 2.26417731e-02 3.32637064e+02] [-1.64234153e-01 9.86416581e-01 -3.07778411e-03 -3.12723302e+01] [-2.28397820e-02 -6.83374292e-04 9.99738905e-01 -4.92227019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.67, Y:-31.28, Z:-4.92 [[ 9.85998307e-01 1.65299029e-01 2.19902113e-02 3.32670159e+02] [-1.65273338e-01 9.86243258e-01 -2.99323120e-03 -3.12754203e+01] [-2.21824758e-02 -6.83074721e-04 9.99753705e-01 -4.92346937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.70, Y:-31.28, Z:-4.92 [[ 9.85884463e-01 1.65933260e-01 2.23154269e-02 3.32701263e+02] [-1.65906867e-01 9.86136734e-01 -3.04186962e-03 -3.12781774e+01] [-2.25108096e-02 -7.03350572e-04 9.99746352e-01 -4.92435324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.73, Y:-31.28, Z:-4.93 [[ 9.85818465e-01 1.66093706e-01 2.39756991e-02 3.32733404e+02] [-1.66093772e-01 9.86107930e-01 -2.00258355e-03 -3.12814250e+01] [-2.39752435e-02 -2.00803044e-03 9.99710536e-01 -4.92532721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.76, Y:-31.28, Z:-4.93 [[ 9.85951009e-01 1.65279601e-01 2.41508077e-02 3.32764800e+02] [-1.65217298e-01 9.86246618e-01 -4.56655363e-03 -3.12806155e+01] [-2.45734106e-02 5.12266961e-04 9.99697897e-01 -4.92601194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.80, Y:-31.28, Z:-4.93 [[ 9.86129624e-01 1.64147236e-01 2.45774117e-02 3.32796383e+02] [-1.64114443e-01 9.86435586e-01 -3.35919506e-03 -3.12838666e+01] [-2.47954361e-02 -7.20906478e-04 9.99692286e-01 -4.92772995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04589822699995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:332.83, Y:-31.29, Z:-4.93 [[ 9.86423519e-01 1.62228373e-01 2.55067830e-02 3.32828596e+02] [-1.62192300e-01 9.86752995e-01 -3.49059666e-03 -3.12861084e+01] [-2.57351683e-02 -6.93797143e-04 9.99668555e-01 -4.93002191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.86, Y:-31.29, Z:-4.93 [[ 9.86703344e-01 1.59816610e-01 2.95831255e-02 3.32860079e+02] [-1.60096861e-01 9.87073982e-01 7.34506594e-03 -3.12946028e+01] [-2.80268699e-02 -1.19835666e-02 9.99535336e-01 -4.93050668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.89, Y:-31.29, Z:-4.93 [[ 9.87600182e-01 1.54984240e-01 2.50153296e-02 3.32892863e+02] [-1.54648790e-01 9.87858034e-01 -1.48410566e-02 -3.12871386e+01] [-2.70117242e-02 1.07884398e-02 9.99576899e-01 -4.93005532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.93, Y:-31.30, Z:-4.93 [[ 9.87865388e-01 1.52914572e-01 2.71865638e-02 3.32925416e+02] [-1.52869768e-01 9.88239299e-01 -3.73116101e-03 -3.12964131e+01] [-2.74373796e-02 -4.70118876e-04 9.99623414e-01 -4.92951330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.96, Y:-31.30, Z:-4.93 [[ 9.88010022e-01 1.51807907e-01 2.81168275e-02 3.32958256e+02] [-1.51759376e-01 9.88409914e-01 -3.86442008e-03 -3.13013348e+01] [-2.83776006e-02 -4.48906437e-04 9.99597174e-01 -4.92955731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.99, Y:-31.31, Z:-4.93 [[ 9.88104310e-01 1.51039341e-01 2.89307780e-02 3.32989510e+02] [-1.50987462e-01 9.88527657e-01 -3.98206470e-03 -3.13056823e+01] [-2.92003226e-02 -4.33489442e-04 9.99573486e-01 -4.92985294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.02, Y:-31.31, Z:-4.93 [[ 9.88016833e-01 1.51499389e-01 2.95071650e-02 3.33021226e+02] [-1.51510987e-01 9.88453832e-01 -1.85535020e-03 -3.13101042e+01] [-2.94475547e-02 -2.63754246e-03 9.99562847e-01 -4.93112989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.05, Y:-31.31, Z:-4.93 [[ 9.88001522e-01 1.51967518e-01 2.75475218e-02 3.33053213e+02] [-1.51858720e-01 9.88383928e-01 -6.01162776e-03 -3.13112646e+01] [-2.81410999e-02 1.75616598e-03 9.99602418e-01 -4.93199325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.08, Y:-31.32, Z:-4.93 [[ 9.88170626e-01 1.50533694e-01 2.92988162e-02 3.33084381e+02] [-1.50689418e-01 9.88576075e-01 3.16901070e-03 -3.13177753e+01] [-2.84870658e-02 -7.54654485e-03 9.99565674e-01 -4.93482161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.12, Y:-31.32, Z:-4.94 [[ 9.88530036e-01 1.48234990e-01 2.88921501e-02 3.33117192e+02] [-1.48232235e-01 9.88950022e-01 -2.24906225e-03 -3.13195194e+01] [-2.89062822e-02 -2.05948239e-03 9.99580004e-01 -4.93605804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.15, Y:-31.32, Z:-4.94 [[ 9.89163281e-01 1.44607953e-01 2.53878537e-02 3.33149309e+02] [-1.44331709e-01 9.89451599e-01 -1.24052818e-02 -3.13193598e+01] [-2.69139549e-02 8.60657692e-03 9.99600703e-01 -4.93649329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.375898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:333.18, Y:-31.33, Z:-4.94 [[ 9.90535538e-01 1.33871331e-01 3.02954551e-02 3.33180008e+02] [-1.34061930e-01 9.90963448e-01 4.34091481e-03 -3.13326897e+01] [-2.94405646e-02 -8.36129756e-03 9.99531561e-01 -4.93858508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.21, Y:-31.33, Z:-4.94 [[ 9.91395866e-01 1.28310149e-01 2.58987094e-02 3.33213715e+02] [-1.28070713e-01 9.91707229e-01 -1.07081408e-02 -3.13334398e+01] [-2.70579005e-02 7.29914036e-03 9.99607219e-01 -4.93926508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.24, Y:-31.35, Z:-4.94 [[ 9.92645145e-01 1.18000297e-01 2.70471154e-02 3.33244823e+02] [-1.17903326e-01 9.93011682e-01 -5.15802453e-03 -3.13455920e+01] [-2.74667500e-02 1.93114314e-03 9.99620852e-01 -4.93990502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.28, Y:-31.35, Z:-4.94 [[ 9.92982365e-01 1.14815389e-01 2.83451995e-02 3.33275196e+02] [-1.14781014e-01 9.93386753e-01 -2.84222871e-03 -3.13541889e+01] [-2.84840773e-02 -4.31207749e-04 9.99594153e-01 -4.94091818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.31, Y:-31.36, Z:-4.94 [[ 9.93258567e-01 1.12538203e-01 2.77951828e-02 3.33308071e+02] [-1.12444516e-01 9.93645845e-01 -4.91591933e-03 -3.13611130e+01] [-2.81717966e-02 1.75736311e-03 9.99601551e-01 -4.94184733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.34, Y:-31.37, Z:-4.94 [[ 9.93316929e-01 1.12161590e-01 2.72260236e-02 3.33339920e+02] [-1.12099969e-01 9.93689729e-01 -3.78399208e-03 -3.13693854e+01] [-2.74786386e-02 7.06667001e-04 9.99622141e-01 -4.94282720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.37, Y:-31.38, Z:-4.94 [[ 9.93035703e-01 1.15083388e-01 2.52171781e-02 3.33370982e+02] [-1.15031353e-01 9.93355663e-01 -3.50928179e-03 -3.13800279e+01] [-2.54534867e-02 5.84075984e-04 9.99675837e-01 -4.94454974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.40, Y:-31.39, Z:-4.95 [[ 9.92728389e-01 1.17952725e-01 2.40312343e-02 3.33402996e+02] [-1.17906211e-01 9.93019090e-01 -3.34831930e-03 -3.13869349e+01] [-2.42584179e-02 4.90539832e-04 9.99705601e-01 -4.94567873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.44, Y:-31.39, Z:-4.95 [[ 9.92324918e-01 1.21458258e-01 2.32195627e-02 3.33435376e+02] [-1.21415693e-01 9.92596461e-01 -3.23949103e-03 -3.13931364e+01] [-2.34411188e-02 3.95408366e-04 9.99725141e-01 -4.94649338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.47, Y:-31.40, Z:-4.95 [[ 9.91776180e-01 1.25401520e-01 2.55825609e-02 3.33465502e+02] [-1.25523069e-01 9.92085554e-01 3.19568058e-03 -3.14021858e+01] [-2.49793459e-02 -6.38060144e-03 9.99667605e-01 -4.94797976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.50, Y:-31.41, Z:-4.95 [[ 9.90973290e-01 1.31730740e-01 2.48787211e-02 3.33498091e+02] [-1.31650538e-01 9.91284366e-01 -4.84172277e-03 -3.14067546e+01] [-2.52996910e-02 1.52272091e-03 9.99678752e-01 -4.94875786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.53, Y:-31.41, Z:-4.95 [[ 9.90684187e-01 1.33879009e-01 2.49249485e-02 3.33530266e+02] [-1.33784195e-01 9.90995552e-01 -5.44096991e-03 -3.14123201e+01] [-2.54289448e-02 2.05571866e-03 9.99674518e-01 -4.94964986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.56, Y:-31.42, Z:-4.95 [[ 9.90466543e-01 1.35564840e-01 2.44581572e-02 3.33562590e+02] [-1.35432631e-01 9.90761893e-01 -6.99105479e-03 -3.14169899e+01] [-2.51799513e-02 3.61197330e-03 9.99676409e-01 -4.95000772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.765898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:333.60, Y:-31.42, Z:-4.95 [[ 9.90256195e-01 1.36921410e-01 2.54007191e-02 3.33595304e+02] [-1.36874922e-01 9.90581912e-01 -3.56808653e-03 -3.14210201e+01] [-2.56500403e-02 5.65983338e-05 9.99670982e-01 -4.95083466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.63, Y:-31.42, Z:-4.95 [[ 9.90297114e-01 1.36661259e-01 2.52056982e-02 3.33628183e+02] [-1.36615280e-01 9.90617835e-01 -3.54536148e-03 -3.14249675e+01] [-2.54537277e-02 6.74777261e-05 9.99675999e-01 -4.95157344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.66, Y:-31.43, Z:-4.95 [[ 9.90574557e-01 1.34684414e-01 2.49430505e-02 3.33660484e+02] [-1.34638643e-01 9.90888538e-01 -3.51313752e-03 -3.14273898e+01] [-2.51889477e-02 1.21726169e-04 9.99682701e-01 -4.95304917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.69, Y:-31.43, Z:-4.95 [[ 9.91517467e-01 1.27690088e-01 2.42560251e-02 3.33692662e+02] [-1.27644644e-01 9.91814073e-01 -3.41906334e-03 -3.14287330e+01] [-2.44940475e-02 2.93909343e-04 9.99699933e-01 -4.95384925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.73, Y:-31.43, Z:-4.95 [[ 9.92094939e-01 1.23103239e-01 2.43561816e-02 3.33725279e+02] [-1.23055931e-01 9.92393784e-01 -3.43745878e-03 -3.14328957e+01] [-2.45940856e-02 4.13112867e-04 9.99697434e-01 -4.95452193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.76, Y:-31.44, Z:-4.95 [[ 9.92659545e-01 1.18442274e-01 2.44633483e-02 3.33757543e+02] [-1.18393023e-01 9.92960795e-01 -3.45703940e-03 -3.14375976e+01] [-2.47006054e-02 5.35373400e-04 9.99694750e-01 -4.95488340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.79, Y:-31.44, Z:-4.95 [[ 9.93681595e-01 1.09468806e-01 2.47682991e-02 3.33789403e+02] [-1.09415409e-01 9.93989931e-01 -3.50498237e-03 -3.14425046e+01] [-2.50031261e-02 7.72802902e-04 9.99687074e-01 -4.95477114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.82, Y:-31.45, Z:-4.96 [[ 9.94102849e-01 1.05442146e-01 2.53274478e-02 3.33822159e+02] [-1.05384886e-01 9.94425033e-01 -3.58875853e-03 -3.14475688e+01] [-2.55646545e-02 8.98464887e-04 9.99672767e-01 -4.95553919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.85, Y:-31.45, Z:-4.96 [[ 9.94415192e-01 1.02327851e-01 2.58348000e-02 3.33853554e+02] [-1.02267092e-01 9.94750222e-01 -3.66571301e-03 -3.14524302e+01] [-2.60742776e-02 1.00319085e-03 9.99659505e-01 -4.95632793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.89, Y:-31.46, Z:-4.96 [[ 9.94629413e-01 1.00406695e-01 2.51162541e-02 3.33885879e+02] [-1.00348548e-01 9.94945947e-01 -3.56811097e-03 -3.14580237e+01] [-2.53475774e-02 1.02856851e-03 9.99678169e-01 -4.95777523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.065898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:333.92, Y:-31.46, Z:-4.96 [[ 9.94518085e-01 1.01644820e-01 2.45379131e-02 3.33918905e+02] [-1.01589585e-01 9.94820272e-01 -3.49042455e-03 -3.14631069e+01] [-2.47655970e-02 9.78493929e-04 9.99692807e-01 -4.95901885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.95, Y:-31.47, Z:-4.96 [[ 9.94277212e-01 1.04081884e-01 2.40787625e-02 3.33951327e+02] [-1.04029301e-01 9.94568320e-01 -3.42961092e-03 -3.14689793e+01] [-2.43049347e-02 9.05087158e-04 9.99704182e-01 -4.95902163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.98, Y:-31.47, Z:-4.96 [[ 9.94268541e-01 1.04164842e-01 2.40780856e-02 3.33984463e+02] [-1.04112169e-01 9.94559632e-01 -3.43435623e-03 -3.14738390e+01] [-2.43048311e-02 9.07850644e-04 9.99704182e-01 -4.95989142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.02, Y:-31.48, Z:-4.96 [[ 9.93920858e-01 1.07622019e-01 2.32126907e-02 3.34016567e+02] [-1.07573967e-01 9.94191565e-01 -3.31257921e-03 -3.14775734e+01] [-2.34343678e-02 7.95360338e-04 9.99725061e-01 -4.96043304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.05, Y:-31.48, Z:-4.96 [[ 9.93838743e-01 1.08498245e-01 2.26425089e-02 3.34047986e+02] [-1.08452661e-01 9.94096350e-01 -3.23519456e-03 -3.14812032e+01] [-2.28598484e-02 7.59621342e-04 9.99738391e-01 -4.96129529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.08, Y:-31.48, Z:-4.96 [[ 9.93792420e-01 1.08911903e-01 2.26897240e-02 3.34080249e+02] [-1.08866143e-01 9.94051119e-01 -3.24604190e-03 -3.14847718e+01] [-2.29082781e-02 7.55749109e-04 9.99737285e-01 -4.96268567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.11, Y:-31.49, Z:-4.96 [[ 9.93723350e-01 1.09129608e-01 2.45892700e-02 3.34112364e+02] [-1.09075811e-01 9.94027192e-01 -3.52259935e-03 -3.14871853e+01] [-2.48268229e-02 8.18394673e-04 9.99691432e-01 -4.96382711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.14, Y:-31.49, Z:-4.96 [[ 9.93625393e-01 1.09935896e-01 2.49535204e-02 3.34143963e+02] [-1.09880631e-01 9.93938346e-01 -3.57933777e-03 -3.14909081e+01] [-2.51957585e-02 8.14612330e-04 9.99682205e-01 -4.96381168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30589822699994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:334.18, Y:-31.49, Z:-4.97 [[ 9.93578791e-01 1.10369613e-01 2.48944872e-02 3.34177068e+02] [-1.10314674e-01 9.93890286e-01 -3.57374297e-03 -3.14929029e+01] [-2.51368217e-02 8.04567984e-04 9.99683696e-01 -4.96506956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.21, Y:-31.50, Z:-4.97 [[ 9.93491061e-01 1.11302395e-01 2.42340481e-02 3.34209415e+02] [-1.11250499e-01 9.93786291e-01 -3.48341723e-03 -3.14962298e+01] [-2.44711774e-02 7.64693928e-04 9.99700243e-01 -4.96566496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.24, Y:-31.50, Z:-4.97 [[ 9.93578898e-01 1.10625739e-01 2.37259384e-02 3.34241295e+02] [-1.10575704e-01 9.93861839e-01 -3.41458570e-03 -3.14977306e+01] [-2.39580458e-02 7.69147948e-04 9.99712669e-01 -4.96769406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.27, Y:-31.50, Z:-4.97 [[ 9.93699999e-01 1.09432027e-01 2.41856068e-02 3.34274087e+02] [-1.09379613e-01 9.93993946e-01 -3.48350770e-03 -3.15011020e+01] [-2.44215541e-02 8.16149274e-04 9.99701416e-01 -4.96845222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.31, Y:-31.50, Z:-4.97 [[ 9.93861367e-01 1.07944048e-01 2.42418089e-02 3.34307207e+02] [-1.07890837e-01 9.94156599e-01 -3.49616165e-03 -3.15043449e+01] [-2.44775441e-02 8.59230940e-04 9.99700011e-01 -4.96888934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.34, Y:-31.51, Z:-4.97 [[ 9.94024395e-01 1.06473581e-01 2.40598898e-02 3.34340451e+02] [-1.06420626e-01 9.94315131e-01 -3.47441031e-03 -3.15073143e+01] [-2.42930454e-02 8.93180067e-04 9.99704481e-01 -4.96940242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.37, Y:-31.51, Z:-4.97 [[ 9.94452966e-01 1.02637673e-01 2.29957745e-02 3.34372392e+02] [-1.02588180e-01 9.94718357e-01 -3.32489115e-03 -3.15065622e+01] [-2.32155781e-02 9.47353227e-04 9.99730033e-01 -4.97037721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.41, Y:-31.51, Z:-4.97 [[ 9.94643982e-01 1.00663193e-01 2.34578460e-02 3.34405047e+02] [-1.00611043e-01 9.94920040e-01 -3.39585969e-03 -3.15084495e+01] [-2.36805192e-02 1.01755305e-03 9.99719059e-01 -4.97089001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.44, Y:-31.51, Z:-4.97 [[ 9.94819726e-01 9.87253789e-02 2.42283343e-02 3.34437212e+02] [-9.86690521e-02 9.95114105e-01 -3.51232050e-03 -3.15101111e+01] [-2.44567124e-02 1.10353893e-03 9.99700281e-01 -4.97163481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.47, Y:-31.51, Z:-4.97 [[ 9.95097492e-01 9.56861733e-02 2.50027367e-02 3.34470572e+02] [-9.56251111e-02 9.95410803e-01 -3.62929871e-03 -3.15083278e+01] [-2.52352679e-02 1.22061658e-03 9.99680795e-01 -4.97238199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.50, Y:-31.51, Z:-4.97 [[ 9.95238019e-01 9.45031091e-02 2.38840599e-02 3.34502477e+02] [-9.44469465e-02 9.95523845e-01 -3.47121130e-03 -3.15098561e+01] [-2.41051914e-02 1.19890493e-03 9.99708709e-01 -4.97326602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.54, Y:-31.51, Z:-4.97 [[ 9.95521185e-01 9.20626440e-02 2.14951300e-02 3.34535439e+02] [-9.20165180e-02 9.95752570e-01 -3.12728044e-03 -3.15091810e+01] [-2.16917366e-02 1.13536692e-03 9.99764062e-01 -4.97443331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.57, Y:-31.51, Z:-4.98 [[ 9.95584137e-01 9.12533511e-02 2.20238945e-02 3.34567144e+02] [-9.12046295e-02 9.95827003e-01 -3.20872862e-03 -3.15120207e+01] [-2.22247960e-02 1.18587818e-03 9.99752295e-01 -4.97543328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.60, Y:-31.52, Z:-4.98 [[ 9.95586335e-01 9.08812402e-02 2.34189860e-02 3.34599757e+02] [-9.08259812e-02 9.95860924e-01 -3.41475340e-03 -3.15150922e+01] [-2.36323901e-02 1.27262944e-03 9.99719906e-01 -4.97533161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.63, Y:-31.52, Z:-4.98 [[ 9.95401225e-01 9.19052220e-02 2.70153949e-02 3.34633308e+02] [-9.18318943e-02 9.95766709e-01 -3.94517301e-03 -3.15157739e+01] [-2.72636129e-02 1.44615516e-03 9.99627233e-01 -4.97525284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.67, Y:-31.52, Z:-4.98 [[ 9.95253294e-01 9.32674339e-02 2.77860684e-02 3.34665377e+02] [-9.31902357e-02 9.95640030e-01 -4.06324867e-03 -3.15181967e+01] [-2.80438908e-02 1.45457136e-03 9.99605634e-01 -4.97562916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.70, Y:-31.52, Z:-4.98 [[ 9.95111518e-01 9.46987093e-02 2.80217909e-02 3.34697699e+02] [-9.46206204e-02 9.95504950e-01 -4.10268955e-03 -3.15200420e+01] [-2.82843510e-02 1.43119438e-03 9.99598893e-01 -4.97710551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.73, Y:-31.52, Z:-4.98 [[ 9.94926896e-01 9.70787259e-02 2.63854629e-02 3.34731270e+02] [-9.70102490e-02 9.95275874e-01 -3.86606161e-03 -3.15194844e+01] [-2.66361270e-02 1.28678835e-03 9.99644367e-01 -4.97929333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.76, Y:-31.52, Z:-4.98 [[ 9.94847015e-01 9.81688932e-02 2.53433617e-02 3.34763739e+02] [-9.81059579e-02 9.95169030e-01 -3.71785481e-03 -3.15222469e+01] [-2.55859064e-02 1.21236198e-03 9.99671892e-01 -4.98033855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.875898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:334.80, Y:-31.53, Z:-4.98 [[ 9.94767261e-01 9.91168376e-02 2.47779810e-02 3.34796587e+02] [-9.90568610e-02 9.95075119e-01 -3.63938609e-03 -3.15254200e+01] [-2.50166768e-02 1.16591311e-03 9.99686354e-01 -4.98090866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.83, Y:-31.53, Z:-4.98 [[ 9.94701284e-01 9.99463198e-02 2.40850346e-02 3.34829096e+02] [-9.98897886e-02 9.94992203e-01 -3.54194997e-03 -3.15287038e+01] [-2.43184265e-02 1.11733316e-03 9.99703639e-01 -4.98137583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.86, Y:-31.53, Z:-4.98 [[ 9.94618032e-01 1.00852017e-01 2.37453458e-02 3.34862171e+02] [-1.00797221e-01 9.94900847e-01 -3.49644686e-03 -3.15295207e+01] [-2.39768883e-02 1.08416424e-03 9.99711925e-01 -4.98234244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96589822699997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:334.89, Y:-31.53, Z:-4.98 [[ 9.94587315e-01 1.00963264e-01 2.45456995e-02 3.34894456e+02] [-1.00904625e-01 9.94889521e-01 -3.61910944e-03 -3.15319403e+01] [-2.47856563e-02 1.12274575e-03 9.99692158e-01 -4.98440418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.93, Y:-31.54, Z:-4.98 [[ 9.94574313e-01 1.00948549e-01 2.51261978e-02 3.34927658e+02] [-1.00886983e-01 9.94890978e-01 -3.70922725e-03 -3.15354585e+01] [-2.53722687e-02 1.15419584e-03 9.99677406e-01 -4.98491753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:334.96, Y:-31.54, Z:-4.99 [[ 9.94613553e-01 1.00529760e-01 2.52516981e-02 3.34959150e+02] [-1.00467321e-01 9.94933357e-01 -3.73252836e-03 -3.15386482e+01] [-2.54989870e-02 1.17545284e-03 9.99674157e-01 -4.98538161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.99, Y:-31.54, Z:-4.99 [[ 9.94891399e-01 9.80783820e-02 2.39109842e-02 3.34991498e+02] [-9.80215963e-02 9.95177998e-01 -3.53832366e-03 -3.15398467e+01] [-2.41427185e-02 1.17645494e-03 9.99707830e-01 -4.98680521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.02, Y:-31.54, Z:-4.99 [[ 9.95081276e-01 9.64963249e-02 2.23989684e-02 3.35024269e+02] [-9.64460185e-02 9.95332686e-01 -3.31797367e-03 -3.15430017e+01] [-2.26145977e-02 1.14136215e-03 9.99743606e-01 -4.98754052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.06, Y:-31.54, Z:-4.99 [[ 9.95370643e-01 9.36325751e-02 2.16846491e-02 3.35056309e+02] [-9.35846603e-02 9.95606131e-01 -3.21620466e-03 -3.15434901e+01] [-2.18905111e-02 1.17196519e-03 9.99759687e-01 -4.98753743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.09, Y:-31.55, Z:-4.99 [[ 9.95428186e-01 9.29386075e-02 2.20259267e-02 3.35088852e+02] [-9.28889213e-02 9.95671106e-01 -3.27049571e-03 -3.15454263e+01] [-2.22345341e-02 1.20957904e-03 9.99752050e-01 -4.98774878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.12, Y:-31.55, Z:-4.99 [[ 9.95422921e-01 9.28521738e-02 2.26203991e-02 3.35120128e+02] [-9.27996578e-02 9.95679123e-01 -3.36265143e-03 -3.15469323e+01] [-2.28348887e-02 1.24809501e-03 9.99738471e-01 -4.98879298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.15, Y:-31.55, Z:-4.99 [[ 9.95445731e-01 9.24036907e-02 2.34383334e-02 3.35151368e+02] [-9.23470896e-02 9.95720768e-01 -3.48820944e-03 -3.15480794e+01] [-2.36603588e-02 1.30786132e-03 9.99719199e-01 -4.98900293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.18, Y:-31.55, Z:-4.99 [[ 9.95605892e-01 9.05064660e-02 2.40309612e-02 3.35183905e+02] [-9.04463938e-02 9.95894901e-01 -3.57727547e-03 -3.15451477e+01] [-2.42560782e-02 1.38804276e-03 9.99704814e-01 -4.98952012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.21, Y:-31.55, Z:-4.99 [[ 9.95765805e-01 8.89049363e-02 2.33746532e-02 3.35214926e+02] [-8.88475725e-02 9.96039143e-01 -3.48335231e-03 -3.15458270e+01] [-2.35917568e-02 1.39182192e-03 9.99720707e-01 -4.99043514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.25, Y:-31.55, Z:-4.99 [[ 9.95964679e-01 8.68423578e-02 2.26442875e-02 3.35247342e+02] [-8.67879172e-02 9.96221084e-01 -3.37779232e-03 -3.15476086e+01] [-2.28520521e-02 1.39891129e-03 9.99737879e-01 -4.99188444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.28, Y:-31.55, Z:-4.99 [[ 9.96503175e-01 8.05968443e-02 2.20356907e-02 3.35278709e+02] [-8.05436924e-02 9.96745648e-01 -3.29051089e-03 -3.15476671e+01] [-2.22291836e-02 1.50416866e-03 9.99751770e-01 -4.99312492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.31, Y:-31.55, Z:-4.99 [[ 9.96795071e-01 7.68610759e-02 2.21802196e-02 3.35311100e+02] [-7.68062299e-02 9.97040526e-01 -3.31539341e-03 -3.15504320e+01] [-2.23694026e-02 1.60118876e-03 9.99748491e-01 -4.99369238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.385898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.34, Y:-31.55, Z:-4.99 [[ 9.97080221e-01 7.31272518e-02 2.19872368e-02 3.35343241e+02] [-7.30723779e-02 9.97321214e-01 -3.28994743e-03 -3.15523974e+01] [-2.21689225e-02 1.67368183e-03 9.99752838e-01 -4.99416721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.37, Y:-31.55, Z:-4.99 [[ 9.97286215e-01 7.03054196e-02 2.18484226e-02 3.35374794e+02] [-7.02504825e-02 9.97524014e-01 -3.27284816e-03 -3.15547308e+01] [-2.20244252e-02 1.72910413e-03 9.99755938e-01 -4.99437559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.41, Y:-31.56, Z:-4.99 [[ 9.97436788e-01 6.80161783e-02 2.22183310e-02 3.35407663e+02] [-6.79587175e-02 9.97682570e-01 -3.33196433e-03 -3.15563603e+01] [-2.23934690e-02 1.81349451e-03 9.99747590e-01 -4.99463259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:335.44, Y:-31.56, Z:-5.00 [[ 9.97393042e-01 6.86526491e-02 2.22246381e-02 3.35439369e+02] [-6.85952164e-02 9.97638993e-01 -3.33720624e-03 -3.15599009e+01] [-2.24012736e-02 1.80400242e-03 9.99747432e-01 -4.99546107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.47, Y:-31.56, Z:-5.00 [[ 9.97277594e-01 7.03114582e-02 2.22193545e-02 3.35471428e+02] [-7.02543723e-02 9.97523516e-01 -3.34040842e-03 -3.15636388e+01] [-2.23991976e-02 1.77030768e-03 9.99747539e-01 -4.99699025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.50, Y:-31.57, Z:-5.00 [[ 9.97054792e-01 7.34089784e-02 2.22005501e-02 3.35503584e+02] [-7.33526633e-02 9.97300467e-01 -3.34153787e-03 -3.15663226e+01] [-2.23859178e-02 1.70322687e-03 9.99747953e-01 -4.99797238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.53, Y:-31.57, Z:-5.00 [[ 9.96989826e-01 7.41984705e-02 2.24916179e-02 3.35534136e+02] [-7.41407875e-02 9.97242026e-01 -3.38891736e-03 -3.15706073e+01] [-2.26810391e-02 1.71116987e-03 9.99741288e-01 -4.99883441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.57, Y:-31.58, Z:-5.00 [[ 9.97014236e-01 7.38323442e-02 2.26141241e-02 3.35565176e+02] [-7.37738549e-02 9.97269163e-01 -3.41099258e-03 -3.15755138e+01] [-2.28042102e-02 1.73247705e-03 9.99738449e-01 -4.99946326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.60, Y:-31.58, Z:-5.00 [[ 9.97056329e-01 7.33004949e-02 2.24881066e-02 3.35597041e+02] [-7.32425203e-02 9.97308391e-01 -3.39202533e-03 -3.15815879e+01] [-2.26762145e-02 1.73495472e-03 9.99741356e-01 -5.00009772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.63, Y:-31.59, Z:-5.00 [[ 9.97097605e-01 7.31860521e-02 2.09801743e-02 3.35628862e+02] [-7.31355021e-02 9.97316983e-01 -3.16768840e-03 -3.15887520e+01] [-2.11557148e-02 1.62409893e-03 9.99774874e-01 -5.00021209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.66, Y:-31.59, Z:-5.00 [[ 9.97037243e-01 7.41726739e-02 2.03752589e-02 3.35659442e+02] [-7.41251223e-02 9.97244192e-01 -3.08024139e-03 -3.15941964e+01] [-2.05475783e-02 1.56079682e-03 9.99787658e-01 -5.00068784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.69, Y:-31.60, Z:-5.00 [[ 9.96913200e-01 7.57341480e-02 2.06981001e-02 3.35689310e+02] [-7.56854005e-02 9.97126835e-01 -3.12958985e-03 -3.15986397e+01] [-2.08756479e-02 1.55338544e-03 9.99780873e-01 -5.00063093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.72, Y:-31.60, Z:-5.00 [[ 9.96566637e-01 8.02386896e-02 2.04129894e-02 3.35719934e+02] [-8.01922096e-02 9.96774639e-01 -3.08676984e-03 -3.16010957e+01] [-2.05948286e-02 1.43920911e-03 9.99786868e-01 -5.00036796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.75, Y:-31.60, Z:-5.00 [[ 9.96386971e-01 8.23348090e-02 2.08322635e-02 3.35749323e+02] [-8.22868544e-02 9.96603707e-01 -3.15022604e-03 -3.16033797e+01] [-2.10208843e-02 1.42462275e-03 9.99778022e-01 -5.00121548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.78, Y:-31.61, Z:-5.00 [[ 9.96205598e-01 8.44197508e-02 2.11592073e-02 3.35779770e+02] [-8.43707533e-02 9.96429295e-01 -3.19936770e-03 -3.16057389e+01] [-2.13537438e-02 1.40200976e-03 9.99771000e-01 -5.00118323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.81, Y:-31.61, Z:-5.00 [[ 9.96031062e-01 8.63257431e-02 2.16792379e-02 3.35810174e+02] [-8.62747565e-02 9.96265989e-01 -3.27799869e-03 -3.16080311e+01] [-2.18812631e-02 1.39461754e-03 9.99759604e-01 -5.00212059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.84, Y:-31.61, Z:-5.00 [[ 9.95892242e-01 8.79607082e-02 2.14838683e-02 3.35839780e+02] [-8.79110118e-02 9.96123035e-01 -3.24862182e-03 -3.16072600e+01] [-2.16863272e-02 1.34660867e-03 9.99763917e-01 -5.00280687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.87, Y:-31.61, Z:-5.00 [[ 9.95951073e-01 8.74920759e-02 2.06542144e-02 3.35870621e+02] [-8.74460642e-02 9.96164363e-01 -3.12220001e-03 -3.16094340e+01] [-2.08481601e-02 1.30342870e-03 9.99781804e-01 -5.00340680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.90, Y:-31.61, Z:-5.00 [[ 9.96057285e-01 8.63939296e-02 2.01488065e-02 3.35899786e+02] [-8.63499202e-02 9.96260214e-01 -3.04572717e-03 -3.16118399e+01] [-2.03365866e-02 1.29387090e-03 9.99792353e-01 -5.00438518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.93, Y:-31.61, Z:-5.01 [[ 9.96280849e-01 8.37545585e-02 2.02396634e-02 3.35929120e+02] [-8.37095982e-02 9.96485494e-01 -3.05998104e-03 -3.16122728e+01] [-2.04248183e-02 1.35434642e-03 9.99790474e-01 -5.00501648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.96, Y:-31.61, Z:-5.01 [[ 9.96328625e-01 8.30062706e-02 2.09578058e-02 3.35959209e+02] [-8.29579142e-02 9.96548017e-01 -3.16778176e-03 -3.16143888e+01] [-2.11484056e-02 1.41753579e-03 9.99775343e-01 -5.00573397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.99, Y:-31.62, Z:-5.01 [[ 9.96367220e-01 8.24636711e-02 2.12627592e-02 3.35989077e+02] [-8.24137856e-02 9.96593017e-01 -3.21333088e-03 -3.16165064e+01] [-2.14553004e-02 1.44931308e-03 9.99768758e-01 -5.00636189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.02, Y:-31.62, Z:-5.01 [[ 9.96368133e-01 8.24526405e-02 2.12627949e-02 3.36018899e+02] [-8.24027576e-02 9.96593930e-01 -3.21309419e-03 -3.16209750e+01] [-2.14553005e-02 1.44931172e-03 9.99768758e-01 -5.00714478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.05, Y:-31.62, Z:-5.01 [[ 9.96370601e-01 8.22882702e-02 2.17776690e-02 3.36048681e+02] [-8.22359072e-02 9.96607459e-01 -3.29069206e-03 -3.16230460e+01] [-2.19745727e-02 1.48784246e-03 9.99757423e-01 -5.00741672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.08, Y:-31.62, Z:-5.01 [[ 9.96394884e-01 8.19440309e-02 2.19638366e-02 3.36077981e+02] [-8.18906960e-02 9.96635792e-01 -3.31834605e-03 -3.16229053e+01] [-2.21618644e-02 1.50774917e-03 9.99753259e-01 -5.00730604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.135898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:336.11, Y:-31.63, Z:-5.01 [[ 9.96452765e-01 8.14513905e-02 2.11555921e-02 3.36107829e+02] [-8.14018152e-02 9.96676243e-01 -3.19546852e-03 -3.16252659e+01] [-2.13455514e-02 1.46202985e-03 9.99771089e-01 -5.00858109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.14, Y:-31.63, Z:-5.01 [[ 9.96526875e-01 8.08269550e-02 2.00297376e-02 3.36136570e+02] [-8.07823986e-02 9.96727171e-01 -3.02505163e-03 -3.16276954e+01] [-2.02086894e-02 1.39649501e-03 9.99794808e-01 -5.00946784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.17, Y:-31.63, Z:-5.01 [[ 9.96709365e-01 7.87407363e-02 1.92441520e-02 3.36165361e+02] [-7.86992321e-02 9.96894171e-01 -2.90578155e-03 -3.16278432e+01] [-1.94131864e-02 1.38171969e-03 9.99810592e-01 -5.01081730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.19, Y:-31.63, Z:-5.01 [[ 9.96806445e-01 7.71655917e-02 2.05519531e-02 3.36194873e+02] [-7.71179370e-02 9.97017151e-01 -3.10246335e-03 -3.16306151e+01] [-2.07300531e-02 1.50763123e-03 9.99783973e-01 -5.01182769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.22, Y:-31.63, Z:-5.01 [[ 9.96905528e-01 7.54798166e-02 2.19582836e-02 3.36224122e+02] [-7.54250205e-02 9.97145968e-01 -3.31423645e-03 -3.16333894e+01] [-2.21457719e-02 1.64777665e-03 9.99753394e-01 -5.01168930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.25, Y:-31.63, Z:-5.01 [[ 9.96971791e-01 7.42437835e-02 2.31324254e-02 3.36253465e+02] [-7.41826519e-02 9.97238561e-01 -3.49088005e-03 -3.16337517e+01] [-2.33277227e-02 1.76428427e-03 9.99726315e-01 -5.01154324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.28, Y:-31.64, Z:-5.01 [[ 9.96967763e-01 7.45811491e-02 2.22020670e-02 3.36282883e+02] [-7.45249313e-02 9.97213524e-01 -3.34998131e-03 -3.16353509e+01] [-2.23900470e-02 1.68521586e-03 9.99747891e-01 -5.01221110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:336.31, Y:-31.64, Z:-5.01 [[ 9.96921288e-01 7.53568761e-02 2.16630355e-02 3.36312959e+02] [-7.53035489e-02 9.97155301e-01 -3.26812855e-03 -3.16362129e+01] [-2.18476866e-02 1.62676347e-03 9.99759987e-01 -5.01370763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.34, Y:-31.64, Z:-5.01 [[ 9.96799140e-01 7.69382851e-02 2.17249974e-02 3.36341865e+02] [-7.68850292e-02 9.97034579e-01 -3.27731708e-03 -3.16369527e+01] [-2.19127248e-02 1.59649979e-03 9.99758613e-01 -5.01401504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.37, Y:-31.63, Z:-5.01 [[ 9.96541975e-01 7.99579450e-02 2.26013087e-02 3.36372181e+02] [-7.99010968e-02 9.96796968e-01 -3.40866793e-03 -3.16323122e+01] [-2.28014660e-02 1.59101131e-03 9.99738747e-01 -5.01445996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.40, Y:-31.63, Z:-5.02 [[ 9.96495509e-01 8.05234482e-02 2.26423144e-02 3.36401430e+02] [-8.04665501e-02 9.96751462e-01 -3.41435650e-03 -3.16322868e+01] [-2.28436958e-02 1.58044199e-03 9.99737800e-01 -5.01553268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.43, Y:-31.63, Z:-5.02 [[ 9.96566695e-01 7.98649764e-02 2.18267777e-02 3.36430507e+02] [-7.98119621e-02 9.96804505e-01 -3.29068740e-03 -3.16320970e+01] [-2.20198411e-02 1.53735151e-03 9.99756352e-01 -5.01656603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.46, Y:-31.63, Z:-5.02 [[ 9.96922307e-01 7.58882869e-02 1.96693034e-02 3.36459198e+02] [-7.58444806e-02 9.97115252e-01 -2.96470827e-03 -3.16291444e+01] [-1.98375490e-02 1.46377571e-03 9.99802145e-01 -5.01855915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.49, Y:-31.63, Z:-5.02 [[ 9.97148283e-01 7.30188844e-02 1.90668420e-02 3.36488059e+02] [-7.29772206e-02 9.97329470e-01 -2.87279374e-03 -3.16302990e+01] [-1.92256916e-02 1.47315621e-03 9.99814084e-01 -5.01991943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.52, Y:-31.63, Z:-5.02 [[ 9.97320642e-01 7.05430096e-02 1.93706438e-02 3.36515942e+02] [-7.04995593e-02 9.97507543e-01 -2.91774143e-03 -3.16314565e+01] [-1.95281896e-02 1.54430191e-03 9.99808114e-01 -5.02092125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.55, Y:-31.63, Z:-5.02 [[ 9.97518111e-01 6.72446578e-02 2.08751861e-02 3.36546036e+02] [-6.71935050e-02 9.97735012e-01 -3.14302367e-03 -3.16284723e+01] [-2.10392556e-02 1.73254611e-03 9.99777149e-01 -5.02057239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.58, Y:-31.63, Z:-5.02 [[ 9.97529959e-01 6.69106900e-02 2.13761704e-02 3.36575542e+02] [-6.68569991e-02 9.97757380e-01 -3.21737750e-03 -3.16291604e+01] [-2.15435087e-02 1.78028384e-03 9.99766327e-01 -5.02045845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.60, Y:-31.63, Z:-5.02 [[ 9.97508887e-01 6.72262486e-02 2.13694197e-02 3.36604342e+02] [-6.71726716e-02 9.97736182e-01 -3.21598484e-03 -3.16291790e+01] [-2.15372418e-02 1.77253245e-03 9.99766475e-01 -5.02108989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.63, Y:-31.63, Z:-5.02 [[ 9.97462002e-01 6.80322437e-02 2.10039895e-02 3.36631992e+02] [-6.79806797e-02 9.97681633e-01 -3.16011851e-03 -3.16289706e+01] [-2.11702845e-02 1.72423266e-03 9.99774398e-01 -5.02211913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.66, Y:-31.62, Z:-5.02 [[ 9.97448315e-01 6.85210383e-02 2.00430991e-02 3.36660311e+02] [-6.84742074e-02 9.97648333e-01 -3.01434561e-03 -3.16245009e+01] [-2.02025105e-02 1.63421863e-03 9.99794573e-01 -5.02298345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.69, Y:-31.63, Z:-5.02 [[ 9.97494216e-01 6.77465464e-02 2.03885935e-02 3.36688988e+02] [-6.76979509e-02 9.97701154e-01 -3.06509645e-03 -3.16251544e+01] [-2.05493730e-02 1.67714997e-03 9.99787433e-01 -5.02438316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.72, Y:-31.63, Z:-5.03 [[ 9.97589443e-01 6.61235904e-02 2.10469406e-02 3.36717460e+02] [-6.60714673e-02 9.97809880e-01 -3.16309826e-03 -3.16263083e+01] [-2.12100007e-02 1.76487118e-03 9.99773485e-01 -5.02550724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.75, Y:-31.63, Z:-5.03 [[ 9.97724524e-01 6.37953528e-02 2.18157437e-02 3.36745048e+02] [-6.37388208e-02 9.97961232e-01 -3.27764223e-03 -3.16283122e+01] [-2.19803648e-02 1.87967425e-03 9.99756636e-01 -5.02704235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.77, Y:-31.63, Z:-5.03 [[ 9.98158268e-01 5.67977139e-02 2.13094110e-02 3.36773621e+02] [-5.67422213e-02 9.98383733e-01 -3.20029019e-03 -3.16304122e+01] [-2.14567385e-02 1.98525280e-03 9.99767807e-01 -5.02779959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85589822699995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:336.80, Y:-31.63, Z:-5.03 [[ 9.98441944e-01 5.21877681e-02 1.97515049e-02 3.36802645e+02] [-5.21392138e-02 9.98635423e-01 -2.96564328e-03 -3.16343335e+01] [-1.98793228e-02 1.93119470e-03 9.99800522e-01 -5.02976182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.83, Y:-31.64, Z:-5.03 [[ 9.98649867e-01 4.85234672e-02 1.85450062e-02 3.36831761e+02] [-4.84800458e-02 9.98820271e-01 -2.78411631e-03 -3.16398327e+01] [-1.86582231e-02 1.88129463e-03 9.99824150e-01 -5.03018102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.86, Y:-31.65, Z:-5.03 [[ 9.98819096e-01 4.47047659e-02 1.90236188e-02 3.36860671e+02] [-4.46583969e-02 9.98998235e-01 -2.85553795e-03 -3.16464774e+01] [-1.91322178e-02 2.00260151e-03 9.99814957e-01 -5.03058971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.89, Y:-31.65, Z:-5.03 [[ 9.98769261e-01 4.53326353e-02 2.01225164e-02 3.36889897e+02] [-4.52808904e-02 9.98969730e-01 -3.01994651e-03 -3.16522537e+01] [-2.02386869e-02 2.10506428e-03 9.99792961e-01 -5.03121444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.92, Y:-31.66, Z:-5.03 [[ 9.98657825e-01 4.73873672e-02 2.09042155e-02 3.36919353e+02] [-4.73319758e-02 9.98874288e-01 -3.13690995e-03 -3.16578731e+01] [-2.10293333e-02 2.14326185e-03 9.99776562e-01 -5.03139649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.95, Y:-31.66, Z:-5.03 [[ 9.98533946e-01 4.99698311e-02 2.08080628e-02 3.36948870e+02] [-4.99154943e-02 9.98748562e-01 -3.12289804e-03 -3.16630425e+01] [-2.09380735e-02 2.07967496e-03 9.99778612e-01 -5.03178799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.98, Y:-31.67, Z:-5.03 [[ 9.98303809e-01 5.51638592e-02 1.86132376e-02 3.36976642e+02] [-5.51212825e-02 9.98475760e-01 -2.79316434e-03 -3.16694025e+01] [-1.87389483e-02 1.76244107e-03 9.99822857e-01 -5.03227118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.00, Y:-31.67, Z:-5.03 [[ 9.98243255e-01 5.64039783e-02 1.81382090e-02 3.37003725e+02] [-5.63637544e-02 9.98406590e-01 -2.72165519e-03 -3.16749616e+01] [-1.82628196e-02 1.69453638e-03 9.99831785e-01 -5.03320427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09589822699996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:337.03, Y:-31.68, Z:-5.03 [[ 9.98243249e-01 5.64034841e-02 1.81400813e-02 3.37032289e+02] [-5.63632737e-02 9.98406620e-01 -2.72074014e-03 -3.16801627e+01] [-1.82646365e-02 1.69352611e-03 9.99831753e-01 -5.03468568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.06, Y:-31.69, Z:-5.03 [[ 9.98167000e-01 5.71474936e-02 1.99199369e-02 3.37059077e+02] [-5.70991695e-02 9.98364044e-01 -2.98676404e-03 -3.16878424e+01] [-2.00580348e-02 1.84387745e-03 9.99797117e-01 -5.03417053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.09, Y:-31.69, Z:-5.04 [[ 9.98099866e-01 5.80422298e-02 2.06823039e-02 3.37087017e+02] [-5.79903516e-02 9.98312331e-01 -3.09982628e-03 -3.16932709e+01] [-2.08273199e-02 1.89456211e-03 9.99781293e-01 -5.03503661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.12, Y:-31.70, Z:-5.04 [[ 9.97997245e-01 5.95342860e-02 2.13814986e-02 3.37115075e+02] [-5.94792006e-02 9.98224404e-01 -3.20365136e-03 -3.16981671e+01] [-2.15342608e-02 1.92548078e-03 9.99766257e-01 -5.03506632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.14, Y:-31.70, Z:-5.04 [[ 9.97816989e-01 6.22216085e-02 2.21298086e-02 3.37143450e+02] [-6.21632768e-02 9.98060489e-01 -3.31477485e-03 -3.17024128e+01] [-2.22931382e-02 1.93187724e-03 9.99749611e-01 -5.03515731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.17, Y:-31.70, Z:-5.03 [[ 9.97195614e-01 7.13260586e-02 2.26605687e-02 3.37172235e+02] [-7.12672510e-02 9.97451485e-01 -3.39324734e-03 -3.17021014e+01] [-2.28448448e-02 1.76877493e-03 9.99737458e-01 -5.03482102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.20, Y:-31.70, Z:-5.04 [[ 9.96767729e-01 7.65161278e-02 2.44821715e-02 3.37200291e+02] [-7.65685179e-02 9.97063590e-01 1.20833361e-03 -3.17041746e+01] [-2.43178248e-02 -3.07899153e-03 9.99699536e-01 -5.03674672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.23, Y:-31.70, Z:-5.04 [[ 9.96361329e-01 8.24383613e-02 2.16337505e-02 3.37229424e+02] [-8.22792566e-02 9.96576023e-01 -8.14582467e-03 -3.17002276e+01] [-2.22312055e-02 6.33617578e-03 9.99732777e-01 -5.03573376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.26, Y:-31.70, Z:-5.04 [[ 9.95515262e-01 9.17379850e-02 2.30977209e-02 3.37256616e+02] [-9.16824249e-02 9.95782303e-01 -3.45526177e-03 -3.16992170e+01] [-2.33172804e-02 1.32211077e-03 9.99727241e-01 -5.03706018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.28, Y:-31.70, Z:-5.04 [[ 9.95178324e-01 9.52294761e-02 2.34829740e-02 3.37284657e+02] [-9.51730525e-02 9.95454550e-01 -3.51132436e-03 -3.17002414e+01] [-2.37106149e-02 1.25944757e-03 9.99718071e-01 -5.03773747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.31, Y:-31.70, Z:-5.04 [[ 9.94894167e-01 9.81482390e-02 2.35057336e-02 3.37312567e+02] [-9.80925541e-02 9.95171095e-01 -3.51320777e-03 -3.17010917e+01] [-2.37370418e-02 1.18953247e-03 9.99717529e-01 -5.03815831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.34, Y:-31.70, Z:-5.04 [[ 9.94457326e-01 1.02589498e-01 2.30221798e-02 3.37340321e+02] [-1.02537302e-01 9.94723214e-01 -3.43943816e-03 -3.16985066e+01] [-2.32535469e-02 1.05974227e-03 9.99729038e-01 -5.03896197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.37, Y:-31.70, Z:-5.04 [[ 9.94262787e-01 1.04471936e-01 2.29592063e-02 3.37368936e+02] [-1.04420569e-01 9.94527321e-01 -3.42819019e-03 -3.16994524e+01] [-2.31917076e-02 1.01110855e-03 9.99730525e-01 -5.03923219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.40, Y:-31.70, Z:-5.04 [[ 9.94037286e-01 1.06390639e-01 2.38936482e-02 3.37396038e+02] [-1.06335599e-01 9.94323903e-01 -3.56604540e-03 -3.16997947e+01] [-2.41374194e-02 1.00403669e-03 9.99708146e-01 -5.04001795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.42, Y:-31.70, Z:-5.04 [[ 9.93812848e-01 1.08309158e-01 2.45997751e-02 3.37423009e+02] [-1.08251452e-01 9.94116773e-01 -3.66943713e-03 -3.16999993e+01] [-2.48524827e-02 9.83772392e-04 9.99690645e-01 -5.04063771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.45, Y:-31.70, Z:-5.04 [[ 9.93352814e-01 1.12417582e-01 2.47482226e-02 3.37452017e+02] [-1.12360498e-01 9.93660659e-01 -3.68962681e-03 -3.16972217e+01] [-2.50061141e-02 8.84378564e-04 9.99686907e-01 -5.04179456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.48, Y:-31.70, Z:-5.04 [[ 9.93143083e-01 1.14381525e-01 2.41595595e-02 3.37478805e+02] [-1.14327745e-01 9.93436563e-01 -3.60022796e-03 -3.16976365e+01] [-2.44127894e-02 8.13433521e-04 9.99701633e-01 -5.04275627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.51, Y:-31.70, Z:-5.04 [[ 9.92943099e-01 1.16190748e-01 2.37426338e-02 3.37506892e+02] [-1.16139403e-01 9.93226633e-01 -3.53485585e-03 -3.16984960e+01] [-2.39925338e-02 7.52455412e-04 9.99711855e-01 -5.04370748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.53, Y:-31.70, Z:-5.04 [[ 9.92823177e-01 1.17104409e-01 2.42630710e-02 3.37534616e+02] [-1.17051102e-01 9.93119330e-01 -3.61065508e-03 -3.16960558e+01] [-2.45189484e-02 7.44722852e-04 9.99699088e-01 -5.04430902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.56, Y:-31.70, Z:-5.04 [[ 9.92940132e-01 1.15968178e-01 2.49254105e-02 3.37561465e+02] [-1.15911613e-01 9.93252614e-01 -3.70720206e-03 -3.16972523e+01] [-2.51871466e-02 7.91885163e-04 9.99682440e-01 -5.04480702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.59, Y:-31.70, Z:-5.05 [[ 9.93100471e-01 1.14481916e-01 2.54036548e-02 3.37589648e+02] [-1.14422755e-01 9.93424975e-01 -3.77514965e-03 -3.16994862e+01] [-2.56688115e-02 8.42346733e-04 9.99670147e-01 -5.04571711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.62, Y:-31.70, Z:-5.05 [[ 9.93419102e-01 1.11668295e-01 2.54691767e-02 3.37616170e+02] [-1.11607949e-01 9.93745115e-01 -3.78316868e-03 -3.17016921e+01] [-2.57323300e-02 9.15709463e-04 9.99668449e-01 -5.04750736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.64, Y:-31.71, Z:-5.05 [[ 9.93512854e-01 1.10887830e-01 2.52209930e-02 3.37643869e+02] [-1.10828454e-01 9.93832498e-01 -3.74434426e-03 -3.17053902e+01] [-2.54806447e-02 9.24850493e-04 9.99674888e-01 -5.04812799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.67, Y:-31.71, Z:-5.05 [[ 9.93535077e-01 1.10719322e-01 2.50855079e-02 3.37670954e+02] [-1.10660573e-01 9.93851287e-01 -3.72248728e-03 -3.17090517e+01] [-2.53434156e-02 9.22445013e-04 9.99678378e-01 -5.04892423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.70, Y:-31.71, Z:-5.05 [[ 9.93441402e-01 1.11711288e-01 2.43878733e-02 3.37698551e+02] [-1.11656137e-01 9.93740325e-01 -3.61583641e-03 -3.17123693e+01] [-2.46391429e-02 8.69065871e-04 9.99696032e-01 -5.04942964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.73, Y:-31.72, Z:-5.05 [[ 9.93424709e-01 1.12095110e-01 2.32816227e-02 3.37726109e+02] [-1.12044992e-01 9.93697145e-01 -3.45025570e-03 -3.17164361e+01] [-2.35216388e-02 8.18980037e-04 9.99722993e-01 -5.05106419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.75, Y:-31.72, Z:-5.05 [[ 9.93499239e-01 1.11624090e-01 2.23455835e-02 3.37754172e+02] [-1.11577836e-01 9.93750185e-01 -3.31003975e-03 -3.17209745e+01] [-2.25754079e-02 7.95250111e-04 9.99744827e-01 -5.05281980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.78, Y:-31.73, Z:-5.05 [[ 9.93677612e-01 1.10201191e-01 2.14592927e-02 3.37780940e+02] [-1.10158229e-01 9.93908984e-01 -3.17754987e-03 -3.17265243e+01] [-2.16787536e-02 7.93542487e-04 9.99764673e-01 -5.05459468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.81, Y:-31.73, Z:-5.06 [[ 9.93696477e-01 1.10030883e-01 2.14596647e-02 3.37809090e+02] [-1.09987935e-01 9.93927851e-01 -3.17503554e-03 -3.17305276e+01] [-2.16787104e-02 7.94717422e-04 9.99764673e-01 -5.05533298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96589822699997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:337.84, Y:-31.74, Z:-5.06 [[ 9.94177230e-01 1.05577916e-01 2.15624391e-02 3.37835296e+02] [-1.05533601e-01 9.94410634e-01 -3.18605993e-03 -3.17381936e+01] [-2.17782963e-02 8.91946400e-04 9.99762427e-01 -5.05689702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.86, Y:-31.75, Z:-5.06 [[ 9.94341000e-01 1.03905214e-01 2.21287677e-02 3.37861922e+02] [-1.03858168e-01 9.94586749e-01 -3.26788451e-03 -3.17452668e+01] [-2.23485294e-02 9.51138269e-04 9.99749788e-01 -5.05653634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.89, Y:-31.76, Z:-5.06 [[ 9.94541195e-01 1.01624173e-01 2.36714749e-02 3.37888333e+02] [-1.01569742e-01 9.94822287e-01 -3.49364232e-03 -3.17550373e+01] [-2.39039493e-02 1.07026563e-03 9.99713687e-01 -5.05689732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.91, Y:-31.76, Z:-5.06 [[ 9.94560111e-01 1.01358164e-01 2.40147701e-02 3.37914711e+02] [-1.01302103e-01 9.94849402e-01 -3.54272575e-03 -3.17621724e+01] [-2.42501639e-02 1.09070700e-03 9.99705327e-01 -5.05774996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.94, Y:-31.78, Z:-5.06 [[ 9.94433678e-01 1.01072411e-01 2.97662260e-02 3.37941517e+02] [-1.01436813e-01 9.94781237e-01 1.09938330e-02 -3.17757655e+01] [-2.84997099e-02 -1.39520289e-02 9.99496427e-01 -5.06314050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.97, Y:-31.77, Z:-5.06 [[ 9.94490894e-01 1.02556142e-01 2.16817816e-02 3.37970808e+02] [-1.02160810e-01 9.94593638e-01 -1.86189038e-02 -3.17701348e+01] [-2.34740450e-02 1.63013019e-02 9.99591535e-01 -5.05600647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.00, Y:-31.79, Z:-5.06 [[ 9.94341065e-01 1.03369990e-01 2.45049112e-02 3.37996586e+02] [-1.03312379e-01 9.94642412e-01 -3.60889513e-03 -3.17863805e+01] [-2.47466754e-02 1.05681196e-03 9.99693196e-01 -5.05947373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.02, Y:-31.79, Z:-5.06 [[ 9.94245362e-01 1.04077840e-01 2.53764500e-02 3.38024249e+02] [-1.04016326e-01 9.94568574e-01 -3.73571975e-03 -3.17928197e+01] [-2.56274254e-02 1.07465694e-03 9.99670986e-01 -5.06004744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.05, Y:-31.80, Z:-5.06 [[ 9.94107255e-01 1.05258270e-01 2.59126015e-02 3.38050601e+02] [-1.05194578e-01 9.94444349e-01 -3.81277241e-03 -3.17987976e+01] [-2.61699660e-02 1.06443953e-03 9.99656941e-01 -5.06082288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.08, Y:-31.80, Z:-5.06 [[ 9.94027027e-01 1.06172650e-01 2.52514932e-02 3.38078100e+02] [-1.06112513e-01 9.94347195e-01 -3.71347608e-03 -3.18042039e+01] [-2.55030211e-02 1.01179619e-03 9.99674233e-01 -5.06137927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.10, Y:-31.81, Z:-5.06 [[ 9.93991482e-01 1.06981028e-01 2.31515151e-02 3.38104442e+02] [-1.06930732e-01 9.94260648e-01 -3.40322022e-03 -3.18096215e+01] [-2.33827204e-02 9.07163448e-04 9.99726175e-01 -5.06172145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.13, Y:-31.81, Z:-5.06 [[ 9.94063509e-01 1.06383694e-01 2.28089758e-02 3.38132103e+02] [-1.06334761e-01 9.94324740e-01 -3.35102174e-03 -3.18142343e+01] [-2.30360230e-02 9.05741437e-04 9.99734225e-01 -5.06250944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.16, Y:-31.82, Z:-5.06 [[ 9.94204277e-01 1.04908562e-01 2.34957300e-02 3.38160176e+02] [-1.04856267e-01 9.94481402e-01 -3.45021430e-03 -3.18189071e+01] [-2.37280236e-02 9.66543284e-04 9.99717984e-01 -5.06312601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.19, Y:-31.82, Z:-5.06 [[ 9.94669792e-01 9.97665055e-02 2.60509125e-02 3.38187078e+02] [-9.97005070e-02 9.95010146e-01 -3.82338785e-03 -3.18248715e+01] [-2.63023683e-02 1.20571921e-03 9.99653306e-01 -5.06317794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.385898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:338.21, Y:-31.83, Z:-5.06 [[ 9.94963301e-01 9.65272758e-02 2.70280191e-02 3.38214552e+02] [-9.64551015e-02 9.95329441e-01 -3.96452099e-03 -3.18294883e+01] [-2.72844676e-02 1.33756257e-03 9.99626815e-01 -5.06455631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.24, Y:-31.83, Z:-5.06 [[ 9.95178195e-01 9.41603364e-02 2.74625537e-02 3.38242180e+02] [-9.40849761e-02 9.95556028e-01 -4.02635185e-03 -3.18349753e+01] [-2.77196335e-02 1.42312386e-03 9.99614724e-01 -5.06494496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.27, Y:-31.84, Z:-5.07 [[ 9.95346864e-01 9.23945640e-02 2.73471010e-02 3.38269529e+02] [-9.23192243e-02 9.95721397e-01 -4.00751525e-03 -3.18398312e+01] [-2.76003662e-02 1.46420459e-03 9.99617965e-01 -5.06600188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.30, Y:-31.84, Z:-5.07 [[ 9.95603887e-01 9.01341618e-02 2.54702248e-02 3.38296682e+02] [-9.00681163e-02 9.95928620e-01 -3.73081321e-03 -3.18448607e+01] [-2.57027996e-02 1.42035696e-03 9.99668619e-01 -5.06801176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.32, Y:-31.85, Z:-5.07 [[ 9.95763430e-01 8.88641098e-02 2.36296711e-02 3.38324799e+02] [-8.88069398e-02 9.96042848e-01 -3.45997512e-03 -3.18487809e+01] [-2.38436326e-02 1.34683791e-03 9.99714793e-01 -5.06832767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.35, Y:-31.85, Z:-5.07 [[ 9.95938050e-01 8.71355496e-02 2.26891242e-02 3.38352540e+02] [-8.70824276e-02 9.96195575e-01 -3.32078736e-03 -3.18529609e+01] [-2.28921637e-02 1.33147447e-03 9.99737053e-01 -5.06957845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.38, Y:-31.86, Z:-5.07 [[ 9.96369284e-01 8.24085935e-02 2.13792997e-02 3.38380431e+02] [-8.23603743e-02 9.96597705e-01 -3.12770231e-03 -3.18585956e+01] [-2.15643105e-02 1.35553939e-03 9.99766544e-01 -5.07128572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.41, Y:-31.86, Z:-5.07 [[ 9.96601929e-01 7.95738213e-02 2.12744356e-02 3.38407767e+02] [-7.95254636e-02 9.96827981e-01 -3.11083087e-03 -3.18639395e+01] [-2.14544934e-02 1.40840069e-03 9.99768834e-01 -5.07198040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.43, Y:-31.87, Z:-5.07 [[ 9.97054315e-01 7.38400791e-02 2.07445494e-02 3.38434615e+02] [-7.37928896e-02 9.97268978e-01 -3.03218296e-03 -3.18712535e+01] [-2.09117922e-02 1.49245086e-03 9.99780211e-01 -5.07350999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.46, Y:-31.88, Z:-5.07 [[ 9.97255313e-01 7.12754971e-02 2.00410487e-02 3.38463166e+02] [-7.12309626e-02 9.97455551e-01 -2.92820145e-03 -3.18773663e+01] [-2.01987643e-02 1.49262126e-03 9.99794870e-01 -5.07413339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.49, Y:-31.88, Z:-5.08 [[ 9.97393232e-01 6.94587743e-02 1.95504419e-02 3.38490361e+02] [-6.94160621e-02 9.97583708e-01 -2.85574680e-03 -3.18837506e+01] [-1.97015590e-02 1.49118784e-03 9.99804793e-01 -5.07535607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.52, Y:-31.89, Z:-5.08 [[ 9.97495000e-01 6.81781226e-02 1.88538686e-02 3.38517868e+02] [-6.81381947e-02 9.97672095e-01 -2.75284931e-03 -3.18900097e+01] [-1.89976627e-02 1.46128485e-03 9.99818460e-01 -5.07584443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.55, Y:-31.90, Z:-5.08 [[ 9.97468180e-01 6.88037332e-02 1.79799102e-02 3.38545675e+02] [-6.87675411e-02 9.97629259e-01 -2.62422609e-03 -3.18984772e+01] [-1.81178410e-02 1.38114780e-03 9.99834905e-01 -5.07628655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.57, Y:-31.90, Z:-5.08 [[ 9.97365939e-01 7.02204417e-02 1.81734258e-02 3.38573297e+02] [-7.01837140e-02 9.97530558e-01 -2.65171084e-03 -3.19042862e+01] [-1.83147519e-02 1.36924755e-03 9.99831333e-01 -5.07655799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.60, Y:-31.91, Z:-5.08 [[ 9.97238243e-01 7.19694657e-02 1.83380279e-02 3.38601578e+02] [-7.19323847e-02 9.97405925e-01 -2.67458237e-03 -3.19099726e+01] [-1.84829459e-02 1.34809774e-03 9.99828267e-01 -5.07692054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.63, Y:-31.92, Z:-5.08 [[ 9.96931185e-01 7.58038560e-02 1.95445313e-02 3.38629938e+02] [-7.57624861e-02 9.97121821e-01 -2.84958860e-03 -3.19178867e+01] [-1.97042884e-02 1.36010146e-03 9.99804927e-01 -5.07661220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.66, Y:-31.92, Z:-5.08 [[ 9.96768543e-01 7.77202556e-02 2.02985868e-02 3.38656824e+02] [-7.76760456e-02 9.96974262e-01 -2.95860682e-03 -3.19235248e+01] [-2.04671123e-02 1.37233225e-03 9.99789585e-01 -5.07701746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.68, Y:-31.93, Z:-5.08 [[ 9.96661460e-01 7.88399743e-02 2.12177447e-02 3.38684042e+02] [-7.87919495e-02 9.96886289e-01 -3.09128143e-03 -3.19286924e+01] [-2.13953953e-02 1.40917359e-03 9.99770099e-01 -5.07697682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.71, Y:-31.93, Z:-5.08 [[ 9.96598475e-01 7.93035494e-02 2.24148704e-02 3.38712585e+02] [-7.92500991e-02 9.96849420e-01 -3.26432046e-03 -3.19338770e+01] [-2.26031228e-02 1.47683609e-03 9.99743426e-01 -5.07729690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.74, Y:-31.94, Z:-5.08 [[ 9.96677835e-01 7.78076954e-02 2.40677193e-02 3.38740387e+02] [-7.77456634e-02 9.96967068e-01 -3.50388098e-03 -3.19394540e+01] [-2.42673525e-02 1.62107971e-03 9.99704190e-01 -5.07755112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.77, Y:-31.94, Z:-5.08 [[ 9.96838405e-01 7.57042010e-02 2.41260750e-02 3.38768881e+02] [-7.56412878e-02 9.97128913e-01 -3.51101013e-03 -3.19445639e+01] [-2.43226051e-02 1.67498236e-03 9.99702758e-01 -5.07844164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.80, Y:-31.95, Z:-5.08 [[ 9.97059368e-01 7.29979433e-02 2.33220151e-02 3.38796777e+02] [-7.29384412e-02 9.97330673e-01 -3.39300974e-03 -3.19495401e+01] [-2.35074438e-02 1.68196072e-03 9.99722247e-01 -5.07892973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.82, Y:-31.96, Z:-5.08 [[ 9.97522648e-01 6.67736014e-02 2.21326289e-02 3.38824748e+02] [-6.67185121e-02 9.97766645e-01 -3.21901901e-03 -3.19557581e+01] [-2.22981444e-02 1.73438830e-03 9.99749861e-01 -5.07923458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.85, Y:-31.96, Z:-5.08 [[ 9.97712448e-01 6.37528435e-02 2.24821240e-02 3.38853499e+02] [-6.36952559e-02 9.97964041e-01 -3.26907121e-03 -3.19611697e+01] [-2.26447639e-02 1.82958840e-03 9.99741900e-01 -5.07989685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.88, Y:-31.97, Z:-5.08 [[ 9.97855467e-01 6.13055199e-02 2.29368900e-02 3.38881893e+02] [-6.12449481e-02 9.98117196e-01 -3.33468760e-03 -3.19665722e+01] [-2.30981391e-02 1.92276762e-03 9.99731353e-01 -5.08069207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.91, Y:-31.97, Z:-5.08 [[ 9.97935498e-01 5.97045079e-02 2.36667284e-02 3.38910893e+02] [-5.96395933e-02 9.98214048e-01 -3.43990395e-03 -3.19723917e+01] [-2.38298385e-02 2.02132821e-03 9.99713986e-01 -5.08139649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.94, Y:-31.98, Z:-5.08 [[ 9.97958510e-01 5.89812732e-02 2.44953616e-02 3.38940225e+02] [-5.89115234e-02 9.98256860e-01 -3.56004071e-03 -3.19794451e+01] [-2.46626384e-02 2.10971385e-03 9.99693605e-01 -5.08216982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.97, Y:-31.99, Z:-5.08 [[ 9.97906556e-01 5.98231930e-02 2.45701113e-02 3.38969826e+02] [-5.97532703e-02 9.98206790e-01 -3.57089154e-03 -3.19857546e+01] [-2.47396741e-02 2.09527158e-03 9.99691732e-01 -5.08350570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.00, Y:-31.99, Z:-5.08 [[ 9.97839100e-01 6.11460407e-02 2.40477077e-02 3.38998698e+02] [-6.10794344e-02 9.98126788e-01 -3.49527379e-03 -3.19926964e+01] [-2.42163834e-02 2.01890046e-03 9.99704702e-01 -5.08494568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.03, Y:-32.00, Z:-5.09 [[ 9.97761384e-01 6.34207439e-02 2.12138970e-02 3.39028152e+02] [-6.33694296e-02 9.97985376e-01 -3.08312793e-03 -3.20022882e+01] [-2.13666932e-02 1.73191344e-03 9.99770206e-01 -5.08699935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.06, Y:-32.01, Z:-5.09 [[ 9.97724030e-01 6.46692569e-02 1.90957135e-02 3.39057129e+02] [-6.46279040e-02 9.97905572e-01 -2.77543307e-03 -3.20085600e+01] [-1.92352041e-02 1.53500033e-03 9.99813808e-01 -5.08796383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.08, Y:-32.01, Z:-5.09 [[ 9.97633851e-01 6.63641575e-02 1.79582361e-02 3.39084401e+02] [-6.63278600e-02 9.97794469e-01 -2.60999499e-03 -3.20139895e+01] [-1.80918388e-02 1.41268799e-03 9.99835331e-01 -5.08864801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.11, Y:-32.02, Z:-5.09 [[ 9.97488900e-01 6.87398860e-02 1.70505913e-02 3.39112554e+02] [-6.87075274e-02 9.97633770e-01 -2.47708394e-03 -3.20205002e+01] [-1.71805201e-02 1.29935976e-03 9.99851560e-01 -5.08923261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.14, Y:-32.03, Z:-5.09 [[ 9.97139343e-01 7.38487820e-02 1.61086101e-02 3.39139132e+02] [-7.38205723e-02 9.97268795e-01 -2.33967063e-03 -3.20303776e+01] [-1.62373960e-02 1.14383082e-03 9.99867511e-01 -5.08967090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.17, Y:-32.04, Z:-5.09 [[ 9.96960133e-01 7.63433086e-02 1.55625176e-02 3.39166455e+02] [-7.63172943e-02 9.97081022e-01 -2.25955390e-03 -3.20371774e+01] [-1.56895928e-02 1.06499592e-03 9.99876344e-01 -5.09073847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.19, Y:-32.04, Z:-5.09 [[ 9.96718562e-01 7.93889448e-02 1.57956699e-02 3.39194658e+02] [-7.93625440e-02 9.96843183e-01 -2.29225509e-03 -3.20436159e+01] [-1.59277856e-02 1.03114865e-03 9.99872613e-01 -5.09129075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.22, Y:-32.05, Z:-5.09 [[ 9.96040565e-01 8.71078406e-02 1.77600107e-02 3.39221277e+02] [-8.70757013e-02 9.96198366e-01 -2.57645389e-03 -3.20520011e+01] [-1.79169230e-02 1.01978720e-03 9.99838959e-01 -5.09059415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.25, Y:-32.06, Z:-5.09 [[ 9.95632624e-01 9.14925641e-02 1.85685050e-02 3.39247933e+02] [-9.14582126e-02 9.95805275e-01 -2.69261404e-03 -3.20586890e+01] [-1.87369694e-02 9.82612098e-04 9.99823965e-01 -5.09037164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.28, Y:-32.07, Z:-5.09 [[ 9.95245453e-01 9.55704099e-02 1.87825760e-02 3.39275891e+02] [-9.55360073e-02 9.95422252e-01 -2.72251352e-03 -3.20655049e+01] [-1.89567859e-02 9.15156879e-04 9.99819885e-01 -5.09089720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.30, Y:-32.07, Z:-5.09 [[ 9.94851369e-01 9.95451454e-02 1.90136295e-02 3.39302721e+02] [-9.95106307e-02 9.95032685e-01 -2.75518658e-03 -3.20722130e+01] [-1.91934482e-02 8.48942877e-04 9.99815428e-01 -5.09150923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.33, Y:-32.08, Z:-5.09 [[ 9.94087486e-01 1.06733650e-01 1.99499147e-02 3.39328973e+02] [-1.06697120e-01 9.94287370e-01 -2.88968626e-03 -3.20816881e+01] [-2.01443750e-02 7.44002509e-04 9.99796805e-01 -5.09259669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.36, Y:-32.09, Z:-5.09 [[ 9.93746524e-01 1.09773794e-01 2.04342768e-02 3.39355909e+02] [-1.09736138e-01 9.93956351e-01 -2.95844987e-03 -3.20879386e+01] [-2.06355395e-02 6.97570657e-04 9.99786821e-01 -5.09242046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.38, Y:-32.09, Z:-5.09 [[ 9.93373469e-01 1.12921627e-01 2.13975965e-02 3.39383250e+02] [-1.12881100e-01 9.93603678e-01 -3.09635121e-03 -3.20938536e+01] [-2.16103756e-02 6.60448914e-04 9.99766250e-01 -5.09286418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.41, Y:-32.10, Z:-5.09 [[ 9.92632624e-01 1.18879386e-01 2.34129417e-02 3.39410252e+02] [-1.18832562e-01 9.92908534e-01 -3.38613340e-03 -3.20999673e+01] [-2.36494511e-02 5.78966646e-04 9.99720145e-01 -5.09299730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.44, Y:-32.10, Z:-5.09 [[ 9.92208075e-01 1.22207416e-01 2.42586724e-02 3.39438005e+02] [-1.22158176e-01 9.92504449e-01 -3.50698841e-03 -3.21041404e+01] [-2.45054203e-02 5.16267041e-04 9.99699564e-01 -5.09335278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.47, Y:-32.11, Z:-5.09 [[ 9.91768004e-01 1.25720710e-01 2.43008214e-02 3.39466056e+02] [-1.25672396e-01 9.92065582e-01 -3.51133632e-03 -3.21084328e+01] [-2.45494562e-02 4.28488569e-04 9.99698525e-01 -5.09404363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.49, Y:-32.11, Z:-5.10 [[ 9.91088563e-01 1.31028173e-01 2.39808097e-02 3.39493720e+02] [-1.30982700e-01 9.91378602e-01 -3.46403142e-03 -3.21129046e+01] [-2.42279473e-02 2.92090705e-04 9.99706418e-01 -5.09518277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.52, Y:-32.12, Z:-5.10 [[ 9.90890752e-01 1.32486224e-01 2.41436983e-02 3.39521466e+02] [-1.32440606e-01 9.91184814e-01 -3.48584753e-03 -3.21166291e+01] [-2.43926939e-02 2.56488047e-04 9.99702421e-01 -5.09607575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.55, Y:-32.12, Z:-5.10 [[ 9.90769746e-01 1.33285294e-01 2.47050763e-02 3.39549582e+02] [-1.33237823e-01 9.91077682e-01 -3.56511826e-03 -3.21197908e+01] [-2.49598276e-02 2.40560741e-04 9.99688426e-01 -5.09703315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.58, Y:-32.12, Z:-5.10 [[ 9.90784675e-01 1.33174230e-01 2.47053233e-02 3.39577781e+02] [-1.33126766e-01 9.91092612e-01 -3.56340532e-03 -3.21237098e+01] [-2.49598172e-02 2.41627574e-04 9.99688426e-01 -5.09777311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.885898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:339.60, Y:-32.12, Z:-5.10 [[ 9.90748011e-01 1.33570521e-01 2.40269694e-02 3.39604351e+02] [-1.33525810e-01 9.91039286e-01 -3.46287674e-03 -3.21249380e+01] [-2.42742089e-02 2.22617673e-04 9.99705313e-01 -5.09880817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.63, Y:-32.13, Z:-5.10 [[ 9.90791897e-01 1.33460200e-01 2.27989425e-02 3.39631614e+02] [-1.33419968e-01 9.91054151e-01 -3.28358499e-03 -3.21280295e+01] [-2.30332145e-02 2.11515226e-04 9.99734678e-01 -5.09962963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.66, Y:-32.13, Z:-5.10 [[ 9.90926876e-01 1.32754716e-01 2.09788274e-02 3.39659232e+02] [-1.32720529e-01 9.91148900e-01 -3.01980038e-03 -3.21311951e+01] [-2.11940345e-02 2.08080292e-04 9.99775360e-01 -5.10137281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.69, Y:-32.13, Z:-5.10 [[ 9.91359616e-01 1.29887540e-01 1.83122775e-02 3.39687117e+02] [-1.29861023e-01 9.91528705e-01 -2.63491344e-03 -3.21332316e+01] [-1.84993912e-02 2.34095696e-04 9.99828844e-01 -5.10215349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.71, Y:-32.14, Z:-5.10 [[ 9.91608284e-01 1.27957487e-01 1.84361995e-02 3.39714053e+02] [-1.27930299e-01 9.91779617e-01 -2.65151844e-03 -3.21364577e+01] [-1.86239285e-02 2.70719145e-04 9.99826523e-01 -5.10247817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.74, Y:-32.14, Z:-5.10 [[ 9.91933043e-01 1.25353395e-01 1.88511323e-02 3.39742013e+02] [-1.25324531e-01 9.92112101e-01 -2.70951752e-03 -3.21398848e+01] [-1.90420836e-02 3.25150653e-04 9.99818630e-01 -5.10241098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.77, Y:-32.14, Z:-5.10 [[ 9.92281136e-01 1.22493611e-01 1.93251576e-02 3.39769227e+02] [-1.22462760e-01 9.92469226e-01 -2.77628162e-03 -3.21437017e+01] [-1.95197010e-02 3.88239728e-04 9.99809397e-01 -5.10309201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.80, Y:-32.15, Z:-5.10 [[ 9.93054396e-01 1.16220641e-01 1.83229377e-02 3.39797844e+02] [-1.16191865e-01 9.93223302e-01 -2.63097994e-03 -3.21484040e+01] [-1.85045428e-02 4.83729900e-04 9.99828659e-01 -5.10422201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.83, Y:-32.15, Z:-5.10 [[ 9.93405582e-01 1.13304502e-01 1.75339426e-02 3.39825180e+02] [-1.13277708e-01 9.93560177e-01 -2.51700618e-03 -3.21540867e+01] [-1.77062153e-02 5.14203152e-04 9.99843100e-01 -5.10479456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.85, Y:-32.16, Z:-5.11 [[ 9.93667016e-01 1.10974915e-01 1.76190303e-02 3.39851926e+02] [-1.10947514e-01 9.93823051e-01 -2.52815121e-03 -3.21606886e+01] [-1.77907598e-02 5.57352855e-04 9.99841577e-01 -5.10609814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.88, Y:-32.17, Z:-5.11 [[ 9.93911946e-01 1.08634531e-01 1.83734218e-02 3.39879111e+02] [-1.08604355e-01 9.94081561e-01 -2.63525406e-03 -3.21714695e+01] [-1.85509594e-02 6.23776867e-04 9.99827722e-01 -5.10590662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.91, Y:-32.18, Z:-5.11 [[ 9.93826919e-01 1.09275331e-01 1.91561133e-02 3.39905845e+02] [-1.09242664e-01 9.94011316e-01 -2.74663845e-03 -3.21792239e+01] [-1.93415332e-02 6.37018382e-04 9.99812732e-01 -5.10578824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.93, Y:-32.19, Z:-5.11 [[ 9.93595724e-01 1.11174017e-01 2.01959280e-02 3.39934162e+02] [-1.11138126e-01 9.93800754e-01 -2.89441014e-03 -3.21877192e+01] [-2.03925117e-02 6.31335942e-04 9.99791852e-01 -5.10583522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27589822699997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:339.96, Y:-32.20, Z:-5.11 [[ 9.92900397e-01 1.16987376e-01 2.15117324e-02 3.39960802e+02] [-1.16948040e-01 9.93133253e-01 -3.08194567e-03 -3.22011850e+01] [-2.17245655e-02 5.44310149e-04 9.99763846e-01 -5.10565686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.99, Y:-32.21, Z:-5.11 [[ 9.92416187e-01 1.20847287e-01 2.24954644e-02 3.39988221e+02] [-1.20805293e-01 9.92670995e-01 -3.22144935e-03 -3.22104607e+01] [-2.27198985e-02 4.79447300e-04 9.99741755e-01 -5.10683324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.01, Y:-32.22, Z:-5.11 [[ 9.91917778e-01 1.24654406e-01 2.36727994e-02 3.40014850e+02] [-1.24609009e-01 9.92200136e-01 -3.38897693e-03 -3.22184167e+01] [-2.39106057e-02 4.11742383e-04 9.99714016e-01 -5.10734276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.04, Y:-32.23, Z:-5.11 [[ 9.90806006e-01 1.32963824e-01 2.49816004e-02 3.40042627e+02] [-1.32915942e-01 9.91120867e-01 -3.57490047e-03 -3.22306737e+01] [-2.52351179e-02 2.21579908e-04 9.99681519e-01 -5.10768698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.07, Y:-32.24, Z:-5.11 [[ 9.90259035e-01 1.36988877e-01 2.49217163e-02 3.40069202e+02] [-1.36942527e-01 9.90572579e-01 -3.56518070e-03 -3.22395836e+01] [-2.51751589e-02 1.17609579e-04 9.99683049e-01 -5.10876738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.10, Y:-32.25, Z:-5.11 [[ 9.89744790e-01 1.40722769e-01 2.45428665e-02 3.40097289e+02] [-1.40679000e-01 9.90049040e-01 -3.50956960e-03 -3.22484107e+01] [-2.47925178e-02 2.09122935e-05 9.99692618e-01 -5.10970710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.13, Y:-32.26, Z:-5.11 [[ 9.89178082e-01 1.44696242e-01 2.42841355e-02 3.40125664e+02] [-1.44654615e-01 9.89476120e-01 -3.47143321e-03 -3.22569954e+01] [-2.45308755e-02 -7.89466367e-05 9.99699070e-01 -5.11090337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:340.15, Y:-32.27, Z:-5.11 [[ 9.87919677e-01 1.53015628e-01 2.45138423e-02 3.40153041e+02] [-1.52975796e-01 9.88223727e-01 -3.50313296e-03 -3.22672576e+01] [-2.47611947e-02 -2.89210546e-04 9.99693353e-01 -5.11197422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.18, Y:-32.27, Z:-5.11 [[ 9.87283712e-01 1.57040862e-01 2.46787503e-02 3.40180010e+02] [-1.57001795e-01 9.87592027e-01 -3.52482925e-03 -3.22743260e+01] [-2.49260793e-02 -3.94601589e-04 9.99689219e-01 -5.11251325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.21, Y:-32.28, Z:-5.11 [[ 9.86714489e-01 1.60579883e-01 2.46701994e-02 3.40208356e+02] [-1.60541989e-01 9.87022728e-01 -3.52197033e-03 -3.22813842e+01] [-2.49156051e-02 -4.85423731e-04 9.99689440e-01 -5.11351488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.24, Y:-32.29, Z:-5.11 [[ 9.85906534e-01 1.65564653e-01 2.40135809e-02 3.40236204e+02] [-1.65530253e-01 9.86198758e-01 -3.42710208e-03 -3.22914239e+01] [-2.42495706e-02 -5.96171793e-04 9.99705758e-01 -5.11490580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.26, Y:-32.30, Z:-5.12 [[ 9.85715337e-01 1.66803255e-01 2.32797834e-02 3.40262925e+02] [-1.66771296e-01 9.85990012e-01 -3.32129385e-03 -3.22982217e+01] [-2.35076365e-02 -6.08549355e-04 9.99723472e-01 -5.11606121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.29, Y:-32.31, Z:-5.12 [[ 9.85591508e-01 1.67613466e-01 2.26959182e-02 3.40289747e+02] [-1.67583336e-01 9.85852600e-01 -3.23662546e-03 -3.23056799e+01] [-2.29173320e-02 -6.13467121e-04 9.99737175e-01 -5.11732870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.32, Y:-32.32, Z:-5.12 [[ 9.85542605e-01 1.68091989e-01 2.12334008e-02 3.40316670e+02] [-1.68065754e-01 9.85771140e-01 -3.02684307e-03 -3.23186389e+01] [-2.14400618e-02 -5.85524717e-04 9.99769964e-01 -5.11916706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.34, Y:-32.33, Z:-5.12 [[ 9.85623280e-01 1.67715785e-01 2.04490950e-02 3.40344653e+02] [-1.67691390e-01 9.85835232e-01 -2.91415626e-03 -3.23275372e+01] [-2.06481883e-02 -5.56876914e-04 9.99786648e-01 -5.12013344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.37, Y:-32.34, Z:-5.12 [[ 9.85687982e-01 1.67415789e-01 1.97776442e-02 3.40372038e+02] [-1.67392929e-01 9.85886235e-01 -2.81753949e-03 -3.23361972e+01] [-1.99702078e-02 -5.33422965e-04 9.99800433e-01 -5.12099133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.40, Y:-32.35, Z:-5.12 [[ 9.85330228e-01 1.69457286e-01 2.02130955e-02 3.40398537e+02] [-1.69433855e-01 9.85537357e-01 -2.87863778e-03 -3.23485199e+01] [-2.04085669e-02 -5.88373876e-04 9.99791550e-01 -5.12060321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.43, Y:-32.36, Z:-5.12 [[ 9.84841838e-01 1.72175425e-01 2.10280134e-02 3.40426809e+02] [-1.72150719e-01 9.85066074e-01 -2.99314578e-03 -3.23561525e+01] [-2.12293288e-02 -6.72212432e-04 9.99774406e-01 -5.12051599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.45, Y:-32.36, Z:-5.12 [[ 9.83446773e-01 1.79918233e-01 2.14912732e-02 3.40453552e+02] [-1.79894292e-01 9.83681194e-01 -3.05804584e-03 -3.23645984e+01] [-2.16907595e-02 -8.58732058e-04 9.99764359e-01 -5.12072198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.48, Y:-32.37, Z:-5.12 [[ 9.82781828e-01 1.83526061e-01 2.14024279e-02 3.40481936e+02] [-1.83503200e-01 9.83014399e-01 -3.04404060e-03 -3.23697603e+01] [-2.15975556e-02 -9.35786235e-04 9.99766308e-01 -5.12199693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.51, Y:-32.37, Z:-5.12 [[ 9.82094386e-01 1.87209357e-01 2.10540643e-02 3.40509339e+02] [-1.87188098e-01 9.82319528e-01 -2.99355425e-03 -3.23749343e+01] [-2.12422399e-02 -1.00111744e-03 9.99773857e-01 -5.12269306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.54, Y:-32.38, Z:-5.12 [[ 9.81473711e-01 1.90442232e-01 2.10026342e-02 3.40537363e+02] [-1.90421846e-01 9.81697821e-01 -2.98477783e-03 -3.23794701e+01] [-2.11866680e-02 -1.06987940e-03 9.99774965e-01 -5.12297548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.57, Y:-32.38, Z:-5.12 [[ 9.80954508e-01 1.93064968e-01 2.13113093e-02 3.40565932e+02] [-1.93044617e-01 9.81185308e-01 -3.02763928e-03 -3.23837093e+01] [-2.14948747e-02 -1.14405714e-03 9.99768304e-01 -5.12373723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.59, Y:-32.39, Z:-5.12 [[ 9.80519261e-01 1.95101619e-01 2.27450549e-02 3.40593783e+02] [-1.95079009e-01 9.80782211e-01 -3.23020065e-03 -3.23862240e+01] [-2.29381626e-02 -1.26980882e-03 9.99736079e-01 -5.12450477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.62, Y:-32.39, Z:-5.13 [[ 9.80558806e-01 1.94788270e-01 2.37056347e-02 3.40622029e+02] [-1.94763655e-01 9.80844429e-01 -3.36513555e-03 -3.23895444e+01] [-2.39070287e-02 -1.31728277e-03 9.99713318e-01 -5.12519712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.65, Y:-32.39, Z:-5.13 [[ 9.80778653e-01 1.93600023e-01 2.43364921e-02 3.40649656e+02] [-1.93573745e-01 9.81079649e-01 -3.45350095e-03 -3.23934657e+01] [-2.45446350e-02 -1.32378591e-03 9.99697859e-01 -5.12625121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.68, Y:-32.40, Z:-5.13 [[ 9.81530230e-01 1.89654724e-01 2.50897236e-02 3.40676519e+02] [-1.89625550e-01 9.81850033e-01 -3.55870703e-03 -3.23996673e+01] [-2.53092716e-02 -1.26467412e-03 9.99678869e-01 -5.12734180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.70, Y:-32.40, Z:-5.13 [[ 9.81963385e-01 1.87316047e-01 2.57023242e-02 3.40703634e+02] [-1.87284673e-01 9.82298922e-01 -3.64404581e-03 -3.24047438e+01] [-2.59299536e-02 -1.23533182e-03 9.99662999e-01 -5.12817847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.73, Y:-32.41, Z:-5.13 [[ 9.82318296e-01 1.85362474e-01 2.62967396e-02 3.40731970e+02] [-1.85328974e-01 9.82669468e-01 -3.72675922e-03 -3.24096402e+01] [-2.65318044e-02 -1.21268400e-03 9.99647234e-01 -5.12920764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.76, Y:-32.42, Z:-5.13 [[ 9.82909174e-01 1.82301041e-01 2.56102696e-02 3.40760870e+02] [-1.82268260e-01 9.83242145e-01 -3.62830640e-03 -3.24172289e+01] [-2.58425404e-02 -1.10164364e-03 9.99665419e-01 -5.13018942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.79, Y:-32.42, Z:-5.13 [[ 9.83104363e-01 1.81258184e-01 2.55202463e-02 3.40788798e+02] [-1.81225290e-01 9.83434962e-01 -3.61526088e-03 -3.24239613e+01] [-2.57527980e-02 -1.07073529e-03 9.99667768e-01 -5.13170302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.82, Y:-32.43, Z:-5.13 [[ 9.83229631e-01 1.80617729e-01 2.52334887e-02 3.40818027e+02] [-1.80585382e-01 9.83552819e-01 -3.57376036e-03 -3.24306498e+01] [-2.54639535e-02 -1.04297211e-03 9.99675197e-01 -5.13261023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.85, Y:-32.44, Z:-5.13 [[ 9.83428197e-01 1.79699830e-01 2.40198265e-02 3.40847683e+02] [-1.79670260e-01 9.83721012e-01 -3.40130159e-03 -3.24403419e+01] [-2.42400213e-02 -9.70712591e-04 9.99705696e-01 -5.13394257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.88, Y:-32.45, Z:-5.13 [[ 9.83446463e-01 1.79716754e-01 2.31288090e-02 3.40876322e+02] [-1.79689342e-01 9.83717954e-01 -3.27516097e-03 -3.24481300e+01] [-2.33408260e-02 -9.35054991e-04 9.99727129e-01 -5.13497500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.90, Y:-32.46, Z:-5.14 [[ 9.83395059e-01 1.80069444e-01 2.25644011e-02 3.40904990e+02] [-1.80043453e-01 9.83653469e-01 -3.19490112e-03 -3.24566452e+01] [-2.27708555e-02 -9.20722717e-04 9.99740286e-01 -5.13606475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.93, Y:-32.47, Z:-5.14 [[ 9.83135128e-01 1.81565341e-01 2.18940202e-02 3.40933973e+02] [-1.81541235e-01 9.83378446e-01 -3.10027409e-03 -3.24702249e+01] [-2.20930098e-02 -9.26679089e-04 9.99755490e-01 -5.13623422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:-32.48, Z:-5.14 [[ 9.82922415e-01 1.82760759e-01 2.14948944e-02 3.40964064e+02] [-1.82737809e-01 9.83156971e-01 -3.04375641e-03 -3.24784264e+01] [-2.16891345e-02 -9.36153502e-04 9.99764325e-01 -5.13715126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.99, Y:-32.49, Z:-5.14 [[ 9.82593820e-01 1.84549980e-01 2.12294394e-02 3.40993786e+02] [-1.84528010e-01 9.82822658e-01 -3.00616701e-03 -3.24866522e+01] [-2.14195621e-02 -9.63585087e-04 9.99770111e-01 -5.13805755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.02, Y:-32.49, Z:-5.14 [[ 9.82165001e-01 1.86879326e-01 2.06888239e-02 3.41023287e+02] [-1.86858978e-01 9.82382380e-01 -2.92955488e-03 -3.24946780e+01] [-2.08718093e-02 -9.88586212e-04 9.99781671e-01 -5.13858671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.05, Y:-32.51, Z:-5.14 [[ 9.80928541e-01 1.93289426e-01 2.04547307e-02 3.41053042e+02] [-1.93270917e-01 9.81141153e-01 -2.89670522e-03 -3.25051302e+01] [-2.06288806e-02 -1.11184375e-03 9.99786584e-01 -5.13965805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.08, Y:-32.51, Z:-5.14 [[ 9.80190791e-01 1.97016115e-01 2.02648567e-02 3.41082464e+02] [-1.96998740e-01 9.80399541e-01 -2.86987999e-03 -3.25105705e+01] [-2.04330688e-02 -1.17912130e-03 9.99790528e-01 -5.14011337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.11, Y:-32.52, Z:-5.14 [[ 9.78866345e-01 2.03472528e-01 2.04843401e-02 3.41112525e+02] [-2.03456188e-01 9.79079755e-01 -2.90065853e-03 -3.25161678e+01] [-2.06460070e-02 -1.32830874e-03 9.99785966e-01 -5.14078710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.14, Y:-32.52, Z:-5.14 [[ 9.78341507e-01 2.05928122e-01 2.10120095e-02 3.41141729e+02] [-2.05911492e-01 9.78566096e-01 -2.97543491e-03 -3.25207822e+01] [-2.11743658e-02 -1.41562274e-03 9.99774796e-01 -5.14083437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.565898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:341.17, Y:-32.53, Z:-5.14 [[ 9.77960500e-01 2.07625165e-01 2.20238762e-02 3.41171220e+02] [-2.07607329e-01 9.78207275e-01 -3.11844057e-03 -3.25250153e+01] [-2.21913826e-02 -1.52260640e-03 9.99752581e-01 -5.14158546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.20, Y:-32.53, Z:-5.14 [[ 9.77389355e-01 2.10129308e-01 2.35737891e-02 3.41200076e+02] [-2.10109603e-01 9.77672141e-01 -3.33764095e-03 -3.25282089e+01] [-2.37487730e-02 -1.69090473e-03 9.99716528e-01 -5.14151445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.23, Y:-32.53, Z:-5.14 [[ 9.77237633e-01 2.10792457e-01 2.39405316e-02 3.41230582e+02] [-2.10772349e-01 9.77529300e-01 -3.38887687e-03 -3.25308583e+01] [-2.41169207e-02 -1.73426406e-03 9.99707640e-01 -5.14284984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.26, Y:-32.53, Z:-5.14 [[ 9.77176944e-01 2.11060251e-01 2.40580762e-02 3.41260332e+02] [-2.11040025e-01 9.77471488e-01 -3.40553520e-03 -3.25333782e+01] [-2.42348566e-02 -1.74940652e-03 9.99704762e-01 -5.14414120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.29, Y:-32.53, Z:-5.14 [[ 9.77431748e-01 2.09713496e-01 2.54446128e-02 3.41290987e+02] [-2.09690426e-01 9.77761195e-01 -3.60148795e-03 -3.25342178e+01] [-2.56340357e-02 -1.81528306e-03 9.99669746e-01 -5.14496503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.32, Y:-32.54, Z:-5.15 [[ 9.77653822e-01 2.08635675e-01 2.57712854e-02 3.41321104e+02] [-2.08611637e-01 9.77991758e-01 -3.64772592e-03 -3.25366885e+01] [-2.59651505e-02 -1.80997685e-03 9.99661210e-01 -5.14539528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.35, Y:-32.54, Z:-5.15 [[ 9.77651432e-01 2.08646873e-01 2.57712853e-02 3.41351787e+02] [-2.08622838e-01 9.77989369e-01 -3.64772651e-03 -3.25410357e+01] [-2.59651298e-02 -1.81027364e-03 9.99661210e-01 -5.14620054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.38, Y:-32.54, Z:-5.15 [[ 9.77905329e-01 2.07485330e-01 2.55147872e-02 3.41382271e+02] [-2.07461371e-01 9.78236544e-01 -3.61171878e-03 -3.25435384e+01] [-2.57088759e-02 -1.76141369e-03 9.99667920e-01 -5.14716823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.41, Y:-32.55, Z:-5.15 [[ 9.78410380e-01 2.05256286e-01 2.41450830e-02 3.41411342e+02] [-2.05234153e-01 9.78706933e-01 -3.41785027e-03 -3.25450708e+01] [-2.43324954e-02 -1.61133547e-03 9.99702622e-01 -5.14899913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.44, Y:-32.55, Z:-5.15 [[ 9.78719331e-01 2.03912650e-01 2.29804745e-02 3.41441324e+02] [-2.03892239e-01 9.78987934e-01 -3.25270626e-03 -3.25482797e+01] [-2.31608753e-02 -1.50205391e-03 9.99730623e-01 -5.15034252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.47, Y:-32.55, Z:-5.15 [[ 9.79056972e-01 2.02397829e-01 2.19673312e-02 3.41470559e+02] [-2.02378797e-01 9.79302382e-01 -3.10934787e-03 -3.25517113e+01] [-2.21419850e-02 -1.40149334e-03 9.99753854e-01 -5.15181343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.50, Y:-32.56, Z:-5.15 [[ 9.79419247e-01 2.00675905e-01 2.16129782e-02 3.41501008e+02] [-2.00657070e-01 9.79656768e-01 -3.05889369e-03 -3.25558698e+01] [-2.17871466e-02 -1.34085752e-03 9.99761733e-01 -5.15272402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.53, Y:-32.56, Z:-5.15 [[ 9.80121441e-01 1.97180328e-01 2.19517379e-02 3.41530270e+02] [-1.97160025e-01 9.80366397e-01 -3.10679192e-03 -3.25609831e+01] [-2.21333444e-02 -1.28297181e-03 9.99754204e-01 -5.15347822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.56, Y:-32.57, Z:-5.15 [[ 9.80458786e-01 1.95509351e-01 2.18326223e-02 3.41559986e+02] [-1.95488848e-01 9.80701056e-01 -3.09024987e-03 -3.25670730e+01] [-2.20154485e-02 -1.23817155e-03 9.99756864e-01 -5.15419592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.59, Y:-32.57, Z:-5.16 [[ 9.80768255e-01 1.94027113e-01 2.11449544e-02 3.41590152e+02] [-1.94007538e-01 9.80995473e-01 -2.99291545e-03 -3.25732676e+01] [-2.13238113e-02 -1.16692407e-03 9.99771941e-01 -5.15569541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.62, Y:-32.58, Z:-5.16 [[ 9.81188833e-01 1.92090772e-01 1.92252095e-02 3.41619103e+02] [-1.92074222e-01 9.81376630e-01 -2.72103817e-03 -3.25832988e+01] [-1.93898576e-02 -1.02281489e-03 9.99811476e-01 -5.15613446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.65, Y:-32.59, Z:-5.16 [[ 9.81186438e-01 1.92090748e-01 1.93473090e-02 3.41648750e+02] [-1.92073982e-01 9.81376628e-01 -2.73857694e-03 -3.25911607e+01] [-1.95130522e-02 -1.02906014e-03 9.99809073e-01 -5.15630854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.68, Y:-32.60, Z:-5.16 [[ 9.81058504e-01 1.92651064e-01 2.02429944e-02 3.41679376e+02] [-1.92632802e-01 9.81266725e-01 -2.86669449e-03 -3.25990667e+01] [-2.04160486e-02 -1.08706972e-03 9.99790980e-01 -5.15660170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.71, Y:-32.61, Z:-5.16 [[ 9.80378545e-01 1.95952783e-01 2.14572758e-02 3.41709141e+02] [-1.95933038e-01 9.80612567e-01 -3.03927208e-03 -3.26099813e+01] [-2.16368282e-02 -1.22455211e-03 9.99765146e-01 -5.15679996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.74, Y:-32.62, Z:-5.16 [[ 9.79923796e-01 1.98188037e-01 2.16992310e-02 3.41739302e+02] [-1.98168392e-01 9.80163171e-01 -3.07345127e-03 -3.26178561e+01] [-2.18779084e-02 -1.28835370e-03 9.99759820e-01 -5.15813150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.77, Y:-32.63, Z:-5.16 [[ 9.79374301e-01 2.00891330e-01 2.16483768e-02 3.41770502e+02] [-2.00872436e-01 9.79612609e-01 -3.06618762e-03 -3.26267965e+01] [-2.18229933e-02 -1.34561681e-03 9.99760945e-01 -5.15912328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.80, Y:-32.64, Z:-5.16 [[ 9.78303237e-01 2.05946649e-01 2.25556017e-02 3.41801102e+02] [-2.05927389e-01 9.78562047e-01 -3.19845040e-03 -3.26398673e+01] [-2.27307659e-02 -1.51576179e-03 9.99740474e-01 -5.15933251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.83, Y:-32.65, Z:-5.16 [[ 9.77760998e-01 2.08401915e-01 2.34962170e-02 3.41832374e+02] [-2.08381630e-01 9.78041906e-01 -3.33570182e-03 -3.26486552e+01] [-2.36754515e-02 -1.63466084e-03 9.99718361e-01 -5.16016755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.86, Y:-32.66, Z:-5.16 [[ 9.76735894e-01 2.13084113e-01 2.41278501e-02 3.41863301e+02] [-2.13064040e-01 9.77032217e-01 -3.42957455e-03 -3.26616959e+01] [-2.43044747e-02 -1.79098864e-03 9.99702998e-01 -5.16060530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.90, Y:-32.67, Z:-5.16 [[ 9.76254931e-01 2.15260369e-01 2.42751696e-02 3.41895042e+02] [-2.15240619e-01 9.76554935e-01 -3.45458549e-03 -3.26708029e+01] [-2.44496721e-02 -1.85244641e-03 9.99699346e-01 -5.16156885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.93, Y:-32.68, Z:-5.16 [[ 9.75832217e-01 2.17140646e-01 2.45239596e-02 3.41925607e+02] [-2.17120963e-01 9.76138451e-01 -3.49465370e-03 -3.26797539e+01] [-2.46976112e-02 -1.91447005e-03 9.99693134e-01 -5.16255343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.96, Y:-32.69, Z:-5.16 [[ 9.75402803e-01 2.19013957e-01 2.49450945e-02 3.41956674e+02] [-2.18994089e-01 9.75719694e-01 -3.55911578e-03 -3.26882022e+01] [-2.51189160e-02 -1.99125675e-03 9.99682487e-01 -5.16283298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.99, Y:-32.70, Z:-5.16 [[ 9.74334634e-01 2.23705650e-01 2.50560043e-02 3.41988182e+02] [-2.23687034e-01 9.74654451e-01 -3.57929922e-03 -3.26994664e+01] [-2.52216555e-02 -2.11726809e-03 9.99679641e-01 -5.16373194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.02, Y:-32.71, Z:-5.16 [[ 9.73712473e-01 2.26546732e-01 2.36769712e-02 3.42020182e+02] [-2.26530847e-01 9.73998105e-01 -3.38628206e-03 -3.27059848e+01] [-2.38284762e-02 -2.06629925e-03 9.99713926e-01 -5.16477593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.05, Y:-32.71, Z:-5.17 [[ 9.73029356e-01 2.29604453e-01 2.22636176e-02 3.42051699e+02] [-2.29591112e-01 9.73281952e-01 -3.18805628e-03 -3.27117351e+01] [-2.24007691e-02 -2.00945637e-03 9.99747052e-01 -5.16615322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.08, Y:-32.72, Z:-5.17 [[ 9.72466008e-01 2.32063968e-01 2.13583047e-02 3.42084716e+02] [-2.32052202e-01 9.72698514e-01 -3.06197126e-03 -3.27171953e+01] [-2.14857645e-02 -1.97857867e-03 9.99767196e-01 -5.16763977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.12, Y:-32.72, Z:-5.17 [[ 9.72102061e-01 2.33587663e-01 2.13163691e-02 3.42117491e+02] [-2.33576229e-01 9.72333680e-01 -3.05954234e-03 -3.27228569e+01] [-2.14412949e-02 -2.00480968e-03 9.99768099e-01 -5.16940913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.15, Y:-32.73, Z:-5.17 [[ 9.72237095e-01 2.32975217e-01 2.18536045e-02 3.42149258e+02] [-2.32962956e-01 9.72480538e-01 -3.14077536e-03 -3.27290222e+01] [-2.19839278e-02 -2.03750198e-03 9.99756248e-01 -5.17061591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.18, Y:-32.74, Z:-5.17 [[ 9.72510703e-01 2.31850358e-01 2.16412406e-02 3.42181913e+02] [-2.31837979e-01 9.72749431e-01 -3.11385020e-03 -3.27362334e+01] [-2.17734517e-02 -1.98900883e-03 9.99760952e-01 -5.17108315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.21, Y:-32.74, Z:-5.17 [[ 9.73195214e-01 2.29114068e-01 1.99453912e-02 3.42214060e+02] [-2.29102920e-01 9.73397965e-01 -2.87294762e-03 -3.27449916e+01] [-2.00730359e-02 -1.77360848e-03 9.99796943e-01 -5.17165552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.25, Y:-32.75, Z:-5.17 [[ 9.73282252e-01 2.28786256e-01 1.94552479e-02 3.42245889e+02] [-2.28775516e-01 9.73475162e-01 -2.80586374e-03 -3.27507781e+01] [-1.95811436e-02 -1.71998699e-03 9.99806792e-01 -5.17256376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.28, Y:-32.76, Z:-5.17 [[ 9.73225718e-01 2.29034868e-01 1.93579888e-02 3.42278547e+02] [-2.29024221e-01 9.73416711e-01 -2.79506087e-03 -3.27562239e+01] [-1.94835562e-02 -1.71322316e-03 9.99808710e-01 -5.17318904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.31, Y:-32.76, Z:-5.17 [[ 9.72753019e-01 2.30921155e-01 2.06635732e-02 3.42310425e+02] [-2.30909360e-01 9.72970679e-01 -2.98767682e-03 -3.27616401e+01] [-2.07949686e-02 -1.86514081e-03 9.99782022e-01 -5.17411341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.34, Y:-32.77, Z:-5.18 [[ 9.72392552e-01 2.32418045e-01 2.08465195e-02 3.42343075e+02] [-2.32406308e-01 9.72614107e-01 -3.01761146e-03 -3.27667022e+01] [-2.09769663e-02 -1.91055974e-03 9.99778134e-01 -5.17515489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.38, Y:-32.77, Z:-5.18 [[ 9.72144422e-01 2.33446372e-01 2.09288008e-02 3.42375324e+02] [-2.33434698e-01 9.72367750e-01 -3.03333780e-03 -3.27710696e+01] [-2.10586126e-02 -1.93666586e-03 9.99776367e-01 -5.17584965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.765898227 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:342.41, Y:-32.77, Z:-5.18 [[ 9.72257181e-01 2.32910069e-01 2.16534999e-02 3.42407832e+02] [-2.32897351e-01 9.72496246e-01 -3.14247788e-03 -3.27745266e+01] [-2.17898621e-02 -1.98774609e-03 9.99760597e-01 -5.17661123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.44, Y:-32.78, Z:-5.18 [[ 9.72543639e-01 2.31703619e-01 2.17325445e-02 3.42439078e+02] [-2.31690416e-01 9.72784445e-01 -3.15825467e-03 -3.27800644e+01] [-2.18728603e-02 -1.96368179e-03 9.99758832e-01 -5.17712153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.47, Y:-32.79, Z:-5.18 [[ 9.73154162e-01 2.29131587e-01 2.16723817e-02 3.42471877e+02] [-2.29117775e-01 9.73393606e-01 -3.15171794e-03 -3.27855211e+01] [-2.18179159e-02 -1.89842045e-03 9.99760159e-01 -5.17795938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.50, Y:-32.79, Z:-5.18 [[ 9.73810381e-01 2.26355055e-01 2.13712791e-02 3.42503644e+02] [-2.26340876e-01 9.74043184e-01 -3.11185838e-03 -3.27914613e+01] [-2.15209336e-02 -1.80683403e-03 9.99766765e-01 -5.17893302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.885898227 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:342.54, Y:-32.80, Z:-5.18 [[ 9.75034698e-01 2.20995911e-01 2.16366441e-02 3.42536449e+02] [-2.20979984e-01 9.75273243e-01 -3.15423743e-03 -3.27974237e+01] [-2.17987137e-02 -1.70577432e-03 9.99760925e-01 -5.17901488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.57, Y:-32.80, Z:-5.18 [[ 9.75122138e-01 2.20584368e-01 2.18941166e-02 3.42567962e+02] [-2.20567864e-01 9.75366394e-01 -3.19592318e-03 -3.28036296e+01] [-2.20597562e-02 -1.71272309e-03 9.99755187e-01 -5.17877390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.60, Y:-32.81, Z:-5.18 [[ 9.75242118e-01 2.19985211e-01 2.25680962e-02 3.42600839e+02] [-2.19967425e-01 9.75501642e-01 -3.29833089e-03 -3.28086788e+01] [-2.27407989e-02 -1.74757480e-03 9.99739867e-01 -5.17930485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.63, Y:-32.81, Z:-5.18 [[ 9.75224958e-01 2.20058758e-01 2.25925711e-02 3.42632112e+02] [-2.20040858e-01 9.75485054e-01 -3.30608232e-03 -3.28131761e+01] [-2.27662478e-02 -1.74711472e-03 9.99739289e-01 -5.17988044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.67, Y:-32.82, Z:-5.18 [[ 9.75197226e-01 2.20185583e-01 2.25539191e-02 3.42665155e+02] [-2.20167727e-01 9.75456439e-01 -3.30267579e-03 -3.28178653e+01] [-2.27275672e-02 -1.74488483e-03 9.99740173e-01 -5.18106384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.70, Y:-32.82, Z:-5.18 [[ 9.75194239e-01 2.20195754e-01 2.25837518e-02 3.42697500e+02] [-2.20177763e-01 9.75454146e-01 -3.31101631e-03 -3.28225964e+01] [-2.27584861e-02 -1.74355592e-03 9.99739472e-01 -5.18207714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.73, Y:-32.83, Z:-5.18 [[ 9.75582141e-01 2.18420317e-01 2.30662482e-02 3.42729057e+02] [-2.18400955e-01 9.75853246e-01 -3.38605175e-03 -3.28271338e+01] [-2.32488556e-02 -1.73431901e-03 9.99728204e-01 -5.18215609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.76, Y:-32.83, Z:-5.18 [[ 9.75884703e-01 2.17008185e-01 2.35901159e-02 3.42762150e+02] [-2.16987428e-01 9.76168242e-01 -3.46698435e-03 -3.28321010e+01] [-2.37802860e-02 -1.73538159e-03 9.99715703e-01 -5.18268636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.79, Y:-32.84, Z:-5.18 [[ 9.76722325e-01 2.13230029e-01 2.33763817e-02 3.42793404e+02] [-2.13208467e-01 9.77000674e-01 -3.43989997e-03 -3.28358634e+01] [-2.35722307e-02 -1.62421542e-03 9.99720817e-01 -5.18429532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.83, Y:-32.84, Z:-5.19 [[ 9.77098227e-01 2.11589635e-01 2.25584040e-02 3.42826032e+02] [-2.11569036e-01 9.77357406e-01 -3.32322795e-03 -3.28403182e+01] [-2.27507838e-02 -1.52553964e-03 9.99740003e-01 -5.18530415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.86, Y:-32.84, Z:-5.19 [[ 9.77276955e-01 2.10761612e-01 2.25675876e-02 3.42857818e+02] [-2.10740673e-01 9.77536335e-01 -3.32915121e-03 -3.28446959e+01] [-2.27622941e-02 -1.50240584e-03 9.99739777e-01 -5.18630521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.89, Y:-32.85, Z:-5.19 [[ 9.77266505e-01 2.10860367e-01 2.20926358e-02 3.42890087e+02] [-2.10840272e-01 9.77515086e-01 -3.26142773e-03 -3.28490393e+01] [-2.22835906e-02 -1.47073328e-03 9.99750608e-01 -5.18696352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.92, Y:-32.85, Z:-5.19 [[ 9.77107899e-01 2.11653468e-01 2.15165899e-02 3.42923031e+02] [-2.11634514e-01 9.77343705e-01 -3.18032372e-03 -3.28532539e+01] [-2.17022302e-02 -1.44613362e-03 9.99763433e-01 -5.18726114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.95, Y:-32.86, Z:-5.19 [[ 9.76850138e-01 2.12855663e-01 2.13605772e-02 3.42954716e+02] [-2.12837179e-01 9.77082566e-01 -3.16143839e-03 -3.28568905e+01] [-2.15439777e-02 -1.45807347e-03 9.99766838e-01 -5.18887379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.99, Y:-32.86, Z:-5.19 [[ 9.76555032e-01 2.14260317e-01 2.08035183e-02 3.42986885e+02] [-2.14243023e-01 9.76775524e-01 -3.08270769e-03 -3.28603470e+01] [-2.09808694e-02 -1.44657495e-03 9.99778831e-01 -5.19006251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.02, Y:-32.86, Z:-5.19 [[ 9.76244449e-01 2.15659608e-01 2.09215156e-02 3.43018676e+02] [-2.15642362e-01 9.76467479e-01 -3.10374848e-03 -3.28624482e+01] [-2.10985327e-02 -1.48154781e-03 9.99776303e-01 -5.19104921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.05, Y:-32.87, Z:-5.19 [[ 9.76229189e-01 2.15752840e-01 2.06708260e-02 3.43051761e+02] [-2.15735956e-01 9.76446913e-01 -3.06986882e-03 -3.28668233e+01] [-2.08462971e-02 -1.46254486e-03 9.99781623e-01 -5.19195877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.08, Y:-32.87, Z:-5.19 [[ 9.76406088e-01 2.14960967e-01 2.05653565e-02 3.43084227e+02] [-2.14944001e-01 9.76621587e-01 -3.05802232e-03 -3.28714299e+01] [-2.07419266e-02 -1.43452841e-03 9.99783834e-01 -5.19332593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.12, Y:-32.88, Z:-5.19 [[ 9.76986260e-01 2.12253107e-01 2.11297693e-02 3.43117041e+02] [-2.12234479e-01 9.77213707e-01 -3.14602127e-03 -3.28765734e+01] [-2.13160530e-02 -1.41084604e-03 9.99771792e-01 -5.19372351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.15, Y:-32.88, Z:-5.19 [[ 9.77140546e-01 2.11483992e-01 2.16996347e-02 3.43149858e+02] [-2.11464067e-01 9.77380419e-01 -3.23500706e-03 -3.28819820e+01] [-2.18929503e-02 -1.42763645e-03 9.99759301e-01 -5.19456232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.18, Y:-32.89, Z:-5.19 [[ 9.77153336e-01 2.11348925e-01 2.24274486e-02 3.43181648e+02] [-2.11327507e-01 9.77409575e-01 -3.34791925e-03 -3.28872537e+01] [-2.26283821e-02 -1.46810633e-03 9.99742867e-01 -5.19482180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.21, Y:-32.89, Z:-5.19 [[ 9.76573283e-01 2.13952367e-01 2.30001492e-02 3.43214381e+02] [-2.13930463e-01 9.76842843e-01 -3.43751700e-03 -3.28923846e+01] [-2.32029961e-02 -1.56344531e-03 9.99729552e-01 -5.19447935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.25, Y:-32.90, Z:-5.20 [[ 9.75973967e-01 2.16644785e-01 2.32347524e-02 3.43245714e+02] [-2.16623086e-01 9.76249122e-01 -3.47704562e-03 -3.28973671e+01] [-2.34361905e-02 -1.63967778e-03 9.99723990e-01 -5.19544812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.28, Y:-32.90, Z:-5.20 [[ 9.75383862e-01 2.19264637e-01 2.34380255e-02 3.43278199e+02] [-2.19243249e-01 9.75663916e-01 -3.51000399e-03 -3.29021185e+01] [-2.36372555e-02 -1.71502761e-03 9.99719130e-01 -5.19617853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.31, Y:-32.91, Z:-5.20 [[ 9.74341181e-01 2.23772958e-01 2.41852505e-02 3.43310330e+02] [-2.23751456e-01 9.74639490e-01 -3.62635569e-03 -3.29081999e+01] [-2.43833806e-02 -1.87817733e-03 9.99700917e-01 -5.19690030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.34, Y:-32.91, Z:-5.20 [[ 9.73953750e-01 2.25417761e-01 2.45138020e-02 3.43341408e+02] [-2.25396070e-01 9.74260266e-01 -3.68036712e-03 -3.29137996e+01] [-2.47124434e-02 -1.94080729e-03 9.99692717e-01 -5.19790297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.37, Y:-32.92, Z:-5.20 [[ 9.73936738e-01 2.25491295e-01 2.45133735e-02 3.43374502e+02] [-2.25469556e-01 9.74243252e-01 -3.68321933e-03 -3.29189039e+01] [-2.47125226e-02 -1.93979682e-03 9.99692717e-01 -5.19877348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.41, Y:-32.92, Z:-5.20 [[ 9.73695322e-01 2.26555489e-01 2.42905250e-02 3.43406882e+02] [-2.26534431e-01 9.73996313e-01 -3.65145372e-03 -3.29247070e+01] [-2.44861387e-02 -1.94723686e-03 9.99698273e-01 -5.20032649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.44, Y:-32.93, Z:-5.20 [[ 9.73779070e-01 2.26263701e-01 2.36444430e-02 3.43438513e+02] [-2.26243565e-01 9.74064262e-01 -3.55839633e-03 -3.29299478e+01] [-2.38363429e-02 -1.88431122e-03 9.99714098e-01 -5.20218202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.47, Y:-32.94, Z:-5.20 [[ 9.73981146e-01 2.25359451e-01 2.39550638e-02 3.43470657e+02] [-2.25338415e-01 9.74273870e-01 -3.60911819e-03 -3.29353447e+01] [-2.41521416e-02 -1.88278302e-03 9.99706522e-01 -5.20381352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.50, Y:-32.94, Z:-5.20 [[ 9.74261615e-01 2.24079324e-01 2.45511935e-02 3.43502980e+02] [-2.24056716e-01 9.74569071e-01 -3.70332248e-03 -3.29412684e+01] [-2.47566718e-02 -1.89285484e-03 9.99691715e-01 -5.20450617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.53, Y:-32.95, Z:-5.21 [[ 9.74677571e-01 2.22095511e-01 2.60233894e-02 3.43534218e+02] [-2.22069276e-01 9.75022968e-01 -3.93040665e-03 -3.29474608e+01] [-2.62463280e-02 -1.94811602e-03 9.99653608e-01 -5.20501127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.57, Y:-32.95, Z:-5.21 [[ 9.74803329e-01 2.21613179e-01 2.54178655e-02 3.43566006e+02] [-2.21587915e-01 9.75132830e-01 -3.84177198e-03 -3.29529990e+01] [-2.56371824e-02 -1.88731969e-03 9.99669532e-01 -5.20553611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.60, Y:-32.96, Z:-5.21 [[ 9.74808618e-01 2.21721866e-01 2.42398885e-02 3.43598375e+02] [-2.21698827e-01 9.75108291e-01 -3.66761355e-03 -3.29586101e+01] [-2.44497064e-02 -1.79873354e-03 9.99699443e-01 -5.20701553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.63, Y:-32.96, Z:-5.21 [[ 9.74766076e-01 2.22018628e-01 2.32126313e-02 3.43629488e+02] [-2.21997487e-01 9.75040897e-01 -3.51633726e-03 -3.29639033e+01] [-2.34139572e-02 -1.72553953e-03 9.99724367e-01 -5.20768837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.66, Y:-32.97, Z:-5.21 [[ 9.74444297e-01 2.23485433e-01 2.26400800e-02 3.43661310e+02] [-2.23465626e-01 9.74705763e-01 -3.43346701e-03 -3.29691424e+01] [-2.28347463e-02 -1.71355730e-03 9.99737785e-01 -5.20823064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.69, Y:-32.97, Z:-5.21 [[ 9.74173498e-01 2.24657606e-01 2.26926365e-02 3.43692554e+02] [-2.24637936e-01 9.74436210e-01 -3.44525965e-03 -3.29734797e+01] [-2.28865305e-02 -1.74134638e-03 9.99736553e-01 -5.20913580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.73, Y:-32.98, Z:-5.21 [[ 9.73676621e-01 2.26811051e-01 2.25961273e-02 3.43725079e+02] [-2.26792040e-01 9.73937152e-01 -3.43430166e-03 -3.29779332e+01] [-2.27861455e-02 -1.78072258e-03 9.99738776e-01 -5.21034779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.02589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:343.76, Y:-32.98, Z:-5.21 [[ 9.73607124e-01 2.27089393e-01 2.27942163e-02 3.43756386e+02] [-2.27070024e-01 9.73872257e-01 -3.46872483e-03 -3.29822749e+01] [-2.29863655e-02 -1.79870803e-03 9.99734160e-01 -5.21109993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.79, Y:-32.99, Z:-5.21 [[ 9.73489826e-01 2.27548994e-01 2.32166883e-02 3.43787479e+02] [-2.27528933e-01 9.73764896e-01 -3.53713585e-03 -3.29876432e+01] [-2.34124678e-02 -1.83910256e-03 9.99724199e-01 -5.21218375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.82, Y:-32.99, Z:-5.21 [[ 9.73500320e-01 2.27451882e-01 2.37227322e-02 3.43820373e+02] [-2.27430813e-01 9.73787520e-01 -3.61826659e-03 -3.29926419e+01] [-2.39238821e-02 -1.87289658e-03 9.99712029e-01 -5.21278372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.85, Y:-33.00, Z:-5.21 [[ 9.73600524e-01 2.27005068e-01 2.38897269e-02 3.43853441e+02] [-2.26983457e-01 9.73891781e-01 -3.64831339e-03 -3.29969742e+01] [-2.40941943e-02 -1.87057297e-03 9.99707943e-01 -5.21388444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.88, Y:-33.00, Z:-5.22 [[ 9.73818607e-01 2.26022365e-01 2.43148301e-02 3.43884917e+02] [-2.25999555e-01 9.74120309e-01 -3.71807912e-03 -3.29994135e+01] [-2.45259389e-02 -1.87440616e-03 9.99697437e-01 -5.21592498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.92, Y:-33.00, Z:-5.22 [[ 9.73822244e-01 2.26008432e-01 2.42986682e-02 3.43916258e+02] [-2.25985578e-01 9.74123551e-01 -3.71842827e-03 -3.30032570e+01] [-2.45103011e-02 -1.87006042e-03 9.99697828e-01 -5.21746962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.205898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:343.95, Y:-33.01, Z:-5.22 [[ 9.73889095e-01 2.25682888e-01 2.46427451e-02 3.43949357e+02] [-2.25659170e-01 9.74198997e-01 -3.77546466e-03 -3.30068055e+01] [-2.48589953e-02 -1.88397753e-03 9.99689192e-01 -5.21911020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.98, Y:-33.01, Z:-5.22 [[ 9.73839689e-01 2.25873534e-01 2.48476626e-02 3.43980795e+02] [-2.25849365e-01 9.74154781e-01 -3.81153094e-03 -3.30109422e+01] [-2.50663933e-02 -1.90000872e-03 9.99683983e-01 -5.21955347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.01, Y:-33.01, Z:-5.22 [[ 9.73878470e-01 2.25793955e-01 2.40377840e-02 3.44012969e+02] [-2.25771205e-01 9.74173360e-01 -3.69170807e-03 -3.30147552e+01] [-2.42505342e-02 -1.83176445e-03 9.99704234e-01 -5.22035089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.05, Y:-33.02, Z:-5.22 [[ 9.73922389e-01 2.25696380e-01 2.31586915e-02 3.44045512e+02] [-2.25675180e-01 9.74196102e-01 -3.55909141e-03 -3.30185358e+01] [-2.33643810e-02 -1.76006306e-03 9.99725466e-01 -5.22132836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.08, Y:-33.02, Z:-5.22 [[ 9.73999576e-01 2.25402433e-01 2.27721099e-02 3.44078780e+02] [-2.25381760e-01 9.74264228e-01 -3.50381068e-03 -3.30211682e+01] [-2.29758195e-02 -1.71970808e-03 9.99734542e-01 -5.22233918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.11, Y:-33.02, Z:-5.22 [[ 9.74008433e-01 2.25288621e-01 2.35076667e-02 3.44110875e+02] [-2.25266448e-01 9.74290466e-01 -3.62162607e-03 -3.30249712e+01] [-2.37192067e-02 -1.76799423e-03 9.99717097e-01 -5.22334718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.14, Y:-33.03, Z:-5.22 [[ 9.73987822e-01 2.25256613e-01 2.46410308e-02 3.44143914e+02] [-2.25232167e-01 9.74297715e-01 -3.79914358e-03 -3.30288668e+01] [-2.48634822e-02 -1.84963320e-03 9.99689145e-01 -5.22350363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.18, Y:-33.03, Z:-5.22 [[ 9.73889920e-01 2.25616500e-01 2.52114925e-02 3.44176719e+02] [-2.25590911e-01 9.74214348e-01 -3.89178636e-03 -3.30327523e+01] [-2.54394489e-02 -1.89731205e-03 9.99674564e-01 -5.22405860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.21, Y:-33.04, Z:-5.22 [[ 9.73882910e-01 2.25685768e-01 2.48598392e-02 3.44209102e+02] [-2.25660797e-01 9.74198360e-01 -3.84199374e-03 -3.30352524e+01] [-2.50854978e-02 -1.86823908e-03 9.99683564e-01 -5.22420410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.24, Y:-33.04, Z:-5.23 [[ 9.73905799e-01 2.25642354e-01 2.43520694e-02 3.44241661e+02] [-2.25618316e-01 9.74208495e-01 -3.76611251e-03 -3.30398130e+01] [-2.45737873e-02 -1.82643406e-03 9.99696350e-01 -5.22522215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.27, Y:-33.05, Z:-5.23 [[ 9.73919189e-01 2.25617973e-01 2.40404411e-02 3.44274194e+02] [-2.25594433e-01 9.74214195e-01 -3.72225427e-03 -3.30450234e+01] [-2.42603465e-02 -1.79821481e-03 9.99704057e-01 -5.22602027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.31, Y:-33.05, Z:-5.23 [[ 9.73886039e-01 2.25724957e-01 2.43767707e-02 3.44306805e+02] [-2.25700675e-01 9.74189368e-01 -3.77884229e-03 -3.30509102e+01] [-2.46005699e-02 -1.82169187e-03 9.99695700e-01 -5.22578998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.34, Y:-33.06, Z:-5.23 [[ 9.73764071e-01 2.26292278e-01 2.39862091e-02 3.44339539e+02] [-2.26268834e-01 9.74057779e-01 -3.72265992e-03 -3.30566085e+01] [-2.42063628e-02 -1.80233908e-03 9.99705358e-01 -5.22586605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.37, Y:-33.06, Z:-5.23 [[ 9.73539600e-01 2.27255460e-01 2.39917452e-02 3.44371073e+02] [-2.27232188e-01 9.73833474e-01 -3.72798791e-03 -3.30619752e+01] [-2.42111701e-02 -1.82235290e-03 9.99705206e-01 -5.22626152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.40, Y:-33.07, Z:-5.23 [[ 9.72454571e-01 2.31748469e-01 2.49950921e-02 3.44404043e+02] [-2.31724570e-01 9.72773665e-01 -3.88839038e-03 -3.30679577e+01] [-2.52156959e-02 -2.01069397e-03 9.99680012e-01 -5.22594911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.44, Y:-33.07, Z:-5.23 [[ 9.71656315e-01 2.35054782e-01 2.51645734e-02 3.44436626e+02] [-2.35031539e-01 9.71979842e-01 -3.91942021e-03 -3.30729389e+01] [-2.53807365e-02 -2.10613901e-03 9.99675639e-01 -5.22688616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.47, Y:-33.08, Z:-5.23 [[ 9.70927048e-01 2.38085265e-01 2.48208177e-02 3.44468335e+02] [-2.38063522e-01 9.71241875e-01 -3.87040657e-03 -3.30767473e+01] [-2.50285043e-02 -2.15104885e-03 9.99684424e-01 -5.22814368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.50, Y:-33.08, Z:-5.23 [[ 9.70003423e-01 2.41934144e-01 2.36902841e-02 3.44501369e+02] [-2.41915383e-01 9.70290303e-01 -3.69793558e-03 -3.30782391e+01] [-2.38811099e-02 -2.14403399e-03 9.99712507e-01 -5.22955537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.53, Y:-33.08, Z:-5.23 [[ 9.69816824e-01 2.42691942e-01 2.35785876e-02 3.44533504e+02] [-2.42673469e-01 9.70101029e-01 -3.68509058e-03 -3.30819353e+01] [-2.37679539e-02 -2.14803482e-03 9.99715195e-01 -5.23083951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.57, Y:-33.09, Z:-5.23 [[ 9.69862422e-01 2.42514494e-01 2.35287785e-02 3.44565923e+02] [-2.42495947e-01 9.70145433e-01 -3.68155243e-03 -3.30860854e+01] [-2.37191669e-02 -2.13503408e-03 9.99716381e-01 -5.23151441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.60, Y:-33.09, Z:-5.23 [[ 9.70665086e-01 2.39185945e-01 2.44821435e-02 3.44599116e+02] [-2.39164695e-01 9.70971440e-01 -3.83552900e-03 -3.30890912e+01] [-2.46888668e-02 -2.13225030e-03 9.99692910e-01 -5.23167442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.63, Y:-33.09, Z:-5.23 [[ 9.71149399e-01 2.37209557e-01 2.45045132e-02 3.44631381e+02] [-2.37187597e-01 9.71456274e-01 -3.84092099e-03 -3.30929493e+01] [-2.47161663e-02 -2.08205848e-03 9.99692341e-01 -5.23205492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.66, Y:-33.10, Z:-5.23 [[ 9.71658755e-01 2.35096634e-01 2.46746026e-02 3.44664020e+02] [-2.35073584e-01 9.71969865e-01 -3.87189554e-03 -3.30966051e+01] [-2.48932398e-02 -2.03818608e-03 9.99688038e-01 -5.23344629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.70, Y:-33.10, Z:-5.24 [[ 9.72856854e-01 2.30062128e-01 2.49190622e-02 3.44695450e+02] [-2.30036861e-01 9.73174042e-01 -3.91486273e-03 -3.31002047e+01] [-2.51512461e-02 -1.92370180e-03 9.99681806e-01 -5.23502179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.73, Y:-33.10, Z:-5.24 [[ 9.73407848e-01 2.27614458e-01 2.58615600e-02 3.44726721e+02] [-2.27586265e-01 9.73749427e-01 -4.06750657e-03 -3.31048899e+01] [-2.61085026e-02 -1.92639304e-03 9.99657259e-01 -5.23615207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.76, Y:-33.11, Z:-5.24 [[ 9.73805784e-01 2.25786839e-01 2.68811963e-02 3.44758099e+02] [-2.25755557e-01 9.74174786e-01 -4.23262016e-03 -3.31104909e+01] [-2.71426536e-02 -1.94682945e-03 9.99629675e-01 -5.23708785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.79, Y:-33.12, Z:-5.24 [[ 9.74171568e-01 2.24154853e-01 2.72829046e-02 3.44790198e+02] [-2.24121864e-01 9.74551638e-01 -4.30055251e-03 -3.31172843e+01] [-2.75525891e-02 -1.92521946e-03 9.99618501e-01 -5.23788731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.82, Y:-33.13, Z:-5.24 [[ 9.74838808e-01 2.21431044e-01 2.56435384e-02 3.44820969e+02] [-2.21400847e-01 9.75174492e-01 -4.04658193e-03 -3.31259482e+01] [-2.59029634e-02 -1.73273602e-03 9.99662960e-01 -5.23867728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.85, Y:-33.13, Z:-5.24 [[ 9.75074816e-01 2.20536383e-01 2.43476120e-02 3.44853171e+02] [-2.20508778e-01 9.75377406e-01 -3.84631024e-03 -3.31332194e+01] [-2.45963620e-02 -1.61842192e-03 9.99696154e-01 -5.23927581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.88, Y:-33.14, Z:-5.24 [[ 9.75159770e-01 2.20179267e-01 2.41767105e-02 3.44884558e+02] [-2.20151824e-01 9.75458124e-01 -3.82400842e-03 -3.31402973e+01] [-2.44253361e-02 -1.59352776e-03 9.99700387e-01 -5.24096977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.92, Y:-33.15, Z:-5.24 [[ 9.74862597e-01 2.21269147e-01 2.61320073e-02 3.44916461e+02] [-2.21237342e-01 9.75211214e-01 -4.13838578e-03 -3.31496162e+01] [-2.63999236e-02 -1.74701831e-03 9.99649935e-01 -5.24179816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.95, Y:-33.16, Z:-5.24 [[ 9.74575334e-01 2.22420402e-01 2.70570439e-02 3.44948216e+02] [-2.22386608e-01 9.74949123e-01 -4.28994829e-03 -3.31570447e+01] [-2.73334132e-02 -1.83624644e-03 9.99624686e-01 -5.24299945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.98, Y:-33.16, Z:-5.24 [[ 9.74301029e-01 2.23612427e-01 2.71106621e-02 3.44979943e+02] [-2.23578819e-01 9.74676352e-01 -4.30352012e-03 -3.31640790e+01] [-2.73864418e-02 -1.86844573e-03 9.99623175e-01 -5.24416561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.01, Y:-33.17, Z:-5.25 [[ 9.74044755e-01 2.24788684e-01 2.65868875e-02 3.45011862e+02] [-2.24756674e-01 9.74405761e-01 -4.22495121e-03 -3.31719778e+01] [-2.68561376e-02 -1.86028885e-03 9.99637578e-01 -5.24606948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.04, Y:-33.18, Z:-5.25 [[ 9.74115515e-01 2.24649497e-01 2.51309954e-02 3.45043612e+02] [-2.24620742e-01 9.74438063e-01 -3.99789813e-03 -3.31844253e+01] [-2.53867243e-02 -1.75052823e-03 9.99676173e-01 -5.24807335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.07, Y:-33.19, Z:-5.25 [[ 9.74380293e-01 2.23496880e-01 2.51433547e-02 3.45073979e+02] [-2.23467596e-01 9.74703133e-01 -4.00453397e-03 -3.31940716e+01] [-2.54023074e-02 -1.71678605e-03 9.99675835e-01 -5.24900929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.11, Y:-33.20, Z:-5.25 [[ 9.74620873e-01 2.22368631e-01 2.58136555e-02 3.45105863e+02] [-2.22337252e-01 9.74961131e-01 -4.11586641e-03 -3.32040653e+01] [-2.60825503e-02 -1.72792791e-03 9.99658299e-01 -5.24985829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.14, Y:-33.21, Z:-5.25 [[ 9.74788274e-01 2.21531417e-01 2.66768096e-02 3.45136382e+02] [-2.21497455e-01 9.75151651e-01 -4.25857467e-03 -3.32138933e+01] [-2.69573430e-02 -1.75763679e-03 9.99635040e-01 -5.25092987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.17, Y:-33.23, Z:-5.25 [[ 9.74477390e-01 2.22911624e-01 2.65372329e-02 3.45167191e+02] [-2.22878403e-01 9.74837029e-01 -4.24086246e-03 -3.32272335e+01] [-2.68148148e-02 -1.78195150e-03 9.99638830e-01 -5.25149288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.20, Y:-33.24, Z:-5.25 [[ 9.74002979e-01 2.25081111e-01 2.56259584e-02 3.45199056e+02] [-2.25050762e-01 9.74338415e-01 -4.09977451e-03 -3.32353341e+01] [-2.58911375e-02 -1.77394887e-03 9.99663194e-01 -5.25259115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.23, Y:-33.24, Z:-5.25 [[ 9.73423613e-01 2.27724862e-01 2.42457635e-02 3.45231520e+02] [-2.27698407e-01 9.73723963e-01 -3.88313689e-03 -3.32432051e+01] [-2.44929678e-02 -1.74078458e-03 9.99698487e-01 -5.25366000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.26, Y:-33.25, Z:-5.26 [[ 9.72306881e-01 2.32592048e-01 2.28094113e-02 3.45262045e+02] [-2.32569870e-01 9.72572815e-01 -3.65714582e-03 -3.32522918e+01] [-2.30344363e-02 -1.74891378e-03 9.99733142e-01 -5.25586004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.29, Y:-33.26, Z:-5.26 [[ 9.71947502e-01 2.34075642e-01 2.29488080e-02 3.45294663e+02] [-2.34053509e-01 9.72216738e-01 -3.68355759e-03 -3.32600377e+01] [-2.31734464e-02 -1.79102446e-03 9.99729855e-01 -5.25622175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.33, Y:-33.27, Z:-5.26 [[ 9.71709916e-01 2.35008436e-01 2.34707189e-02 3.45326848e+02] [-2.34985456e-01 9.71991569e-01 -3.77154246e-03 -3.32677856e+01] [-2.36996852e-02 -1.85043238e-03 9.99717410e-01 -5.25666671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.36, Y:-33.27, Z:-5.26 [[ 9.71729713e-01 2.34850306e-01 2.42218712e-02 3.45358814e+02] [-2.34825670e-01 9.72029691e-01 -3.89687858e-03 -3.32749501e+01] [-2.44595611e-02 -1.90120443e-03 9.99699012e-01 -5.25721907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.39, Y:-33.28, Z:-5.26 [[ 9.71710668e-01 2.34929168e-01 2.42211262e-02 3.45391850e+02] [-2.34904442e-01 9.72010639e-01 -3.90150392e-03 -3.32803922e+01] [-2.44597694e-02 -1.89851714e-03 9.99699012e-01 -5.25808993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.42, Y:-33.29, Z:-5.26 [[ 9.72219581e-01 2.32724163e-01 2.50709028e-02 3.45422730e+02] [-2.32696889e-01 9.72540915e-01 -4.04049075e-03 -3.32894479e+01] [-2.53227986e-02 -1.90567686e-03 9.99677510e-01 -5.25890388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.45, Y:-33.30, Z:-5.26 [[ 9.72570961e-01 2.31140977e-01 2.60686524e-02 3.45454536e+02] [-2.31110797e-01 9.72918346e-01 -4.20608991e-03 -3.32976040e+01] [-2.63348699e-02 -1.93402612e-03 9.99651306e-01 -5.25999617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.645898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:345.49, Y:-33.31, Z:-5.26 [[ 9.73044348e-01 2.29072583e-01 2.66542497e-02 3.45486965e+02] [-2.29040122e-01 9.73407460e-01 -4.30568536e-03 -3.33050288e+01] [-2.69317599e-02 -1.91526980e-03 9.99635440e-01 -5.26066529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.52, Y:-33.31, Z:-5.26 [[ 9.73224896e-01 2.28357682e-01 2.61929496e-02 3.45518088e+02] [-2.28325948e-01 9.73575532e-01 -4.23606100e-03 -3.33132918e+01] [-2.64681519e-02 -1.85789000e-03 9.99647931e-01 -5.26073952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.55, Y:-33.32, Z:-5.26 [[ 9.73261867e-01 2.28404712e-01 2.43438869e-02 3.45549412e+02] [-2.28377214e-01 9.73564747e-01 -3.94111399e-03 -3.33220764e+01] [-2.46005191e-02 -1.72385310e-03 9.99695875e-01 -5.26081404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.58, Y:-33.33, Z:-5.26 [[ 9.73002279e-01 2.29518768e-01 2.42425463e-02 3.45581524e+02] [-2.29491778e-01 9.73302676e-01 -3.92731561e-03 -3.33295301e+01] [-2.44967279e-02 -1.74217803e-03 9.99698392e-01 -5.26184606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.61, Y:-33.34, Z:-5.26 [[ 9.72259559e-01 2.32625198e-01 2.44308673e-02 3.45613177e+02] [-2.32598655e-01 9.72564737e-01 -3.96217488e-03 -3.33388706e+01] [-2.46823017e-02 -1.83032446e-03 9.99693670e-01 -5.26166056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.65, Y:-33.35, Z:-5.26 [[ 9.71779261e-01 2.34665228e-01 2.40270343e-02 3.45645871e+02] [-2.34640072e-01 9.72074493e-01 -3.90089939e-03 -3.33453747e+01] [-2.42714726e-02 -1.84689193e-03 9.99703698e-01 -5.26224093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.68, Y:-33.35, Z:-5.26 [[ 9.71256152e-01 2.36814855e-01 2.40875778e-02 3.45678359e+02] [-2.36790124e-01 9.71552937e-01 -3.91500660e-03 -3.33513938e+01] [-2.43294887e-02 -1.90122630e-03 9.99702186e-01 -5.26331315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.71, Y:-33.36, Z:-5.26 [[ 9.70683379e-01 2.39127334e-01 2.43289089e-02 3.45710483e+02] [-2.39102716e-01 9.70986210e-01 -3.95871808e-03 -3.33573499e+01] [-2.45696727e-02 -1.97444635e-03 9.99696170e-01 -5.26380389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.74, Y:-33.36, Z:-5.26 [[ 9.69677329e-01 2.43081682e-01 2.52422830e-02 3.45743216e+02] [-2.43056387e-01 9.70003445e-01 -4.11216611e-03 -3.33631846e+01] [-2.54846937e-02 -2.14782387e-03 9.99672905e-01 -5.26378778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.78, Y:-33.37, Z:-5.26 [[ 9.69183740e-01 2.45062794e-01 2.50420803e-02 3.45775748e+02] [-2.45038439e-01 9.69504762e-01 -4.08414773e-03 -3.33686209e+01] [-2.52792887e-02 -2.17798267e-03 9.99678055e-01 -5.26452689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.81, Y:-33.37, Z:-5.27 [[ 9.68741564e-01 2.46873462e-01 2.43572517e-02 3.45807508e+02] [-2.46850880e-01 9.69045318e-01 -3.97682123e-03 -3.33735031e+01] [-2.45850523e-02 -2.16009700e-03 9.99695408e-01 -5.26544102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.84, Y:-33.38, Z:-5.27 [[ 9.68330714e-01 2.48551049e-01 2.36221232e-02 3.45840430e+02] [-2.48530211e-01 9.68616451e-01 -3.86070143e-03 -3.33784475e+01] [-2.38403586e-02 -2.13237550e-03 9.99713504e-01 -5.26637890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.87, Y:-33.38, Z:-5.27 [[ 9.67748852e-01 2.50796546e-01 2.37329263e-02 3.45873248e+02] [-2.50776078e-01 9.68037334e-01 -3.88313328e-03 -3.33822824e+01] [-2.39482351e-02 -2.19375241e-03 9.99710793e-01 -5.26689854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.91, Y:-33.39, Z:-5.27 [[ 9.67628838e-01 2.51163904e-01 2.47209332e-02 3.45905976e+02] [-2.51141699e-01 9.67941862e-01 -4.04944906e-03 -3.33871563e+01] [-2.49455015e-02 -2.29009347e-03 9.99686189e-01 -5.26723631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.94, Y:-33.39, Z:-5.27 [[ 9.67740130e-01 2.50640159e-01 2.56622393e-02 3.45937762e+02] [-2.50615926e-01 9.68077449e-01 -4.20840735e-03 -3.33925608e+01] [-2.58978310e-02 -2.35872118e-03 9.99661812e-01 -5.26823213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.97, Y:-33.40, Z:-5.27 [[ 9.68735113e-01 2.46767050e-01 2.56574439e-02 3.45969467e+02] [-2.46741366e-01 9.69072215e-01 -4.21192036e-03 -3.34011578e+01] [-2.59032792e-02 -2.25051762e-03 9.99661921e-01 -5.26891155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.00, Y:-33.41, Z:-5.27 [[ 9.69373983e-01 2.44271420e-01 2.54077616e-02 3.46000434e+02] [-2.44245266e-01 9.69704499e-01 -4.17544119e-03 -3.34088339e+01] [-2.56579617e-02 -2.15816144e-03 9.99668451e-01 -5.27033774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15589822699997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:346.03, Y:-33.42, Z:-5.27 [[ 9.70084401e-01 2.41458693e-01 2.51784610e-02 3.46032561e+02] [-2.41431962e-01 9.70408910e-01 -4.14193034e-03 -3.34161175e+01] [-2.54335079e-02 -2.06086321e-03 9.99674392e-01 -5.27109517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.06, Y:-33.42, Z:-5.27 [[ 9.70523538e-01 2.39747777e-01 2.45980986e-02 3.46064872e+02] [-2.39721611e-01 9.70833220e-01 -4.05071311e-03 -3.34243487e+01] [-2.48518007e-02 -1.96538342e-03 9.99689214e-01 -5.27252198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.10, Y:-33.43, Z:-5.27 [[ 9.71507141e-01 2.35845359e-01 2.34700284e-02 3.46095393e+02] [-2.35820310e-01 9.71788975e-01 -3.86894930e-03 -3.34336186e+01] [-2.37203886e-02 -1.77599749e-03 9.99717054e-01 -5.27449475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.13, Y:-33.44, Z:-5.28 [[ 9.71901075e-01 2.34193761e-01 2.36977354e-02 3.46127696e+02] [-2.34167640e-01 9.72188369e-01 -3.91045344e-03 -3.34414256e+01] [-2.39544666e-02 -1.74866888e-03 9.99711521e-01 -5.27565742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.16, Y:-33.45, Z:-5.28 [[ 9.72187488e-01 2.32928735e-01 2.44068270e-02 3.46159759e+02] [-2.32900522e-01 9.72492206e-01 -4.03192797e-03 -3.34496990e+01] [-2.46746009e-02 -1.76457283e-03 9.99693978e-01 -5.27639585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.19, Y:-33.46, Z:-5.28 [[ 9.72669404e-01 2.30661027e-01 2.66405868e-02 3.46190936e+02] [-2.30626427e-01 9.73032393e-01 -4.40609913e-03 -3.34612663e+01] [-2.69384693e-02 -1.85834554e-03 9.99635366e-01 -5.27659668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.22, Y:-33.47, Z:-5.28 [[ 9.72929056e-01 2.29558740e-01 2.66802539e-02 3.46221750e+02] [-2.29523496e-01 9.73293096e-01 -4.41743723e-03 -3.34702223e+01] [-2.69817683e-02 -1.82589213e-03 9.99634258e-01 -5.27696508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.25, Y:-33.48, Z:-5.28 [[ 9.73306247e-01 2.27956227e-01 2.66628725e-02 3.46253757e+02] [-2.27920309e-01 9.73669762e-01 -4.41903722e-03 -3.34794068e+01] [-2.69681798e-02 -1.77593362e-03 9.99634715e-01 -5.27829073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.29, Y:-33.49, Z:-5.28 [[ 9.73749342e-01 2.26059488e-01 2.66332026e-02 3.46285512e+02] [-2.26022815e-01 9.74111986e-01 -4.41888863e-03 -3.34890072e+01] [-2.69426535e-02 -1.71682152e-03 9.99635507e-01 -5.27987366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.32, Y:-33.50, Z:-5.28 [[ 9.74723485e-01 2.21742222e-01 2.72857941e-02 3.46315348e+02] [-2.21701899e-01 9.75103956e-01 -4.53239527e-03 -3.35026369e+01] [-2.76115092e-02 -1.63148026e-03 9.99617398e-01 -5.28032087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.35, Y:-33.51, Z:-5.28 [[ 9.75171331e-01 2.19799491e-01 2.70011060e-02 3.46347431e+02] [-2.19759138e-01 9.75543830e-01 -4.48967105e-03 -3.35122788e+01] [-2.73275897e-02 -1.55554128e-03 9.99625321e-01 -5.28046372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.38, Y:-33.52, Z:-5.28 [[ 9.75451238e-01 2.18619623e-01 2.64640043e-02 3.46378746e+02] [-2.18580370e-01 9.75809018e-01 -4.40250586e-03 -3.35219369e+01] [-2.67862882e-02 -1.49008206e-03 9.99640072e-01 -5.28111560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.41, Y:-33.53, Z:-5.28 [[ 9.75698530e-01 2.17545962e-01 2.61941212e-02 3.46410160e+02] [-2.17506989e-01 9.76049014e-01 -4.36250909e-03 -3.35315879e+01] [-2.65157924e-02 -1.44091073e-03 9.99647356e-01 -5.28207923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.44, Y:-33.55, Z:-5.28 [[ 9.76211310e-01 2.15169340e-01 2.67139253e-02 3.46440451e+02] [-2.15127777e-01 9.76575752e-01 -4.45426364e-03 -3.35459572e+01] [-2.70465926e-02 -1.39860483e-03 9.99633196e-01 -5.28184365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.47, Y:-33.56, Z:-5.28 [[ 9.76368706e-01 2.14254268e-01 2.82711460e-02 3.46472372e+02] [-2.14207183e-01 9.76776848e-01 -4.71925222e-03 -3.35562072e+01] [-2.86257208e-02 -1.44815236e-03 9.99589151e-01 -5.28236815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.50, Y:-33.57, Z:-5.28 [[ 9.76528853e-01 2.13380155e-01 2.93310374e-02 3.46503043e+02] [-2.13328911e-01 9.76968141e-01 -4.90184803e-03 -3.35660369e+01] [-2.97014461e-02 -1.47036223e-03 9.99557733e-01 -5.28289313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.53, Y:-33.58, Z:-5.28 [[ 9.77081613e-01 2.10884108e-01 2.89726402e-02 3.46534646e+02] [-2.10832871e-01 9.77510107e-01 -4.84683725e-03 -3.35778769e+01] [-2.93431696e-02 -1.37262934e-03 9.99568454e-01 -5.28373967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.57, Y:-33.59, Z:-5.28 [[ 9.77453962e-01 2.09234096e-01 2.83698053e-02 3.46565990e+02] [-2.09184172e-01 9.77864727e-01 -4.74956816e-03 -3.35851828e+01] [-2.87356035e-02 -1.29203002e-03 9.99586212e-01 -5.28483231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.60, Y:-33.59, Z:-5.29 [[ 9.77896302e-01 2.07204122e-01 2.80227413e-02 3.46598560e+02] [-2.07154482e-01 9.78296979e-01 -4.69490015e-03 -3.35924135e+01] [-2.83873658e-02 -1.21391097e-03 9.99596260e-01 -5.28604969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.63, Y:-33.60, Z:-5.29 [[ 9.78313182e-01 2.05210853e-01 2.81393615e-02 3.46630205e+02] [-2.05159826e-01 9.78717104e-01 -4.71972639e-03 -3.35997746e+01] [-2.85090135e-02 -1.15569596e-03 9.99592867e-01 -5.28658182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.66, Y:-33.61, Z:-5.29 [[ 9.79098555e-01 2.01349956e-01 2.87091488e-02 3.46661592e+02] [-2.01295033e-01 9.79518797e-01 -4.82043637e-03 -3.36081324e+01] [-2.90917456e-02 -1.05932677e-03 9.99576184e-01 -5.28639910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.69, Y:-33.62, Z:-5.29 [[ 9.79475323e-01 1.99545925e-01 2.84519775e-02 3.46693902e+02] [-1.99491080e-01 9.79887973e-01 -4.78215925e-03 -3.36152764e+01] [-2.88340110e-02 -9.91908736e-04 9.99583721e-01 -5.28676963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.73, Y:-33.62, Z:-5.29 [[ 9.79942354e-01 1.97300377e-01 2.80275675e-02 3.46726027e+02] [-1.97246094e-01 9.80342664e-01 -4.71589026e-03 -3.36221904e+01] [-2.84070671e-02 -9.07027611e-04 9.99596026e-01 -5.28775416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.76, Y:-33.63, Z:-5.29 [[ 9.81147242e-01 1.91274224e-01 2.76452668e-02 3.46758065e+02] [-1.91218880e-01 9.81536375e-01 -4.65655251e-03 -3.36311457e+01] [-2.80255135e-02 -7.17533312e-04 9.99606951e-01 -5.28895096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.79, Y:-33.64, Z:-5.29 [[ 9.81818111e-01 1.87829917e-01 2.74430247e-02 3.46789778e+02] [-1.87773895e-01 9.82201380e-01 -4.62749283e-03 -3.36386074e+01] [-2.78237583e-02 -6.09727381e-04 9.99612658e-01 -5.28976224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.82, Y:-33.65, Z:-5.29 [[ 9.82474721e-01 1.84427391e-01 2.70177709e-02 3.46821104e+02] [-1.84371672e-01 9.82846014e-01 -4.56067975e-03 -3.36462492e+01] [-2.73954227e-02 -5.00559030e-04 9.99624550e-01 -5.29080419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.85, Y:-33.65, Z:-5.29 [[ 9.83059404e-01 1.81343691e-01 2.66209200e-02 3.46852902e+02] [-1.81288343e-01 9.83419698e-01 -4.49823564e-03 -3.36538838e+01] [-2.69952637e-02 -4.04029635e-04 9.99635480e-01 -5.29141916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96589822699997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:346.88, Y:-33.66, Z:-5.29 [[ 9.84101871e-01 1.75474123e-01 2.74288223e-02 3.46883976e+02] [-1.75412936e-01 9.84484013e-01 -4.64000583e-03 -3.36627789e+01] [-2.78174380e-02 -2.45131833e-04 9.99612990e-01 -5.29237904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99589822699994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:346.92, Y:-33.67, Z:-5.29 [[ 9.84473709e-01 1.73350785e-01 2.75866191e-02 3.46916448e+02] [-1.73287962e-01 9.84860128e-01 -4.67014408e-03 -3.36704428e+01] [-2.79785343e-02 -1.82794927e-04 9.99608507e-01 -5.29292238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.95, Y:-33.68, Z:-5.29 [[ 9.84731452e-01 1.71876734e-01 2.76107884e-02 3.46948291e+02] [-1.71813076e-01 9.85118455e-01 -4.67945952e-03 -3.36782169e+01] [-2.80041874e-02 -1.35883509e-04 9.99607797e-01 -5.29331375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.98, Y:-33.69, Z:-5.29 [[ 9.84988906e-01 1.70403449e-01 2.75593957e-02 3.46980972e+02] [-1.70339306e-01 9.85374374e-01 -4.67593795e-03 -3.36852722e+01] [-2.79531183e-02 -8.87013272e-05 9.99609231e-01 -5.29362035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.01, Y:-33.69, Z:-5.29 [[ 9.85411196e-01 1.67746294e-01 2.87394439e-02 3.47011694e+02] [-1.67675245e-01 9.85830199e-01 -4.88174223e-03 -3.36933023e+01] [-2.91511059e-02 -8.36986628e-06 9.99575016e-01 -5.29432477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.04, Y:-33.70, Z:-5.30 [[ 9.85667157e-01 1.66219485e-01 2.88329521e-02 3.47043120e+02] [-1.66147171e-01 9.86088780e-01 -4.90271886e-03 -3.37000465e+01] [-2.92467779e-02 4.19355566e-05 9.99572221e-01 -5.29529386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.08, Y:-33.71, Z:-5.30 [[ 9.85958271e-01 1.64549232e-01 2.84576713e-02 3.47075013e+02] [-1.64477950e-01 9.86368867e-01 -4.84382428e-03 -3.37064943e+01] [-2.88668085e-02 9.51491739e-05 9.99583262e-01 -5.29643671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.11, Y:-33.71, Z:-5.30 [[ 9.86619477e-01 1.60739521e-01 2.72912878e-02 3.47106531e+02] [-1.60672371e-01 9.86996842e-01 -4.65014453e-03 -3.37146363e+01] [-2.76838768e-02 2.02967252e-04 9.99616707e-01 -5.29777319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.14, Y:-33.72, Z:-5.30 [[ 9.86854162e-01 1.59215426e-01 2.77364449e-02 3.47138409e+02] [-1.59145320e-01 9.87243832e-01 -4.73118323e-03 -3.37221577e+01] [-2.81359114e-02 2.54862478e-04 9.99604074e-01 -5.29858643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.17, Y:-33.73, Z:-5.30 [[ 9.87024879e-01 1.58020497e-01 2.84852715e-02 3.47170813e+02] [-1.57945900e-01 9.87435786e-01 -4.86431066e-03 -3.37294639e+01] [-2.88960372e-02 3.02063797e-04 9.99582377e-01 -5.29906627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.20, Y:-33.74, Z:-5.30 [[ 9.87100489e-01 1.57483919e-01 2.88346927e-02 3.47202194e+02] [-1.57407087e-01 9.87521498e-01 -4.92958040e-03 -3.37365252e+01] [-2.92512085e-02 3.27206244e-04 9.99572038e-01 -5.29982348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.23, Y:-33.74, Z:-5.30 [[ 9.87143513e-01 1.57491555e-01 2.72781020e-02 3.47234042e+02] [-1.57422670e-01 9.87520284e-01 -4.66814663e-03 -3.37446599e+01] [-2.76728727e-02 3.13939023e-04 9.99616983e-01 -5.30135352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.26, Y:-33.75, Z:-5.30 [[ 9.87140721e-01 1.57681149e-01 2.62650416e-02 3.47264883e+02] [-1.57617224e-01 9.87490032e-01 -4.49962208e-03 -3.37514673e+01] [-2.66459724e-02 3.01937242e-04 9.99644887e-01 -5.30242333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.30, Y:-33.76, Z:-5.30 [[ 9.87185429e-01 1.57571745e-01 2.52205281e-02 3.47297039e+02] [-1.57512657e-01 9.87507497e-01 -4.32501268e-03 -3.37585934e+01] [-2.55869604e-02 2.97037094e-04 9.99672556e-01 -5.30349394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.33, Y:-33.77, Z:-5.30 [[ 9.87206889e-01 1.57544268e-01 2.45430766e-02 3.47328507e+02] [-1.57488191e-01 9.87511882e-01 -4.21338856e-03 -3.37653736e+01] [-2.49003749e-02 2.94241487e-04 9.99689894e-01 -5.30444847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.36, Y:-33.77, Z:-5.31 [[ 9.87388185e-01 1.56749320e-01 2.22311050e-02 3.47359613e+02] [-1.56703031e-01 9.87638379e-01 -3.82000719e-03 -3.37749895e+01] [-2.25550761e-02 2.88148431e-04 9.99745560e-01 -5.30564013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.39, Y:-33.78, Z:-5.31 [[ 9.87420344e-01 1.56604770e-01 2.18176526e-02 3.47391745e+02] [-1.56560070e-01 9.87661309e-01 -3.75265558e-03 -3.37833206e+01] [-2.21361351e-02 2.89675244e-04 9.99754924e-01 -5.30564179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.42, Y:-33.79, Z:-5.31 [[ 9.87400748e-01 1.56728381e-01 2.18169312e-02 3.47424691e+02] [-1.56683618e-01 9.87641701e-01 -3.75684465e-03 -3.37891555e+01] [-2.21361152e-02 2.91155500e-04 9.99754924e-01 -5.30651278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.46, Y:-33.80, Z:-5.31 [[ 9.87353091e-01 1.56933780e-01 2.24869520e-02 3.47456744e+02] [-1.56886214e-01 9.87609082e-01 -3.87503951e-03 -3.37967668e+01] [-2.28164426e-02 2.98139470e-04 9.99739627e-01 -5.30701658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.49, Y:-33.80, Z:-5.31 [[ 9.86998831e-01 1.58976749e-01 2.36580143e-02 3.47489123e+02] [-1.58924574e-01 9.87282290e-01 -4.08150900e-03 -3.38036810e+01] [-2.40060036e-02 2.68604756e-04 9.99711778e-01 -5.30716004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.52, Y:-33.81, Z:-5.31 [[ 9.86628465e-01 1.61238060e-01 2.38025270e-02 3.47520989e+02] [-1.61185795e-01 9.86915518e-01 -4.11093013e-03 -3.38089461e+01] [-2.41539216e-02 2.19331461e-04 9.99708227e-01 -5.30806955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.55, Y:-33.81, Z:-5.31 [[ 9.86189348e-01 1.63831087e-01 2.42887923e-02 3.47553250e+02] [-1.63777344e-01 9.86488392e-01 -4.19919649e-03 -3.38138802e+01] [-2.46485706e-02 1.63248950e-04 9.99696165e-01 -5.30887044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.59, Y:-33.82, Z:-5.31 [[ 9.85721319e-01 1.66530895e-01 2.49187164e-02 3.47585185e+02] [-1.66475072e-01 9.86036232e-01 -4.31278942e-03 -3.38183594e+01] [-2.52889699e-02 1.02863381e-04 9.99680178e-01 -5.30872583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.62, Y:-33.82, Z:-5.31 [[ 9.84907031e-01 1.71096814e-01 2.61537791e-02 3.47617280e+02] [-1.71036803e-01 9.85254221e-01 -4.53119176e-03 -3.38190979e+01] [-2.65433938e-02 -1.04561560e-05 9.99647662e-01 -5.30877651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.65, Y:-33.82, Z:-5.31 [[ 9.84771123e-01 1.71838832e-01 2.64055084e-02 3.47650121e+02] [-1.71777845e-01 9.85125076e-01 -4.57787209e-03 -3.38216565e+01] [-2.67993847e-02 -2.77250896e-05 9.99640832e-01 -5.30991722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.68, Y:-33.82, Z:-5.31 [[ 9.84898130e-01 1.71075923e-01 2.66214756e-02 3.47683579e+02] [-1.71013525e-01 9.85257849e-01 -4.62013156e-03 -3.38241842e+01] [-2.70194110e-02 -2.27344680e-06 9.99634909e-01 -5.31116894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.72, Y:-33.82, Z:-5.31 [[ 9.85855531e-01 1.65496080e-01 2.64559800e-02 3.47716247e+02] [-1.65432319e-01 9.86210436e-01 -4.59610773e-03 -3.38237090e+01] [-2.68518013e-02 1.54424109e-04 9.99639413e-01 -5.31195323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.75, Y:-33.83, Z:-5.31 [[ 9.86500872e-01 1.61610769e-01 2.64194858e-02 3.47748793e+02] [-1.61545664e-01 9.86854543e-01 -4.59447020e-03 -3.38264849e+01] [-2.68147055e-02 2.64495482e-04 9.99640386e-01 -5.31285583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.78, Y:-33.83, Z:-5.31 [[ 9.87180925e-01 1.57394763e-01 2.64709192e-02 3.47781512e+02] [-1.57327761e-01 9.87535691e-01 -4.60812316e-03 -3.38296383e+01] [-2.68662720e-02 3.84440821e-04 9.99638963e-01 -5.31336133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.81, Y:-33.83, Z:-5.31 [[ 9.88385889e-01 1.49668274e-01 2.63199958e-02 3.47813639e+02] [-1.49599169e-01 9.88736089e-01 -4.58648282e-03 -3.38294371e+01] [-2.67099806e-02 5.95765416e-04 9.99643047e-01 -5.31340194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.85, Y:-33.83, Z:-5.31 [[ 9.88698383e-01 1.47567728e-01 2.64437634e-02 3.47847057e+02] [-1.47497095e-01 9.89051733e-01 -4.61274128e-03 -3.38322994e+01] [-2.68349418e-02 6.60231564e-04 9.99639660e-01 -5.31436791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.88, Y:-33.83, Z:-5.31 [[ 9.88798878e-01 1.46876260e-01 2.65356915e-02 3.47879387e+02] [-1.46804758e-01 9.89154636e-01 -4.63348824e-03 -3.38349666e+01] [-2.69284517e-02 6.86022199e-04 9.99637128e-01 -5.31473628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.91, Y:-33.84, Z:-5.31 [[ 9.88697835e-01 1.47555442e-01 2.65326738e-02 3.47912459e+02] [-1.47484083e-01 9.89053558e-01 -4.63735400e-03 -3.38374709e+01] [-2.69265022e-02 6.71794818e-04 9.99637190e-01 -5.31494184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.95, Y:-33.84, Z:-5.31 [[ 9.88002466e-01 1.52093780e-01 2.68069076e-02 3.47945128e+02] [-1.52022477e-01 9.88365909e-01 -4.69000784e-03 -3.38352043e+01] [-2.72083546e-02 5.58486817e-04 9.99629628e-01 -5.31418375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.98, Y:-33.84, Z:-5.31 [[ 9.87488112e-01 1.55379194e-01 2.69171942e-02 3.47978522e+02] [-1.55308401e-01 9.87854787e-01 -4.71373967e-03 -3.38360861e+01] [-2.73226962e-02 4.74295490e-04 9.99626553e-01 -5.31404402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.01, Y:-33.84, Z:-5.31 [[ 9.86943591e-01 1.58795874e-01 2.69484516e-02 3.48012281e+02] [-1.58726062e-01 9.87311360e-01 -4.72387786e-03 -3.38360740e+01] [-2.73566448e-02 3.84779380e-04 9.99625663e-01 -5.31438996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.04, Y:-33.84, Z:-5.31 [[ 9.86452181e-01 1.61840825e-01 2.68261419e-02 3.48044543e+02] [-1.61772646e-01 9.86816830e-01 -4.70696770e-03 -3.38355114e+01] [-2.72342679e-02 3.03462579e-04 9.99629032e-01 -5.31481101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.08, Y:-33.83, Z:-5.32 [[ 9.85935358e-01 1.65152809e-01 2.56128666e-02 3.48078774e+02] [-1.65091707e-01 9.86267970e-01 -4.49671745e-03 -3.38289587e+01] [-2.60037955e-02 2.05000851e-04 9.99661823e-01 -5.31571435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.11, Y:-33.83, Z:-5.32 [[ 9.85936623e-01 1.65118733e-01 2.57833134e-02 3.48111181e+02] [-1.65056667e-01 9.86273673e-01 -4.53186117e-03 -3.38291450e+01] [-2.61776984e-02 2.12420121e-04 9.99657283e-01 -5.31676116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.15, Y:-33.82, Z:-5.32 [[ 9.86489751e-01 1.61684306e-01 2.63847901e-02 3.48145205e+02] [-1.61617991e-01 9.86842483e-01 -4.64096311e-03 -3.38248355e+01] [-2.67880027e-02 3.14005774e-04 9.99641088e-01 -5.31848914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.18, Y:-33.83, Z:-5.32 [[ 9.86847521e-01 1.59508418e-01 2.62494825e-02 3.48178216e+02] [-1.59441929e-01 9.87196497e-01 -4.62026718e-03 -3.38257843e+01] [-2.66503687e-02 3.74231094e-04 9.99644746e-01 -5.31931862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.21, Y:-33.83, Z:-5.32 [[ 9.87152682e-01 1.57714288e-01 2.56083134e-02 3.48211092e+02] [-1.57650281e-01 9.87484698e-01 -4.51215719e-03 -3.38269970e+01] [-2.59994493e-02 4.17030262e-04 9.99661870e-01 -5.32018804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.24, Y:-33.83, Z:-5.32 [[ 9.87417693e-01 1.56151646e-01 2.49592245e-02 3.48242890e+02] [-1.56090222e-01 9.87732990e-01 -4.40259794e-03 -3.38279516e+01] [-2.53405224e-02 4.51312224e-04 9.99678776e-01 -5.32141097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.28, Y:-33.82, Z:-5.32 [[ 9.87901303e-01 1.53423796e-01 2.26308234e-02 3.48277094e+02] [-1.53372492e-01 9.88160367e-01 -3.99589667e-03 -3.38241717e+01] [-2.29759484e-02 4.76605746e-04 9.99735904e-01 -5.32280162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.31, Y:-33.83, Z:-5.32 [[ 9.88031544e-01 1.52661807e-01 2.20916504e-02 3.48309460e+02] [-1.52612694e-01 9.88278371e-01 -3.90221568e-03 -3.38260521e+01] [-2.24284195e-02 4.84045902e-04 9.99748334e-01 -5.32419596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.34, Y:-33.83, Z:-5.33 [[ 9.88158002e-01 1.51864983e-01 2.19269116e-02 3.48342519e+02] [-1.51816315e-01 9.88401120e-01 -3.87711306e-03 -3.38292878e+01] [-2.22613817e-02 5.02337365e-04 9.99752059e-01 -5.32517084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.37, Y:-33.83, Z:-5.33 [[ 9.88194971e-01 1.51529519e-01 2.25722011e-02 3.48374056e+02] [-1.51477750e-01 9.88452591e-01 -3.99583205e-03 -3.38336516e+01] [-2.29170372e-02 5.29474897e-04 9.99737230e-01 -5.32599269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.41, Y:-33.84, Z:-5.33 [[ 9.88149017e-01 1.51740930e-01 2.31562085e-02 3.48407041e+02] [-1.51686403e-01 9.88420152e-01 -4.10355758e-03 -3.38381684e+01] [-2.35107407e-02 5.42444413e-04 9.99723437e-01 -5.32627601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.44, Y:-33.84, Z:-5.33 [[ 9.87991338e-01 1.52813261e-01 2.28303217e-02 3.48439371e+02] [-1.52760445e-01 9.88254948e-01 -4.05012059e-03 -3.38427761e+01] [-2.31810905e-02 5.13913960e-04 9.99731150e-01 -5.32635192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.47, Y:-33.85, Z:-5.33 [[ 9.87705537e-01 1.54665423e-01 2.27239796e-02 3.48470818e+02] [-1.54613483e-01 9.87966793e-01 -4.03574294e-03 -3.38474938e+01] [-2.30747271e-02 4.72692011e-04 9.99733631e-01 -5.32719802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.50, Y:-33.85, Z:-5.33 [[ 9.86832374e-01 1.60011348e-01 2.36269851e-02 3.48502783e+02] [-1.59956619e-01 9.87115107e-01 -4.20064490e-03 -3.38523898e+01] [-2.39947047e-02 3.66039721e-04 9.99712019e-01 -5.32766187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.54, Y:-33.86, Z:-5.33 [[ 9.86368523e-01 1.62778863e-01 2.40868843e-02 3.48535368e+02] [-1.62722699e-01 9.86662529e-01 -4.28684718e-03 -3.38578052e+01] [-2.44634342e-02 3.08928307e-04 9.99700678e-01 -5.32835193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.57, Y:-33.86, Z:-5.33 [[ 9.85859730e-01 1.65792773e-01 2.43587490e-02 3.48566757e+02] [-1.65736135e-01 9.86160584e-01 -4.33996132e-03 -3.38637416e+01] [-2.47411724e-02 2.41468170e-04 9.99693861e-01 -5.32923220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.60, Y:-33.87, Z:-5.33 [[ 9.85416726e-01 1.68408293e-01 2.43417923e-02 3.48599072e+02] [-1.68352425e-01 9.85717310e-01 -4.34123925e-03 -3.38699386e+01] [-2.47252267e-02 1.79929991e-04 9.99694269e-01 -5.33023339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.63, Y:-33.88, Z:-5.33 [[ 9.84601236e-01 1.73111510e-01 2.43477189e-02 3.48630769e+02] [-1.73056935e-01 9.84902229e-01 -4.34703933e-03 -3.38786922e+01] [-2.47326452e-02 6.65586937e-05 9.99694099e-01 -5.33079395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.66, Y:-33.89, Z:-5.33 [[ 9.84211196e-01 1.75158393e-01 2.54530675e-02 3.48663185e+02] [-1.75099299e-01 9.84540267e-01 -4.54958641e-03 -3.38859610e+01] [-2.58564681e-02 2.09396097e-05 9.99665665e-01 -5.33138217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.70, Y:-33.89, Z:-5.33 [[ 9.83772189e-01 1.77359506e-01 2.71272113e-02 3.48695097e+02] [-1.77293061e-01 9.84146130e-01 -4.85448769e-03 -3.38926548e+01] [-2.75581295e-02 -3.37563269e-05 9.99620202e-01 -5.33214433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67589822699995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:348.73, Y:-33.90, Z:-5.33 [[ 9.83152195e-01 1.80441995e-01 2.91967266e-02 3.48726185e+02] [-1.80366200e-01 9.83585620e-01 -5.23091503e-03 -3.38975864e+01] [-2.96613572e-02 -1.23317052e-04 9.99559998e-01 -5.33318677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.76, Y:-33.90, Z:-5.33 [[ 9.82802752e-01 1.82370221e-01 2.89802079e-02 3.48757631e+02] [-1.82296229e-01 9.83229918e-01 -5.19740049e-03 -3.39042452e+01] [-2.94420586e-02 -1.74963115e-04 9.99566473e-01 -5.33361002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.79, Y:-33.91, Z:-5.34 [[ 9.82586575e-01 1.83625549e-01 2.83774675e-02 3.48790379e+02] [-1.83554980e-01 9.82996244e-01 -5.09438454e-03 -3.39100299e+01] [-2.88304031e-02 -2.03151631e-04 9.99584297e-01 -5.33504343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.82, Y:-33.92, Z:-5.34 [[ 9.82366309e-01 1.84836362e-01 2.81416891e-02 3.48822586e+02] [-1.84767303e-01 9.82769284e-01 -5.05745835e-03 -3.39158642e+01] [-2.85915898e-02 -2.31387311e-04 9.99591150e-01 -5.33661095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.85, Y:-33.92, Z:-5.34 [[ 9.82186972e-01 1.85829531e-01 2.78592466e-02 3.48853674e+02] [-1.85762100e-01 9.82581967e-01 -5.01205435e-03 -3.39221675e+01] [-2.83053810e-02 -2.52417656e-04 9.99599291e-01 -5.33911946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.825898227 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:348.89, Y:-33.93, Z:-5.34 [[ 9.82261195e-01 1.85505408e-01 2.73987115e-02 3.48886105e+02] [-1.85439925e-01 9.82643215e-01 -4.93411981e-03 -3.39286636e+01] [-2.78384639e-02 -2.34220592e-04 9.99612407e-01 -5.34136096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.92, Y:-33.94, Z:-5.34 [[ 9.82343271e-01 1.85214378e-01 2.64070542e-02 3.48918168e+02] [-1.85153314e-01 9.82698117e-01 -4.76040804e-03 -3.39366150e+01] [-2.68318585e-02 -2.12998801e-04 9.99639938e-01 -5.34158838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.95, Y:-33.94, Z:-5.34 [[ 9.82589971e-01 1.84074831e-01 2.51675570e-02 3.48949262e+02] [-1.84018872e-01 9.82912218e-01 -4.54165348e-03 -3.39433813e+01] [-2.55735034e-02 -1.68722288e-04 9.99672930e-01 -5.34238070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.98, Y:-33.95, Z:-5.34 [[ 9.83227902e-01 1.80859561e-01 2.35098314e-02 3.48980978e+02] [-1.80809716e-01 9.83508929e-01 -4.24651119e-03 -3.39491840e+01] [-2.38901512e-02 -7.55176525e-05 9.99714587e-01 -5.34259292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.01, Y:-33.95, Z:-5.34 [[ 9.83510256e-01 1.79257984e-01 2.39614592e-02 3.49013529e+02] [-1.79205625e-01 9.83802101e-01 -4.33241875e-03 -3.39548130e+01] [-2.43499545e-02 -3.30499875e-05 9.99703495e-01 -5.34342575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.05, Y:-33.96, Z:-5.34 [[ 9.83792620e-01 1.77615586e-01 2.45923585e-02 3.49045080e+02] [-1.77559802e-01 9.84099946e-01 -4.45123701e-03 -3.39606730e+01] [-2.49919477e-02 1.24798296e-05 9.99687652e-01 -5.34360668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.08, Y:-33.97, Z:-5.34 [[ 9.84636408e-01 1.72826326e-01 2.49440547e-02 3.49077269e+02] [-1.72767283e-01 9.84952304e-01 -4.51933677e-03 -3.39661861e+01] [-2.53497645e-02 1.40386966e-04 9.99678633e-01 -5.34413012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.11, Y:-33.97, Z:-5.34 [[ 9.85082426e-01 1.70285326e-01 2.48097014e-02 3.49109398e+02] [-1.70226029e-01 9.85394776e-01 -4.49826219e-03 -3.39723795e+01] [-2.52133382e-02 2.07902075e-04 9.99682072e-01 -5.34491544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.14, Y:-33.98, Z:-5.35 [[ 9.85605547e-01 1.67199586e-01 2.50200708e-02 3.49141992e+02] [-1.67138159e-01 9.85923025e-01 -4.54136408e-03 -3.39789440e+01] [-2.54271781e-02 2.94185046e-04 9.99676634e-01 -5.34589039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.17, Y:-33.99, Z:-5.35 [[ 9.86118592e-01 1.64051590e-01 2.56358628e-02 3.49173297e+02] [-1.63985902e-01 9.86451684e-01 -4.65832352e-03 -3.39850960e+01] [-2.60527454e-02 3.89739357e-04 9.99660494e-01 -5.34603446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.21, Y:-33.99, Z:-5.35 [[ 9.86891973e-01 1.59055394e-01 2.73059688e-02 3.49205515e+02] [-1.58978804e-01 9.87269501e-01 -4.96716742e-03 -3.39916333e+01] [-2.77484049e-02 5.60987389e-04 9.99614781e-01 -5.34589313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15589822699997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:349.24, Y:-34.00, Z:-5.35 [[ 9.87089696e-01 1.57832862e-01 2.72529002e-02 3.49237663e+02] [-1.57755956e-01 9.87465659e-01 -4.96285905e-03 -3.39971614e+01] [-2.76946053e-02 5.99479709e-04 9.99616251e-01 -5.34668460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.27, Y:-34.00, Z:-5.35 [[ 9.87023209e-01 1.58234321e-01 2.73328415e-02 3.49268838e+02] [-1.58156967e-01 9.87401410e-01 -4.98283282e-03 -3.40040204e+01] [-2.77769414e-02 5.95292329e-04 9.99613969e-01 -5.34664285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.30, Y:-34.01, Z:-5.35 [[ 9.86753189e-01 1.59624225e-01 2.89525464e-02 3.49300821e+02] [-1.59537867e-01 9.87177671e-01 -5.28353455e-03 -3.40089741e+01] [-2.94246874e-02 5.94517076e-04 9.99566823e-01 -5.34718276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.33, Y:-34.01, Z:-5.35 [[ 9.86517214e-01 1.60844940e-01 3.02108031e-02 3.49333255e+02] [-1.60751356e-01 9.86979514e-01 -5.51725066e-03 -3.40142471e+01] [-3.07048657e-02 5.86435179e-04 9.99528322e-01 -5.34845125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.37, Y:-34.02, Z:-5.35 [[ 9.86303192e-01 1.61976136e-01 3.11407178e-02 3.49365583e+02] [-1.61877074e-01 9.86794508e-01 -5.69307751e-03 -3.40195686e+01] [-3.16516320e-02 5.74132230e-04 9.99498797e-01 -5.34893584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.40, Y:-34.02, Z:-5.35 [[ 9.86159182e-01 1.62880353e-01 3.09848119e-02 3.49397343e+02] [-1.62782544e-01 9.86645676e-01 -5.67039117e-03 -3.40246926e+01] [-3.14946260e-02 5.48121818e-04 9.99503771e-01 -5.35074203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.43, Y:-34.03, Z:-5.35 [[ 9.86265074e-01 1.62416117e-01 3.00368038e-02 3.49429638e+02] [-1.62323826e-01 9.86722201e-01 -5.50220183e-03 -3.40295216e+01] [-3.05316274e-02 5.50940574e-04 9.99533649e-01 -5.35253147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.46, Y:-34.04, Z:-5.35 [[ 9.86251312e-01 1.62499845e-01 3.00358287e-02 3.49462543e+02] [-1.62407430e-01 9.86708414e-01 -5.50751995e-03 -3.40356918e+01] [-3.05315761e-02 5.53757012e-04 9.99533649e-01 -5.35340243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.49, Y:-34.04, Z:-5.36 [[ 9.86455239e-01 1.61467982e-01 2.88817009e-02 3.49494336e+02] [-1.61382011e-01 9.86877789e-01 -5.29866740e-03 -3.40402735e+01] [-2.93582742e-02 5.65911244e-04 9.99568793e-01 -5.35542281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.53, Y:-34.04, Z:-5.36 [[ 9.86937249e-01 1.58778624e-01 2.72803243e-02 3.49527427e+02] [-1.58700763e-01 9.87314018e-01 -5.00971556e-03 -3.40442982e+01] [-2.77296823e-02 6.14866613e-04 9.99615269e-01 -5.35664217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.56, Y:-34.05, Z:-5.36 [[ 9.87102069e-01 1.57820062e-01 2.68762768e-02 3.49560050e+02] [-1.57743993e-01 9.87467681e-01 -4.94072239e-03 -3.40486680e+01] [-2.73191999e-02 6.37426057e-04 9.99626558e-01 -5.35755328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.59, Y:-34.05, Z:-5.36 [[ 9.87165312e-01 1.57509443e-01 2.63708495e-02 3.49593126e+02] [-1.57435962e-01 9.87517274e-01 -4.85292748e-03 -3.40524731e+01] [-2.68060513e-02 6.38921622e-04 9.99640449e-01 -5.35853131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.63, Y:-34.05, Z:-5.36 [[ 9.87112601e-01 1.57959113e-01 2.56443407e-02 3.49627060e+02] [-1.57889647e-01 9.87445462e-01 -4.72418325e-03 -3.40507953e+01] [-2.60686156e-02 6.14324909e-04 9.99659967e-01 -5.35934174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.66, Y:-34.05, Z:-5.36 [[ 9.87037402e-01 1.58477660e-01 2.53376936e-02 3.49660642e+02] [-1.58409889e-01 9.87362382e-01 -4.67264834e-03 -3.40522553e+01] [-2.57579959e-02 5.98337443e-04 9.99668029e-01 -5.36000493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.69, Y:-34.05, Z:-5.36 [[ 9.86955001e-01 1.58914149e-01 2.58092741e-02 3.49692758e+02] [-1.58843844e-01 9.87292221e-01 -4.76481016e-03 -3.40528713e+01] [-2.62384913e-02 6.03008904e-04 9.99655530e-01 -5.36083984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.73, Y:-34.05, Z:-5.36 [[ 9.86993888e-01 1.58651897e-01 2.59352973e-02 3.49727828e+02] [-1.58580687e-01 9.87334388e-01 -4.79288364e-03 -3.40472030e+01] [-2.63672110e-02 6.17709582e-04 9.99652134e-01 -5.36130582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.76, Y:-34.05, Z:-5.36 [[ 9.87166977e-01 1.57532054e-01 2.61727243e-02 3.49760199e+02] [-1.57459003e-01 9.87513655e-01 -4.84191125e-03 -3.40472425e+01] [-2.66086789e-02 6.58643808e-04 9.99645709e-01 -5.36200848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.79, Y:-34.05, Z:-5.36 [[ 9.87464184e-01 1.55669847e-01 2.61033482e-02 3.49793201e+02] [-1.55596407e-01 9.87808885e-01 -4.83382637e-03 -3.40475074e+01] [-2.65376003e-02 7.11643219e-04 9.99647563e-01 -5.36322548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.83, Y:-34.05, Z:-5.36 [[ 9.87826300e-01 1.53347873e-01 2.61463483e-02 3.49825975e+02] [-1.53273244e-01 9.88171959e-01 -4.84680360e-03 -3.40479971e+01] [-2.65803353e-02 7.80264437e-04 9.99646376e-01 -5.36436279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.86, Y:-34.04, Z:-5.36 [[ 9.88680982e-01 1.47804334e-01 2.57642044e-02 3.49860471e+02] [-1.47729910e-01 9.89016195e-01 -4.77903395e-03 -3.40441687e+01] [-2.61875773e-02 9.18796402e-04 9.99656624e-01 -5.36460545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.89, Y:-34.05, Z:-5.36 [[ 9.88992811e-01 1.45618557e-01 2.62384475e-02 3.49892323e+02] [-1.45540459e-01 9.89340304e-01 -4.87222294e-03 -3.40454223e+01] [-2.66682397e-02 9.99837760e-04 9.99643839e-01 -5.36466309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.92, Y:-34.05, Z:-5.37 [[ 9.89210306e-01 1.44032728e-01 2.67870177e-02 3.49924661e+02] [-1.43950613e-01 9.89572347e-01 -4.97906203e-03 -3.40465049e+01] [-2.72248398e-02 1.06933186e-03 9.99628763e-01 -5.36509238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.815898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:349.96, Y:-34.05, Z:-5.37 [[ 9.89350511e-01 1.42977975e-01 2.72555476e-02 3.49958133e+02] [-1.42892426e-01 9.89725234e-01 -5.07108652e-03 -3.40472157e+01] [-2.77005569e-02 1.12247073e-03 9.99615636e-01 -5.36693993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.99, Y:-34.04, Z:-5.37 [[ 9.89421736e-01 1.42393694e-01 2.77248027e-02 3.49992107e+02] [-1.42304795e-01 9.89809417e-01 -5.16368386e-03 -3.40435368e+01] [-2.81775468e-02 1.16368870e-03 9.99602257e-01 -5.36731382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.02, Y:-34.04, Z:-5.37 [[ 9.89464603e-01 1.41992324e-01 2.82485443e-02 3.50024296e+02] [-1.41899715e-01 9.89867028e-01 -5.26660719e-03 -3.40437512e+01] [-2.87101204e-02 1.20266100e-03 9.99587056e-01 -5.36801498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.06, Y:-34.04, Z:-5.37 [[ 9.89516319e-01 1.41558298e-01 2.86129722e-02 3.50057859e+02] [-1.41462947e-01 9.89929149e-01 -5.33992448e-03 -3.40442202e+01] [-2.90807258e-02 1.23626706e-03 9.99576302e-01 -5.36858599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.09, Y:-34.04, Z:-5.37 [[ 9.89557638e-01 1.41220526e-01 2.88520991e-02 3.50091933e+02] [-1.41123274e-01 9.89977359e-01 -5.38988184e-03 -3.40385193e+01] [-2.93240868e-02 1.26189606e-03 9.99569160e-01 -5.36893837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.13, Y:-34.04, Z:-5.37 [[ 9.89511628e-01 1.41615859e-01 2.84901135e-02 3.50125212e+02] [-1.41521055e-01 9.89920912e-01 -5.32713543e-03 -3.40386979e+01] [-2.89573660e-02 1.23931154e-03 9.99579879e-01 -5.36936745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.16, Y:-34.04, Z:-5.37 [[ 9.89488152e-01 1.41829007e-01 2.82441271e-02 3.50157680e+02] [-1.41735774e-01 9.89890411e-01 -5.28624189e-03 -3.40385971e+01] [-2.87083330e-02 1.22747051e-03 9.99587077e-01 -5.37090339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.19, Y:-34.03, Z:-5.37 [[ 9.89455439e-01 1.41998149e-01 2.85387597e-02 3.50191001e+02] [-1.41902927e-01 9.89866148e-01 -5.34493250e-03 -3.40320397e+01] [-2.90085226e-02 1.23883900e-03 9.99578397e-01 -5.37097924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.22, Y:-34.03, Z:-5.37 [[ 9.89448465e-01 1.42017475e-01 2.86840111e-02 3.50224799e+02] [-1.41921142e-01 9.89863362e-01 -5.37716679e-03 -3.40319245e+01] [-2.91569034e-02 1.24956181e-03 9.99574066e-01 -5.37192393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.26, Y:-34.03, Z:-5.37 [[ 9.89482638e-01 1.41879429e-01 2.81839714e-02 3.50257689e+02] [-1.41786220e-01 9.89883174e-01 -5.28872000e-03 -3.40321621e+01] [-2.86491997e-02 1.23699786e-03 9.99588762e-01 -5.37265705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.29, Y:-34.03, Z:-5.37 [[ 9.89582512e-01 1.41292249e-01 2.76215807e-02 3.50290357e+02] [-1.41202363e-01 9.89967160e-01 -5.18788015e-03 -3.40326752e+01] [-2.80774651e-02 1.23360301e-03 9.99604989e-01 -5.37425877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.32, Y:-34.03, Z:-5.38 [[ 9.89886952e-01 1.39525804e-01 2.56197637e-02 3.50324700e+02] [-1.39447818e-01 9.90217717e-01 -4.81454268e-03 -3.40291742e+01] [-2.60408969e-02 1.19323284e-03 9.99660166e-01 -5.37714999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.36, Y:-34.03, Z:-5.38 [[ 9.90016553e-01 1.38771233e-01 2.46935341e-02 3.50358082e+02] [-1.38698446e-01 9.90323769e-01 -4.64467324e-03 -3.40312965e+01] [-2.50991408e-02 1.17334859e-03 9.99684278e-01 -5.37840838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.39, Y:-34.03, Z:-5.38 [[ 9.90120225e-01 1.38114796e-01 2.42124447e-02 3.50391595e+02] [-1.38044512e-01 9.90415535e-01 -4.55868066e-03 -3.40342383e+01] [-2.46100026e-02 1.17124682e-03 9.99696442e-01 -5.37908984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.42, Y:-34.03, Z:-5.38 [[ 9.90034879e-01 1.38763634e-01 2.39915092e-02 3.50424626e+02] [-1.38694705e-01 9.90324863e-01 -4.52166326e-03 -3.40339964e+01] [-2.43868305e-02 1.14910905e-03 9.99701937e-01 -5.37856841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.46, Y:-34.04, Z:-5.38 [[ 9.89829216e-01 1.40207010e-01 2.40856384e-02 3.50456470e+02] [-1.40137859e-01 9.90121576e-01 -4.54375053e-03 -3.40365220e+01] [-2.44847759e-02 1.12222723e-03 9.99699573e-01 -5.37901568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:350.49, Y:-34.04, Z:-5.38 [[ 9.89624538e-01 1.41657233e-01 2.40104406e-02 3.50488086e+02] [-1.41588837e-01 9.89915171e-01 -4.53375122e-03 -3.40382277e+01] [-2.44105381e-02 1.08710111e-03 9.99701427e-01 -5.37983433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.52, Y:-34.04, Z:-5.38 [[ 9.89270548e-01 1.43426342e-01 2.77968791e-02 3.50518051e+02] [-1.43563155e-01 9.89636671e-01 2.97994884e-03 -3.40443516e+01] [-2.70814077e-02 -6.93858330e-03 9.99609150e-01 -5.38197288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.55, Y:-34.04, Z:-5.38 [[ 9.88756179e-01 1.47603555e-01 2.39668134e-02 3.50550826e+02] [-1.47333096e-01 9.89005481e-01 -1.26932121e-02 -3.40375566e+01] [-2.55768730e-02 9.01938714e-03 9.99632169e-01 -5.38186619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.58, Y:-34.05, Z:-5.38 [[ 9.88368305e-01 1.48350238e-01 3.34708871e-02 3.50578710e+02] [-1.48789714e-01 9.88807325e-01 1.10315345e-02 -3.40507630e+01] [-3.14597276e-02 -1.58833428e-02 9.99378810e-01 -5.38429087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.61, Y:-34.04, Z:-5.38 [[ 9.88377195e-01 1.50089433e-01 2.41595314e-02 3.50612339e+02] [-1.49572780e-01 9.88507179e-01 -2.19440254e-02 -3.40396868e+01] [-2.71754366e-02 1.80753660e-02 9.99467246e-01 -5.38291455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.64, Y:-34.05, Z:-5.38 [[ 9.88198255e-01 1.49766803e-01 3.21576378e-02 3.50639162e+02] [-1.49982868e-01 9.88678798e-01 4.40162776e-03 -3.40492920e+01] [-3.11343570e-02 -9.17277563e-03 9.99473117e-01 -5.38498177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.67, Y:-34.04, Z:-5.38 [[ 9.88219936e-01 1.50723508e-01 2.65288801e-02 3.50670029e+02] [-1.50361789e-01 9.88514946e-01 -1.51503748e-02 -3.40433946e+01] [-2.85077121e-02 1.09829726e-02 9.99533233e-01 -5.38465689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.70, Y:-34.05, Z:-5.39 [[ 9.88206621e-01 1.50459376e-01 2.84543705e-02 3.50698595e+02] [-1.50366693e-01 9.88615646e-01 -5.38164983e-03 -3.40498762e+01] [-2.89401555e-02 1.03959239e-03 9.99580605e-01 -5.38588187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.73, Y:-34.05, Z:-5.39 [[ 9.88181613e-01 1.50548181e-01 2.88504006e-02 3.50728034e+02] [-1.50452948e-01 9.88602114e-01 -5.45616659e-03 -3.40518513e+01] [-2.93429830e-02 1.05105567e-03 9.99568849e-01 -5.38618985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.76, Y:-34.05, Z:-5.39 [[ 9.88056837e-01 1.51167872e-01 2.98657294e-02 3.50757483e+02] [-1.51066125e-01 9.88507528e-01 -5.64736065e-03 -3.40493492e+01] [-3.03761978e-02 1.06821330e-03 9.99537966e-01 -5.38519137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.79, Y:-34.05, Z:-5.39 [[ 9.87994411e-01 1.51435648e-01 3.05661171e-02 3.50786085e+02] [-1.51329245e-01 9.88466525e-01 -5.77832029e-03 -3.40505823e+01] [-3.10886272e-02 1.08340074e-03 9.99516045e-01 -5.38648153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.81, Y:-34.05, Z:-5.39 [[ 9.87918113e-01 1.51796818e-01 3.12334527e-02 3.50813781e+02] [-1.51685946e-01 9.88411114e-01 -5.90290864e-03 -3.40519655e+01] [-3.17675345e-02 1.09391455e-03 9.99494686e-01 -5.38641445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.84, Y:-34.05, Z:-5.39 [[ 9.87961846e-01 1.51250337e-01 3.24765404e-02 3.50843878e+02] [-1.51130227e-01 9.88494817e-01 -6.13600748e-03 -3.40503211e+01] [-3.30309651e-02 1.15395437e-03 9.99453663e-01 -5.38705637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.87, Y:-34.05, Z:-5.39 [[ 9.88131086e-01 1.50193190e-01 3.22329396e-02 3.50871901e+02] [-1.50074358e-01 9.88655964e-01 -6.08863502e-03 -3.40521813e+01] [-3.27817595e-02 1.17903180e-03 9.99461838e-01 -5.38816756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.90, Y:-34.06, Z:-5.39 [[ 9.88236102e-01 1.48346909e-01 3.71833603e-02 3.50899332e+02] [-1.48641283e-01 9.88877160e-01 5.26613766e-03 -3.40591278e+01] [-3.59885605e-02 -1.07311698e-02 9.99294584e-01 -5.39121365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.93, Y:-34.05, Z:-5.39 [[ 9.88803272e-01 1.46199099e-01 2.98983696e-02 3.50930020e+02] [-1.45716708e-01 9.89167397e-01 -1.77342228e-02 -3.40490732e+01] [-3.21672198e-02 1.31789655e-02 9.99395610e-01 -5.39013410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.96, Y:-34.06, Z:-5.39 [[ 9.88945925e-01 1.44628173e-01 3.26901953e-02 3.50956994e+02] [-1.44502974e-01 9.89485111e-01 -6.17298554e-03 -3.40568746e+01] [-3.32392491e-02 1.38091845e-03 9.99446469e-01 -5.39176546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.99, Y:-34.06, Z:-5.39 [[ 9.89107671e-01 1.43400154e-01 3.32025869e-02 3.50985299e+02] [-1.43270373e-01 9.89663738e-01 -6.26782247e-03 -3.40603615e+01] [-3.37582029e-02 1.44260428e-03 9.99428988e-01 -5.39251041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.01, Y:-34.06, Z:-5.39 [[ 9.89345045e-01 1.41653128e-01 3.36269711e-02 3.51013349e+02] [-1.41519060e-01 9.89915189e-01 -6.34614298e-03 -3.40635710e+01] [-3.41868005e-02 1.51966775e-03 9.99414305e-01 -5.39450621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.04, Y:-34.07, Z:-5.40 [[ 9.89386107e-01 1.41280598e-01 3.39841718e-02 3.51041151e+02] [-1.41212394e-01 9.89969496e-01 -4.41092784e-03 -3.40687078e+01] [-3.42664719e-02 -4.34875525e-04 9.99412637e-01 -5.39659471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.07, Y:-34.07, Z:-5.40 [[ 9.89405524e-01 1.41634491e-01 3.18807068e-02 3.51069411e+02] [-1.41446740e-01 9.89912885e-01 -8.08078838e-03 -3.40719905e+01] [-3.27036408e-02 3.48575461e-03 9.99459014e-01 -5.39751210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.10, Y:-34.08, Z:-5.40 [[ 9.89360931e-01 1.42064830e-01 3.13453796e-02 3.51097807e+02] [-1.41948563e-01 9.89856361e-01 -5.91516428e-03 -3.40776035e+01] [-3.18677602e-02 1.40280084e-03 9.99491110e-01 -5.39895282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.13, Y:-34.08, Z:-5.40 [[ 9.89015007e-01 1.44539318e-01 3.09467533e-02 3.51126225e+02] [-1.44427245e-01 9.89498198e-01 -5.83848781e-03 -3.40822734e+01] [-3.14656477e-02 1.30479775e-03 9.99503982e-01 -5.40002686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.15, Y:-34.09, Z:-5.40 [[ 9.88810265e-01 1.45900093e-01 3.11034119e-02 3.51153651e+02] [-1.45787604e-01 9.89298519e-01 -5.86645028e-03 -3.40865284e+01] [-3.16264750e-02 1.26631435e-03 9.99498956e-01 -5.40078979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.18, Y:-34.09, Z:-5.40 [[ 9.88609334e-01 1.47194268e-01 3.13915901e-02 3.51181962e+02] [-1.47080395e-01 9.89106831e-01 -5.91894047e-03 -3.40911962e+01] [-3.19208703e-02 1.23443234e-03 9.99489637e-01 -5.40151248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.21, Y:-34.10, Z:-5.40 [[ 9.88485202e-01 1.47932752e-01 3.18261844e-02 3.51210802e+02] [-1.47816135e-01 9.88996662e-01 -5.99935832e-03 -3.40957110e+01] [-3.23634917e-02 1.22585337e-03 9.99475413e-01 -5.40229272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.24, Y:-34.10, Z:-5.40 [[ 9.88482189e-01 1.47972843e-01 3.17332701e-02 3.51238155e+02] [-1.47856976e-01 9.88990673e-01 -5.98028101e-03 -3.41005301e+01] [-3.22688273e-02 1.21941589e-03 9.99478482e-01 -5.40466351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.27, Y:-34.11, Z:-5.41 [[ 9.88588770e-01 1.47316138e-01 3.14674203e-02 3.51266622e+02] [-1.47201930e-01 9.89088695e-01 -5.92840147e-03 -3.41066683e+01] [-3.19974188e-02 1.22868613e-03 9.99487196e-01 -5.40624435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.30, Y:-34.11, Z:-5.41 [[ 9.88733456e-01 1.46364197e-01 3.13636036e-02 3.51295161e+02] [-1.46250310e-01 9.89229978e-01 -5.90736297e-03 -3.41130897e+01] [-3.18904434e-02 1.25387064e-03 9.99490584e-01 -5.40757986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.32, Y:-34.12, Z:-5.41 [[ 9.88836839e-01 1.45691999e-01 3.12337509e-02 3.51322714e+02] [-1.45578769e-01 9.89329183e-01 -5.88133077e-03 -3.41195306e+01] [-3.17573241e-02 1.26870551e-03 9.99494804e-01 -5.40855765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.35, Y:-34.13, Z:-5.41 [[ 9.88967534e-01 1.44898721e-01 3.07827361e-02 3.51349927e+02] [-1.44788416e-01 9.89445672e-01 -5.79447296e-03 -3.41260542e+01] [-3.12974567e-02 1.27356204e-03 9.99509303e-01 -5.40936941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.38, Y:-34.13, Z:-5.41 [[ 9.88947147e-01 1.45142718e-01 3.02841984e-02 3.51378270e+02] [-1.45036125e-01 9.89409948e-01 -5.69891558e-03 -3.41318694e+01] [-3.07906432e-02 1.24362351e-03 9.99525082e-01 -5.41043760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.41, Y:-34.14, Z:-5.41 [[ 9.88880128e-01 1.45623004e-01 3.01667633e-02 3.51406576e+02] [-1.45517503e-01 9.89339399e-01 -5.67540174e-03 -3.41378126e+01] [-3.06716365e-02 1.22249992e-03 9.99528767e-01 -5.41157497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.44, Y:-34.14, Z:-5.41 [[ 9.88885184e-01 1.45588609e-01 3.01670180e-02 3.51435403e+02] [-1.45483133e-01 9.89344461e-01 -5.67404786e-03 -3.41431543e+01] [-3.06716489e-02 1.22218957e-03 9.99528767e-01 -5.41235767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.46, Y:-34.15, Z:-5.41 [[ 9.88763314e-01 1.46301394e-01 3.07084947e-02 3.51463384e+02] [-1.46192476e-01 9.89239310e-01 -5.77471645e-03 -3.41486568e+01] [-3.12228992e-02 1.22047688e-03 9.99511701e-01 -5.41345545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.49, Y:-34.15, Z:-5.41 [[ 9.88319733e-01 1.48885802e-01 3.25134361e-02 3.51491108e+02] [-1.48765152e-01 9.88853664e-01 -6.11242006e-03 -3.41529350e+01] [-3.30610830e-02 1.20415911e-03 9.99452608e-01 -5.41410095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.52, Y:-34.16, Z:-5.42 [[ 9.88080985e-01 1.50254420e-01 3.34600829e-02 3.51520141e+02] [-1.50127489e-01 9.88646647e-01 -6.28842181e-03 -3.41570745e+01] [-3.40250619e-02 1.19019179e-03 9.99420271e-01 -5.41539898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.55, Y:-34.16, Z:-5.42 [[ 9.87935677e-01 1.51136147e-01 3.37781327e-02 3.51548526e+02] [-1.51007361e-01 9.88512265e-01 -6.34657567e-03 -3.41610952e+01] [-3.43492955e-02 1.16926185e-03 9.99409205e-01 -5.41657399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.58, Y:-34.16, Z:-5.42 [[ 9.87803786e-01 1.52080948e-01 3.33926001e-02 3.51577769e+02] [-1.51955679e-01 9.88367405e-01 -6.27254715e-03 -3.41622612e+01] [-3.39580924e-02 1.12185059e-03 9.99422628e-01 -5.41733133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.61, Y:-34.16, Z:-5.42 [[ 9.87751805e-01 1.52401052e-01 3.34707415e-02 3.51606856e+02] [-1.52275435e-01 9.88318108e-01 -6.28558282e-03 -3.41647037e+01] [-3.40376694e-02 1.11182404e-03 9.99419932e-01 -5.41870191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.63, Y:-34.17, Z:-5.42 [[ 9.87656926e-01 1.53033545e-01 3.33845877e-02 3.51634457e+02] [-1.52908994e-01 9.88220398e-01 -6.26769517e-03 -3.41663510e+01] [-3.39504982e-02 1.08552883e-03 9.99422926e-01 -5.41955963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.66, Y:-34.16, Z:-5.42 [[ 9.87310200e-01 1.55272491e-01 3.33019882e-02 3.51664624e+02] [-1.55149892e-01 9.87871168e-01 -6.25026821e-03 -3.41641723e+01] [-3.38685687e-02 1.00415367e-03 9.99425791e-01 -5.42053230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.69, Y:-34.17, Z:-5.42 [[ 9.87185525e-01 1.55938976e-01 3.38788192e-02 3.51693968e+02] [-1.55812539e-01 9.87766188e-01 -6.35690187e-03 -3.41654214e+01] [-3.44556408e-02 9.96696681e-04 9.99405731e-01 -5.42167569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.72, Y:-34.17, Z:-5.42 [[ 9.87190707e-01 1.55801763e-01 3.43557583e-02 3.51722283e+02] [-1.55671720e-01 9.87787823e-01 -6.44458309e-03 -3.41668520e+01] [-3.49402771e-02 1.01381255e-03 9.99388888e-01 -5.42253026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.75, Y:-34.17, Z:-5.42 [[ 9.87445359e-01 1.54072547e-01 3.48326510e-02 3.51750573e+02] [-1.53937877e-01 9.88058939e-01 -6.53165433e-03 -3.41688273e+01] [-3.54230608e-02 1.08758741e-03 9.99371815e-01 -5.42397272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.78, Y:-34.17, Z:-5.43 [[ 9.88513851e-01 1.46938656e-01 3.53468163e-02 3.51778504e+02] [-1.46795510e-01 9.89144671e-01 -6.62559098e-03 -3.41720059e+01] [-3.59366704e-02 1.36073454e-03 9.99353143e-01 -5.42543892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67589822699995 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:351.81, Y:-34.18, Z:-5.43 [[ 9.89239434e-01 1.42084158e-01 3.48917593e-02 3.51806466e+02] [-1.41941732e-01 9.89853422e-01 -6.53824624e-03 -3.41775578e+01] [-3.54667085e-02 1.51529426e-03 9.99369710e-01 -5.42592709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.83, Y:-34.18, Z:-5.43 [[ 9.89900186e-01 1.37566656e-01 3.42496260e-02 3.51833378e+02] [-1.37426786e-01 9.90491146e-01 -6.41625590e-03 -3.41843133e+01] [-3.48066142e-02 1.64463690e-03 9.99392713e-01 -5.42756310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.86, Y:-34.19, Z:-5.43 [[ 9.90865886e-01 1.30798892e-01 3.28092238e-02 3.51860817e+02] [-1.30666899e-01 9.91407285e-01 -6.14466245e-03 -3.41941925e+01] [-3.33310186e-02 1.80145688e-03 9.99442744e-01 -5.42850460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.89, Y:-34.20, Z:-5.43 [[ 9.91021413e-01 1.29646490e-01 3.26855801e-02 3.51888182e+02] [-1.29514916e-01 9.91558587e-01 -6.12001248e-03 -3.42025009e+01] [-3.32031057e-02 1.83179327e-03 9.99446946e-01 -5.42914052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.92, Y:-34.21, Z:-5.43 [[ 9.90995776e-01 1.29804884e-01 3.28338847e-02 3.51915277e+02] [-1.29672253e-01 9.91537862e-01 -6.14615505e-03 -3.42103582e+01] [-3.33538407e-02 1.83316989e-03 9.99441925e-01 -5.42952344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.94, Y:-34.22, Z:-5.43 [[ 9.90524638e-01 1.33257428e-01 3.32174663e-02 3.51942942e+02] [-1.33123676e-01 9.91079940e-01 -6.21608712e-03 -3.42213203e+01] [-3.37495043e-02 1.73515622e-03 9.99428817e-01 -5.42868043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.97, Y:-34.23, Z:-5.43 [[ 9.90145397e-01 1.35886961e-01 3.38648209e-02 3.51971032e+02] [-1.35749531e-01 9.90722930e-01 -6.33563481e-03 -3.42294713e+01] [-3.44115848e-02 1.67606611e-03 9.99406341e-01 -5.42892542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.00, Y:-34.24, Z:-5.43 [[ 9.89712535e-01 1.38760240e-01 3.48524686e-02 3.51998749e+02] [-1.38616509e-01 9.90324679e-01 -6.51874746e-03 -3.42373235e+01] [-3.54198027e-02 1.62055856e-03 9.99371208e-01 -5.42956148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.03, Y:-34.24, Z:-5.43 [[ 9.89294199e-01 1.41438328e-01 3.59469975e-02 3.52025956e+02] [-1.41287254e-01 9.89945823e-01 -6.72161082e-03 -3.42447944e+01] [-3.65362734e-02 1.57079804e-03 9.99331093e-01 -5.43076606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.05, Y:-34.25, Z:-5.43 [[ 9.88854818e-01 1.44103893e-01 3.74194807e-02 3.52053595e+02] [-1.43942167e-01 9.89561380e-01 -6.99481176e-03 -3.42534581e+01] [-3.80368526e-02 1.53061217e-03 9.99275165e-01 -5.43223321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.08, Y:-34.26, Z:-5.43 [[ 9.88901674e-01 1.43758510e-01 3.75095847e-02 3.52081540e+02] [-1.43595823e-01 9.89611591e-01 -7.00988721e-03 -3.42608115e+01] [-3.81276507e-02 1.54586951e-03 9.99271681e-01 -5.43365039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.11, Y:-34.27, Z:-5.43 [[ 9.89142227e-01 1.42188025e-01 3.71513151e-02 3.52110617e+02] [-1.42027374e-01 9.89838390e-01 -6.94170351e-03 -3.42685420e+01] [-3.77608250e-02 1.58982837e-03 9.99285541e-01 -5.43479993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.14, Y:-34.28, Z:-5.44 [[ 9.89746871e-01 1.38186034e-01 3.61351897e-02 3.52138566e+02] [-1.38031387e-01 9.90404840e-01 -6.75195487e-03 -3.42781411e+01] [-3.67214926e-02 1.69493584e-03 9.99324101e-01 -5.43621223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.17, Y:-34.29, Z:-5.44 [[ 9.89961017e-01 1.36662956e-01 3.60613646e-02 3.52168350e+02] [-1.36507921e-01 9.90616061e-01 -6.73846132e-03 -3.42851965e+01] [-3.66438650e-02 1.74815209e-03 9.99326859e-01 -5.43732826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.20, Y:-34.29, Z:-5.44 [[ 9.90124587e-01 1.35421304e-01 3.62542689e-02 3.52197236e+02] [-1.35263772e-01 9.90786464e-01 -6.77461750e-03 -3.42919589e+01] [-3.68376664e-02 1.80382619e-03 9.99319635e-01 -5.43857112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.23, Y:-34.30, Z:-5.44 [[ 9.90296521e-01 1.34191794e-01 3.61297944e-02 3.52225760e+02] [-1.34034520e-01 9.90953664e-01 -6.75153085e-03 -3.42987462e+01] [-3.67089522e-02 1.84337786e-03 9.99324299e-01 -5.44024636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.26, Y:-34.31, Z:-5.44 [[ 9.90555349e-01 1.32637964e-01 3.47457925e-02 3.52255742e+02] [-1.32491570e-01 9.91162867e-01 -6.49261499e-03 -3.43055178e+01] [-3.52999065e-02 1.82776990e-03 9.99375093e-01 -5.44203735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.29, Y:-34.31, Z:-5.44 [[ 9.90561341e-01 1.32792343e-01 3.39768218e-02 3.52285587e+02] [-1.32652447e-01 9.91142280e-01 -6.34901551e-03 -3.43111133e+01] [-3.45189652e-02 1.78198076e-03 9.99402454e-01 -5.44345848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.32, Y:-34.32, Z:-5.45 [[ 9.90500541e-01 1.33328033e-01 3.36498780e-02 3.52315187e+02] [-1.33191116e-01 9.91070424e-01 -6.28822609e-03 -3.43169340e+01] [-3.41877957e-02 1.74662654e-03 9.99413900e-01 -5.44523496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.35, Y:-34.32, Z:-5.45 [[ 9.90367130e-01 1.34230834e-01 3.39857602e-02 3.52345395e+02] [-1.34091698e-01 9.90948577e-01 -6.35099312e-03 -3.43235845e+01] [-3.45306398e-02 1.73260653e-03 9.99402138e-01 -5.44656545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.37, Y:-34.33, Z:-5.45 [[ 9.90308962e-01 1.34680923e-01 3.38999881e-02 3.52374437e+02] [-1.34542755e-01 9.90887540e-01 -6.33487608e-03 -3.43293747e+01] [-3.44442628e-02 1.71248675e-03 9.99405153e-01 -5.44785378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.40, Y:-34.33, Z:-5.45 [[ 9.90380060e-01 1.34323992e-01 3.32325324e-02 3.52403562e+02] [-1.34191026e-01 9.90936026e-01 -6.20977146e-03 -3.43339981e+01] [-3.37654349e-02 1.69052621e-03 9.99428355e-01 -5.44884558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.43, Y:-34.34, Z:-5.45 [[ 9.90479433e-01 1.33704028e-01 3.27677547e-02 3.52433595e+02] [-1.33574428e-01 9.91019871e-01 -6.12262720e-03 -3.43388002e+01] [-3.32921160e-02 1.68740221e-03 9.99444239e-01 -5.44949485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.46, Y:-34.34, Z:-5.45 [[ 9.90620875e-01 1.32687305e-01 3.26245429e-02 3.52462650e+02] [-1.32558289e-01 9.91156467e-01 -6.09579530e-03 -3.43434010e+01] [-3.31448613e-02 1.71396849e-03 9.99449088e-01 -5.45052421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.49, Y:-34.35, Z:-5.45 [[ 9.90849996e-01 1.30760932e-01 3.34344804e-02 3.52492183e+02] [-1.30624348e-01 9.91412254e-01 -6.24674127e-03 -3.43473217e+01] [-3.39641833e-02 1.82222637e-03 9.99421389e-01 -5.45065666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.52, Y:-34.35, Z:-5.45 [[ 9.90963257e-01 1.29705849e-01 3.41791760e-02 3.52521538e+02] [-1.29562498e-01 9.91550697e-01 -6.38548246e-03 -3.43509988e+01] [-3.47186202e-02 1.89943908e-03 9.99395322e-01 -5.45163244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.55, Y:-34.35, Z:-5.45 [[ 9.91076778e-01 1.28823293e-01 3.42254091e-02 3.52550900e+02] [-1.28679042e-01 9.91665682e-01 -6.39373503e-03 -3.43540893e+01] [-3.47638257e-02 1.93258946e-03 9.99393687e-01 -5.45264777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.58, Y:-34.36, Z:-5.45 [[ 9.91122579e-01 1.28547186e-01 3.39360317e-02 3.52579902e+02] [-1.28405217e-01 9.91701524e-01 -6.33929819e-03 -3.43576822e+01] [-3.44693133e-02 1.92545807e-03 9.99403902e-01 -5.45387694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.61, Y:-34.36, Z:-5.45 [[ 9.91151005e-01 1.28547803e-01 3.30930274e-02 3.52609681e+02] [-1.28412817e-01 9.91701537e-01 -6.18138698e-03 -3.43580291e+01] [-3.36130099e-02 1.87711903e-03 9.99433160e-01 -5.45436578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.64, Y:-34.36, Z:-5.46 [[ 9.91135436e-01 1.28737109e-01 3.28223278e-02 3.52639572e+02] [-1.28604451e-01 9.91677023e-01 -6.13010117e-03 -3.43602134e+01] [-3.33383198e-02 1.85466304e-03 9.99442403e-01 -5.45573538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.67, Y:-34.36, Z:-5.46 [[ 9.91135335e-01 1.28766971e-01 3.27080369e-02 3.52669502e+02] [-1.28635276e-01 9.91673161e-01 -6.10803344e-03 -3.43620950e+01] [-3.32221953e-02 1.84648040e-03 9.99446285e-01 -5.45639065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.70, Y:-34.36, Z:-5.46 [[ 9.91232481e-01 1.28267042e-01 3.17133181e-02 3.52698221e+02] [-1.28143012e-01 9.91738023e-01 -5.92140864e-03 -3.43606374e+01] [-3.22108249e-02 1.80565248e-03 9.99479466e-01 -5.45846454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.73, Y:-34.36, Z:-5.46 [[ 9.91317969e-01 1.27796136e-01 3.09326917e-02 3.52727257e+02] [-1.27677961e-01 9.91798870e-01 -5.77402043e-03 -3.43625141e+01] [-3.14169062e-02 1.77446720e-03 9.99504792e-01 -5.45999292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.76, Y:-34.36, Z:-5.46 [[ 9.91404166e-01 1.27233466e-01 3.04864603e-02 3.52755027e+02] [-1.27118458e-01 9.91871227e-01 -5.68925310e-03 -3.43640108e+01] [-3.09625062e-02 1.76495739e-03 9.99518988e-01 -5.46107366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.78, Y:-34.37, Z:-5.46 [[ 9.91483426e-01 1.26630532e-01 3.04191500e-02 3.52783762e+02] [-1.26515805e-01 9.91948359e-01 -5.67485380e-03 -3.43654607e+01] [-3.08928357e-02 1.77802023e-03 9.99521121e-01 -5.46201191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.81, Y:-34.36, Z:-5.46 [[ 9.91491513e-01 1.26549880e-01 3.04911202e-02 3.52813711e+02] [-1.26434616e-01 9.91958642e-01 -5.68686750e-03 -3.43624887e+01] [-3.09656026e-02 1.78334780e-03 9.99518860e-01 -5.46308800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.84, Y:-34.36, Z:-5.46 [[ 9.91466252e-01 1.26746630e-01 3.04952943e-02 3.52842417e+02] [-1.26631472e-01 9.91933535e-01 -5.68619549e-03 -3.43629233e+01] [-3.09700112e-02 1.77600694e-03 9.99518736e-01 -5.46391181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.87, Y:-34.36, Z:-5.46 [[ 9.91386355e-01 1.27335849e-01 3.06378430e-02 3.52871399e+02] [-1.27219945e-01 9.91858089e-01 -5.71106100e-03 -3.43635880e+01] [-3.11156152e-02 1.76412326e-03 9.99514235e-01 -5.46448220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.90, Y:-34.36, Z:-5.46 [[ 9.91051201e-01 1.29678690e-01 3.16378607e-02 3.52900775e+02] [-1.29556333e-01 9.91554534e-01 -5.89590269e-03 -3.43587452e+01] [-3.21352372e-02 1.74425621e-03 9.99482008e-01 -5.46481732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.93, Y:-34.36, Z:-5.47 [[ 9.90820342e-01 1.31257822e-01 3.23486479e-02 3.52930230e+02] [-1.31130802e-01 9.91346758e-01 -6.02652783e-03 -3.43588591e+01] [-3.28597562e-02 1.72930221e-03 9.99458476e-01 -5.46560829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.96, Y:-34.36, Z:-5.47 [[ 9.90622157e-01 1.32582001e-01 3.30114460e-02 3.52958749e+02] [-1.32450510e-01 9.91170551e-01 -6.14832145e-03 -3.43583263e+01] [-3.35351299e-02 1.71828061e-03 9.99436062e-01 -5.46631086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.99, Y:-34.36, Z:-5.47 [[ 9.90488349e-01 1.33318811e-01 3.40429821e-02 3.52988534e+02] [-1.33179472e-01 9.91071668e-01 -6.33846874e-03 -3.43576272e+01] [-3.45840722e-02 1.74435304e-03 9.99400270e-01 -5.46671560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.02, Y:-34.35, Z:-5.47 [[ 9.90568490e-01 1.32404261e-01 3.52587227e-02 3.53017955e+02] [-1.32254274e-01 9.91194095e-01 -6.56304211e-03 -3.43508632e+01] [-3.58172125e-02 1.83802593e-03 9.99356668e-01 -5.46825789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.05, Y:-34.35, Z:-5.47 [[ 9.90781406e-01 1.30751498e-01 3.54436384e-02 3.53046965e+02] [-1.30598949e-01 9.91413342e-01 -6.59550285e-03 -3.43504971e+01] [-3.60016679e-02 1.90579964e-03 9.99349913e-01 -5.46918017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.08, Y:-34.35, Z:-5.47 [[ 9.91069762e-01 1.28619578e-01 3.51814026e-02 3.53075802e+02] [-1.28468004e-01 9.91692057e-01 -6.54495230e-03 -3.43499933e+01] [-3.57309265e-02 1.96681976e-03 9.99359511e-01 -5.47055112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.10, Y:-34.35, Z:-5.47 [[ 9.91385356e-01 1.26350393e-01 3.45058582e-02 3.53102892e+02] [-1.26203292e-01 9.91983644e-01 -6.41711820e-03 -3.43495291e+01] [-3.50400524e-02 2.00708412e-03 9.99383893e-01 -5.47134298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.13, Y:-34.34, Z:-5.47 [[ 9.91967369e-01 1.21943509e-01 3.36231964e-02 3.53131577e+02] [-1.21801406e-01 9.92534811e-01 -6.25037659e-03 -3.43430589e+01] [-3.41343857e-02 2.10481703e-03 9.99415036e-01 -5.47300308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.16, Y:-34.34, Z:-5.47 [[ 9.92177853e-01 1.20338349e-01 3.31932222e-02 3.53159701e+02] [-1.20199049e-01 9.92730651e-01 -6.16793732e-03 -3.43425077e+01] [-3.36941685e-02 2.12989707e-03 9.99429921e-01 -5.47409231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.19, Y:-34.34, Z:-5.48 [[ 9.92310664e-01 1.19494434e-01 3.22587370e-02 3.53187177e+02] [-1.19362500e-01 9.92832659e-01 -5.99201120e-03 -3.43423822e+01] [-3.27435397e-02 2.09545311e-03 9.99461590e-01 -5.47554530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.22, Y:-34.34, Z:-5.48 [[ 9.92423042e-01 1.19001695e-01 3.05794388e-02 3.53216613e+02] [-1.18882984e-01 9.92892038e-01 -5.67775783e-03 -3.43381277e+01] [-3.10377441e-02 1.99936277e-03 9.99516213e-01 -5.47688216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.24, Y:-34.34, Z:-5.48 [[ 9.92429673e-01 1.18946290e-01 3.05798106e-02 3.53244630e+02] [-1.18827614e-01 9.92898678e-01 -5.67575440e-03 -3.43432106e+01] [-3.10377635e-02 1.99906114e-03 9.99516213e-01 -5.47764261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.27, Y:-34.34, Z:-5.48 [[ 9.92403727e-01 1.19126263e-01 3.07209319e-02 3.53272365e+02] [-1.19006634e-01 9.92877097e-01 -5.70006535e-03 -3.43438397e+01] [-3.11811372e-02 2.00077140e-03 9.99511748e-01 -5.47879573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.30, Y:-34.35, Z:-5.48 [[ 9.92360246e-01 1.19404252e-01 3.10445920e-02 3.53300747e+02] [-1.19282301e-01 9.92843685e-01 -5.75765134e-03 -3.43450730e+01] [-3.15099152e-02 2.01059393e-03 9.99501417e-01 -5.48013839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.33, Y:-34.35, Z:-5.48 [[ 9.92355019e-01 1.19379899e-01 3.13042348e-02 3.53327784e+02] [-1.19255959e-01 9.92846582e-01 -5.80355206e-03 -3.43459453e+01] [-3.17731300e-02 2.02596749e-03 9.99493053e-01 -5.48074694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.36, Y:-34.35, Z:-5.48 [[ 9.92428533e-01 1.18906302e-01 3.07716986e-02 3.53356184e+02] [-1.18786392e-01 9.92903457e-01 -5.70242593e-03 -3.43455767e+01] [-3.12313804e-02 2.00399113e-03 9.99510172e-01 -5.48112157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.38, Y:-34.35, Z:-5.48 [[ 9.92469335e-01 1.18786992e-01 2.99043286e-02 3.53383669e+02] [-1.18673755e-01 9.92917847e-01 -5.53971668e-03 -3.43494206e+01] [-3.03505878e-02 1.94913996e-03 9.99537414e-01 -5.48197490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.41, Y:-34.35, Z:-5.48 [[ 9.92488024e-01 1.18838414e-01 2.90680677e-02 3.53409855e+02] [-1.18731504e-01 9.92911806e-01 -5.38284709e-03 -3.43542257e+01] [-2.95017167e-02 1.89111588e-03 9.99562941e-01 -5.48331773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.44, Y:-34.36, Z:-5.48 [[ 9.92450482e-01 1.19402484e-01 2.80194256e-02 3.53437314e+02] [-1.19303435e-01 9.92844293e-01 -5.18653929e-03 -3.43596155e+01] [-2.84382125e-02 1.80456970e-03 9.99593923e-01 -5.48404214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.47, Y:-34.36, Z:-5.49 [[ 9.92176854e-01 1.21791954e-01 2.74191429e-02 3.53465224e+02] [-1.21698063e-01 9.92554200e-01 -5.07360527e-03 -3.43640950e+01] [-2.78329098e-02 1.69705713e-03 9.99611149e-01 -5.48551383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.49, Y:-34.37, Z:-5.49 [[ 9.91930515e-01 1.23793347e-01 2.73689766e-02 3.53491547e+02] [-1.23700612e-01 9.92306672e-01 -5.06238681e-03 -3.43687752e+01] [-2.77851079e-02 1.63597679e-03 9.99612581e-01 -5.48588230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.52, Y:-34.37, Z:-5.49 [[ 9.91634836e-01 1.26066416e-01 2.77057744e-02 3.53519226e+02] [-1.25972332e-01 9.92020530e-01 -5.12241592e-03 -3.43743043e+01] [-2.81304617e-02 1.58940506e-03 9.99602997e-01 -5.48647122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.55, Y:-34.38, Z:-5.49 [[ 9.90975871e-01 1.30813443e-01 2.92346716e-02 3.53545798e+02] [-1.30710805e-01 9.91405817e-01 -5.40298116e-03 -3.43800731e+01] [-2.96902061e-02 1.53293648e-03 9.99557973e-01 -5.48655939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.57, Y:-34.38, Z:-5.49 [[ 9.90645968e-01 1.33205687e-01 2.96110087e-02 3.53573513e+02] [-1.33101534e-01 9.91087313e-01 -5.46988497e-03 -3.43848070e+01] [-3.00757148e-02 1.47744882e-03 9.99546531e-01 -5.48673618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.60, Y:-34.39, Z:-5.49 [[ 9.90304675e-01 1.35710005e-01 2.96554244e-02 3.53601539e+02] [-1.35606799e-01 9.90747615e-01 -5.47345002e-03 -3.43893835e+01] [-3.01238429e-02 1.39890598e-03 9.99545195e-01 -5.48770631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.63, Y:-34.39, Z:-5.49 [[ 9.89862385e-01 1.39231124e-01 2.80562346e-02 3.53627858e+02] [-1.39140218e-01 9.90259161e-01 -5.17631862e-03 -3.43943331e+01] [-2.85036480e-02 1.22009248e-03 9.99592944e-01 -5.48856134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.66, Y:-34.40, Z:-5.49 [[ 9.89786951e-01 1.39848378e-01 2.76445662e-02 3.53655621e+02] [-1.39760457e-01 9.90172225e-01 -5.09696508e-03 -3.44000754e+01] [-2.80856840e-02 1.18129233e-03 9.99604821e-01 -5.48956817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.68, Y:-34.41, Z:-5.49 [[ 9.89779093e-01 1.39862718e-01 2.78526035e-02 3.53681784e+02] [-1.39773531e-01 9.90170192e-01 -5.13329586e-03 -3.44050177e+01] [-2.82967745e-02 1.18777217e-03 9.99598860e-01 -5.49035584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.71, Y:-34.41, Z:-5.49 [[ 9.89827607e-01 1.39398093e-01 2.84513751e-02 3.53708810e+02] [-1.39304910e-01 9.90235665e-01 -5.24114017e-03 -3.44097255e+01] [-2.89041713e-02 1.22440897e-03 9.99581437e-01 -5.49080202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.74, Y:-34.41, Z:-5.49 [[ 9.89972697e-01 1.37930326e-01 3.04841524e-02 3.53736374e+02] [-1.37822772e-01 9.90441009e-01 -5.61174978e-03 -3.44125438e+01] [-3.09667852e-02 1.35406866e-03 9.99519497e-01 -5.49130611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.76, Y:-34.42, Z:-5.49 [[ 9.90121797e-01 1.36815619e-01 3.06645293e-02 3.53763132e+02] [-1.36706322e-01 9.90595548e-01 -5.64280528e-03 -3.44162213e+01] [-3.11481701e-02 1.39502950e-03 9.99513805e-01 -5.49181563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.79, Y:-34.42, Z:-5.49 [[ 9.90267219e-01 1.35801454e-01 3.04762308e-02 3.53790746e+02] [-1.35693089e-01 9.90735061e-01 -5.60579597e-03 -3.44204931e+01] [-3.09551456e-02 1.41582209e-03 9.99519772e-01 -5.49284798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:-34.42, Z:-5.49 [[ 9.90409051e-01 1.34805968e-01 3.02863545e-02 3.53818465e+02] [-1.34698549e-01 9.90870975e-01 -5.56879342e-03 -3.44236246e+01] [-3.07605762e-02 1.43585540e-03 9.99525750e-01 -5.49386411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.85, Y:-34.42, Z:-5.49 [[ 9.90661576e-01 1.33014922e-01 2.99444905e-02 3.53846953e+02] [-1.32909162e-01 9.91112941e-01 -5.50389622e-03 -3.44249404e+01] [-3.04104724e-02 1.47260138e-03 9.99536410e-01 -5.49499087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.87, Y:-34.43, Z:-5.50 [[ 9.90833840e-01 1.31802516e-01 2.96040155e-02 3.53874090e+02] [-1.31698670e-01 9.91274874e-01 -5.43922653e-03 -3.44286428e+01] [-3.00626205e-02 1.49056024e-03 9.99546906e-01 -5.49670150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.90, Y:-34.43, Z:-5.50 [[ 9.91394888e-01 1.27705646e-01 2.87653196e-02 3.53902031e+02] [-1.27605949e-01 9.91810876e-01 -5.28288142e-03 -3.44329534e+01] [-2.92044106e-02 1.56679573e-03 9.99572232e-01 -5.49902624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.93, Y:-34.44, Z:-5.50 [[ 9.91761360e-01 1.24992208e-01 2.80419977e-02 3.53930018e+02] [-1.24896434e-01 9.92156428e-01 -5.14818718e-03 -3.44372919e+01] [-2.84655316e-02 1.60342759e-03 9.99593489e-01 -5.49932269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.96, Y:-34.44, Z:-5.50 [[ 9.92085944e-01 1.22439904e-01 2.78199657e-02 3.53958121e+02] [-1.22344694e-01 9.92474538e-01 -5.10554729e-03 -3.44419225e+01] [-2.82357304e-02 1.66151650e-03 9.99599911e-01 -5.49979222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.98, Y:-34.45, Z:-5.50 [[ 9.92376083e-01 1.19982866e-01 2.81748387e-02 3.53984833e+02] [-1.19884281e-01 9.92774417e-01 -5.16867091e-03 -3.44470513e+01] [-2.85914111e-02 1.75154510e-03 9.99589647e-01 -5.50099963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.01, Y:-34.45, Z:-5.50 [[ 9.92794471e-01 1.16025060e-01 2.99553788e-02 3.54012378e+02] [-1.15911897e-01 9.93244311e-01 -5.49281712e-03 -3.44544632e+01] [-3.03903140e-02 1.98105367e-03 9.99536145e-01 -5.50222692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04589822699995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:354.04, Y:-34.46, Z:-5.50 [[ 9.92917458e-01 1.15018262e-01 2.97610603e-02 3.54039514e+02] [-1.14906174e-01 9.93361370e-01 -5.45518610e-03 -3.44599450e+01] [-3.01909337e-02 1.99681994e-03 9.99542155e-01 -5.50360012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.07, Y:-34.47, Z:-5.50 [[ 9.92994854e-01 1.14711919e-01 2.83265768e-02 3.54067465e+02] [-1.14610309e-01 9.93396969e-01 -5.19035084e-03 -3.44652979e+01] [-2.87349307e-02 1.90747395e-03 9.99585247e-01 -5.50464117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.09, Y:-34.47, Z:-5.51 [[ 9.92954794e-01 1.15444958e-01 2.67065398e-02 3.54094875e+02] [-1.15354953e-01 9.93312290e-01 -4.89174957e-03 -3.44702519e+01] [-2.70926620e-02 1.77655453e-03 9.99631348e-01 -5.50527747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.12, Y:-34.48, Z:-5.51 [[ 9.92616535e-01 1.18575322e-01 2.55403100e-02 3.54121754e+02] [-1.18494084e-01 9.92943746e-01 -4.67644224e-03 -3.44751640e+01] [-2.59146017e-02 1.61553825e-03 9.99662855e-01 -5.50660581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16589822699996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:354.15, Y:-34.48, Z:-5.51 [[ 9.92417603e-01 1.20167683e-01 2.58268958e-02 3.54148249e+02] [-1.20085203e-01 9.92752336e-01 -4.72679139e-03 -3.44795288e+01] [-2.62077187e-02 1.58952295e-03 9.99655255e-01 -5.50722863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.17, Y:-34.48, Z:-5.51 [[ 9.92234391e-01 1.21604209e-01 2.61405699e-02 3.54174464e+02] [-1.21520265e-01 9.92577431e-01 -4.78211018e-03 -3.44838372e+01] [-2.65280645e-02 1.56836518e-03 9.99646839e-01 -5.50753726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.20, Y:-34.49, Z:-5.51 [[ 9.91735580e-01 1.25438179e-01 2.69407217e-02 3.54202116e+02] [-1.25350484e-01 9.92100291e-01 -4.92632772e-03 -3.44889865e+01] [-2.73458474e-02 1.50858198e-03 9.99624894e-01 -5.50832265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.23, Y:-34.49, Z:-5.51 [[ 9.91534331e-01 1.27055521e-01 2.67687481e-02 3.54228714e+02] [-1.26969579e-01 9.91894543e-01 -4.89306594e-03 -3.44938337e+01] [-2.71734662e-02 1.45282617e-03 9.99629677e-01 -5.51005317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.26, Y:-34.50, Z:-5.51 [[ 9.91383550e-01 1.28284482e-01 2.64905294e-02 3.54256485e+02] [-1.28200803e-01 9.91736419e-01 -4.84043359e-03 -3.44985500e+01] [-2.68925753e-02 1.40261910e-03 9.99637345e-01 -5.51125881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.28, Y:-34.50, Z:-5.51 [[ 9.91285225e-01 1.29109745e-01 2.61586685e-02 3.54284177e+02] [-1.29028483e-01 9.91629377e-01 -4.77804289e-03 -3.45024684e+01] [-2.65565960e-02 1.36119002e-03 9.99646385e-01 -5.51198622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.31, Y:-34.50, Z:-5.51 [[ 9.91051392e-01 1.31026721e-01 2.54781577e-02 3.54311821e+02] [-1.30950309e-01 9.91378018e-01 -4.65200474e-03 -3.45021763e+01] [-2.58680224e-02 1.27400316e-03 9.99664555e-01 -5.51242785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.34, Y:-34.50, Z:-5.51 [[ 9.90913468e-01 1.32190369e-01 2.48234791e-02 3.54339163e+02] [-1.32118249e-01 9.91223609e-01 -4.53048300e-03 -3.45039473e+01] [-2.52045048e-02 1.20968203e-03 9.99681584e-01 -5.51275524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.37, Y:-34.51, Z:-5.51 [[ 9.90790219e-01 1.33183474e-01 2.44316185e-02 3.54365968e+02] [-1.33113956e-01 9.91090716e-01 -4.45731662e-03 -3.45057160e+01] [-2.48075912e-02 1.16407633e-03 9.99691567e-01 -5.51355715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.39, Y:-34.51, Z:-5.52 [[ 9.90633678e-01 1.34246857e-01 2.49539039e-02 3.54394386e+02] [-1.34174723e-01 9.90947242e-01 -4.55052622e-03 -3.45059370e+01] [-2.53388961e-02 1.15972137e-03 9.99678246e-01 -5.51503981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.42, Y:-34.51, Z:-5.52 [[ 9.90744555e-01 1.33307911e-01 2.55778626e-02 3.54422109e+02] [-1.33231858e-01 9.91073929e-01 -4.66251082e-03 -3.45087391e+01] [-2.59711024e-02 1.21157105e-03 9.99661960e-01 -5.51590080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.45, Y:-34.51, Z:-5.52 [[ 9.90979043e-01 1.31470128e-01 2.60027201e-02 3.54449205e+02] [-1.31390943e-01 9.91319308e-01 -4.73816910e-03 -3.45112882e+01] [-2.63999262e-02 1.27890437e-03 9.99650643e-01 -5.51656401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.48, Y:-34.51, Z:-5.52 [[ 9.91783048e-01 1.25343831e-01 2.55990250e-02 3.54477094e+02] [-1.25265133e-01 9.92112351e-01 -4.66144078e-03 -3.45134005e+01] [-2.59813917e-02 1.41647268e-03 9.99661423e-01 -5.51819545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.50, Y:-34.52, Z:-5.52 [[ 9.92250986e-01 1.21742005e-01 2.48367803e-02 3.54504995e+02] [-1.21666840e-01 9.92560699e-01 -4.52101800e-03 -3.45174732e+01] [-2.52024098e-02 1.46417199e-03 9.99681297e-01 -5.51920004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.53, Y:-34.52, Z:-5.52 [[ 9.92707569e-01 1.18104318e-01 2.41464974e-02 3.54531493e+02] [-1.18032241e-01 9.93000043e-01 -4.39376706e-03 -3.45216410e+01] [-2.44963958e-02 1.51166062e-03 9.99698775e-01 -5.51978441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.56, Y:-34.53, Z:-5.52 [[ 9.93381467e-01 1.12515518e-01 2.30980551e-02 3.54559527e+02] [-1.12448102e-01 9.93648718e-01 -4.20118576e-03 -3.45258357e+01] [-2.34240514e-02 1.57604760e-03 9.99724377e-01 -5.52106664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.59, Y:-34.53, Z:-5.52 [[ 9.93561732e-01 1.10941812e-01 2.29564536e-02 3.54586656e+02] [-1.10874838e-01 9.93825613e-01 -4.17390426e-03 -3.45303479e+01] [-2.32777721e-02 1.60173847e-03 9.99727753e-01 -5.52224442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.61, Y:-34.53, Z:-5.52 [[ 9.93645479e-01 1.10151929e-01 2.31347214e-02 3.54613650e+02] [-1.10083734e-01 9.93913423e-01 -4.20473991e-03 -3.45343198e+01] [-2.34570704e-02 1.63126427e-03 9.99723514e-01 -5.52257564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.64, Y:-34.54, Z:-5.52 [[ 9.93656697e-01 1.10051131e-01 2.31325795e-02 3.54641213e+02] [-1.09982966e-01 9.93924588e-01 -4.20246370e-03 -3.45386002e+01] [-2.34545255e-02 1.63161649e-03 9.99723573e-01 -5.52312992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.67, Y:-34.54, Z:-5.52 [[ 9.93644103e-01 1.10169564e-01 2.31098185e-02 3.54668770e+02] [-1.10101603e-01 9.93911477e-01 -4.19671827e-03 -3.45440388e+01] [-2.34314644e-02 1.62561630e-03 9.99724124e-01 -5.52456366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.70, Y:-34.55, Z:-5.53 [[ 9.93681292e-01 1.09805396e-01 2.32436162e-02 3.54695624e+02] [-1.09736585e-01 9.93951749e-01 -4.21938889e-03 -3.45501001e+01] [-2.35663447e-02 1.64205273e-03 9.99720927e-01 -5.52622315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.72, Y:-34.56, Z:-5.53 [[ 9.93715868e-01 1.09346368e-01 2.39195837e-02 3.54721920e+02] [-1.09273405e-01 9.94002256e-01 -4.34037770e-03 -3.45562701e+01] [-2.42507247e-02 1.69932783e-03 9.99704464e-01 -5.52737178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.75, Y:-34.56, Z:-5.53 [[ 9.93768579e-01 1.08587366e-01 2.51554093e-02 3.54749185e+02] [-1.08506481e-01 9.94085272e-01 -4.56243416e-03 -3.45649659e+01] [-2.55020446e-02 1.80447878e-03 9.99673141e-01 -5.52768634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.78, Y:-34.57, Z:-5.53 [[ 9.93779906e-01 1.08428525e-01 2.53920036e-02 3.54775096e+02] [-1.08346105e-01 9.94102575e-01 -4.60356088e-03 -3.45714896e+01] [-2.57414134e-02 1.82380161e-03 9.99666971e-01 -5.52868599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.80, Y:-34.58, Z:-5.53 [[ 9.93746754e-01 1.08752165e-01 2.53052392e-02 3.54801272e+02] [-1.08670465e-01 9.94067252e-01 -4.58576982e-03 -3.45784216e+01] [-2.56538220e-02 1.80716175e-03 9.99669253e-01 -5.52894425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.83, Y:-34.59, Z:-5.53 [[ 9.93546289e-01 1.10733189e-01 2.45750417e-02 3.54828113e+02] [-1.10656787e-01 9.93848710e-01 -4.45155410e-03 -3.45863101e+01] [-2.49168083e-02 1.70342990e-03 9.99688077e-01 -5.52940896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.86, Y:-34.59, Z:-5.53 [[ 9.93348538e-01 1.12482205e-01 2.46259238e-02 3.54855087e+02] [-1.12406063e-01 9.93652350e-01 -4.45910462e-03 -3.45926964e+01] [-2.49711770e-02 1.66134192e-03 9.99686791e-01 -5.53013514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.88, Y:-34.60, Z:-5.53 [[ 9.93120897e-01 1.14351421e-01 2.51920024e-02 3.54882141e+02] [-1.14272380e-01 9.93438992e-01 -4.55984787e-03 -3.45985938e+01] [-2.55481425e-02 1.64973014e-03 9.99672232e-01 -5.53080959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.91, Y:-34.60, Z:-5.53 [[ 9.92870945e-01 1.16342493e-01 2.59173710e-02 3.54908526e+02] [-1.16259557e-01 9.93207796e-01 -4.68932749e-03 -3.46047245e+01] [-2.62869030e-02 1.64275495e-03 9.99653090e-01 -5.53180473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.94, Y:-34.61, Z:-5.53 [[ 9.92503605e-01 1.19408382e-01 2.60429084e-02 3.54935678e+02] [-1.19325746e-01 9.92843987e-01 -4.70997085e-03 -3.46107556e+01] [-2.64189550e-02 1.56707359e-03 9.99649730e-01 -5.53218762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.96, Y:-34.62, Z:-5.53 [[ 9.92386083e-01 1.20492094e-01 2.55248500e-02 3.54963356e+02] [-1.20413115e-01 9.92713145e-01 -4.61457020e-03 -3.46153728e+01] [-2.58948733e-02 1.50590855e-03 9.99663537e-01 -5.53332856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.99, Y:-34.62, Z:-5.53 [[ 9.92392845e-01 1.20436323e-01 2.55251617e-02 3.54991396e+02] [-1.20357369e-01 9.92719913e-01 -4.61284522e-03 -3.46203220e+01] [-2.58948904e-02 1.50561327e-03 9.99663537e-01 -5.53408903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:-34.62, Z:-5.54 [[ 9.92309648e-01 1.21319869e-01 2.45571112e-02 3.55017873e+02] [-1.21247095e-01 9.92612441e-01 -4.43657364e-03 -3.46242428e+01] [-2.49139386e-02 1.42497644e-03 9.99688584e-01 -5.53535040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:-34.63, Z:-5.54 [[ 9.92270855e-01 1.21846833e-01 2.34925345e-02 3.55045500e+02] [-1.21780424e-01 9.92547999e-01 -4.24240678e-03 -3.46283196e+01] [-2.38343920e-02 1.34868579e-03 9.99715011e-01 -5.53701286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:-34.63, Z:-5.54 [[ 9.92357673e-01 1.21159546e-01 2.33797478e-02 3.55072374e+02] [-1.21093621e-01 9.92632119e-01 -4.22044440e-03 -3.46323926e+01] [-2.37188358e-02 1.35705207e-03 9.99717748e-01 -5.53870574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:-34.64, Z:-5.54 [[ 9.92493290e-01 1.20095591e-01 2.31110185e-02 3.55099628e+02] [-1.20030930e-01 9.92761395e-01 -4.17004032e-03 -3.46367180e+01] [-2.34445304e-02 1.36469999e-03 9.99724208e-01 -5.53872322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:-34.64, Z:-5.54 [[ 9.92666227e-01 1.18713597e-01 2.28220009e-02 3.55126210e+02] [-1.18650210e-01 9.92927581e-01 -4.11656050e-03 -3.46407010e+01] [-2.31492858e-02 1.37853538e-03 9.99731069e-01 -5.54006587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.15, Y:-34.64, Z:-5.54 [[ 9.93004753e-01 1.15840155e-01 2.28608463e-02 3.55153484e+02] [-1.15775859e-01 9.93266817e-01 -4.12073481e-03 -3.46435882e+01] [-2.31842666e-02 1.44517514e-03 9.99730164e-01 -5.54120216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.18, Y:-34.65, Z:-5.54 [[ 9.93220357e-01 1.13876958e-01 2.33529466e-02 3.55181425e+02] [-1.13809393e-01 9.93493698e-01 -4.20649874e-03 -3.46478027e+01] [-2.36800286e-02 1.52019550e-03 9.99718433e-01 -5.54225928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.21, Y:-34.65, Z:-5.54 [[ 9.93481547e-01 1.11686617e-01 2.28147947e-02 3.55207925e+02] [-1.11621614e-01 9.93742294e-01 -4.10703615e-03 -3.46518884e+01] [-2.31307274e-02 1.53364043e-03 9.99731273e-01 -5.54294206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.24, Y:-34.66, Z:-5.54 [[ 9.93932149e-01 1.07754759e-01 2.20860670e-02 3.55236059e+02] [-1.07692939e-01 9.94176265e-01 -3.97308457e-03 -3.46559641e+01] [-2.23855623e-02 1.57046304e-03 9.99748178e-01 -5.54345658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.26, Y:-34.66, Z:-5.54 [[ 9.94114985e-01 1.06080849e-01 2.19601727e-02 3.55263812e+02] [-1.06019358e-01 9.94356225e-01 -3.94897934e-03 -3.46599458e+01] [-2.22551455e-02 1.59753613e-03 9.99751047e-01 -5.54421705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.29, Y:-34.66, Z:-5.55 [[ 9.94269485e-01 1.04645148e-01 2.18537040e-02 3.55291827e+02] [-1.04583939e-01 9.94508304e-01 -3.92838945e-03 -3.46639781e+01] [-2.21447770e-02 1.62033132e-03 9.99753461e-01 -5.54510287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.32, Y:-34.67, Z:-5.55 [[ 9.94478054e-01 1.02410413e-01 2.29239439e-02 3.55319191e+02] [-1.02342508e-01 9.94740692e-01 -4.11916220e-03 -3.46691734e+01] [-2.32252249e-02 1.75032251e-03 9.99728726e-01 -5.54604280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.35, Y:-34.67, Z:-5.55 [[ 9.94596390e-01 1.01070751e-01 2.37217969e-02 3.55345799e+02] [-1.00997698e-01 9.94877535e-01 -4.26080302e-03 -3.46744031e+01] [-2.40309254e-02 1.84193243e-03 9.99709519e-01 -5.54722140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.37, Y:-34.68, Z:-5.55 [[ 9.94708032e-01 9.99270280e-02 2.38855608e-02 3.55373301e+02] [-9.98526835e-02 9.94992991e-01 -4.28820993e-03 -3.46796175e+01] [-2.41944736e-02 1.88047953e-03 9.99705502e-01 -5.54795032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.40, Y:-34.69, Z:-5.55 [[ 9.94922617e-01 9.80146514e-02 2.28498285e-02 3.55398861e+02] [-9.79461486e-02 9.95183267e-01 -4.10079693e-03 -3.46872422e+01] [-2.31417052e-02 1.84192291e-03 9.99730498e-01 -5.54872760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.43, Y:-34.69, Z:-5.55 [[ 9.94949003e-01 9.77311612e-02 2.29150971e-02 3.55425526e+02] [-9.76622357e-02 9.95211129e-01 -4.11061743e-03 -3.46947829e+01] [-2.32070950e-02 1.85191510e-03 9.99728964e-01 -5.55031528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.45, Y:-34.70, Z:-5.55 [[ 9.94914839e-01 9.80228870e-02 2.31511612e-02 3.55451602e+02] [-9.79526493e-02 9.95182418e-01 -4.15138251e-03 -3.47026680e+01] [-2.34465590e-02 1.86255450e-03 9.99723357e-01 -5.55087358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.48, Y:-34.71, Z:-5.55 [[ 9.94831246e-01 9.88800311e-02 2.30983094e-02 3.55479056e+02] [-9.88103874e-02 9.95097667e-01 -4.14001854e-03 -3.47098756e+01] [-2.33944389e-02 1.83626690e-03 9.99724626e-01 -5.55161636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.51, Y:-34.72, Z:-5.55 [[ 9.94594218e-01 1.01352195e-01 2.25848093e-02 3.55505635e+02] [-1.01286282e-01 9.94849092e-01 -4.04648693e-03 -3.47161196e+01] [-2.28785973e-02 1.73708115e-03 9.99736742e-01 -5.55115061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.53, Y:-34.72, Z:-5.55 [[ 9.94385316e-01 1.03346070e-01 2.27471634e-02 3.55532871e+02] [-1.03279768e-01 9.94644004e-01 -4.07366968e-03 -3.47216128e+01] [-2.30463275e-02 1.70147556e-03 9.99732950e-01 -5.55154399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.56, Y:-34.73, Z:-5.55 [[ 9.94099237e-01 1.06131400e-01 2.24239558e-02 3.55559490e+02] [-1.06067706e-01 9.94350807e-01 -4.01431413e-03 -3.47278505e+01] [-2.27233233e-02 1.61216906e-03 9.99740492e-01 -5.55233109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.59, Y:-34.73, Z:-5.55 [[ 9.93377512e-01 1.12672382e-01 2.24956417e-02 3.55585654e+02] [-1.12609991e-01 9.93631112e-01 -4.02529689e-03 -3.47340759e+01] [-2.28059093e-02 1.46540538e-03 9.99738837e-01 -5.55316724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.61, Y:-34.74, Z:-5.55 [[ 9.92969191e-01 1.16220350e-01 2.24725726e-02 3.55613072e+02] [-1.16159025e-01 9.93222494e-01 -4.01967066e-03 -3.47373337e+01] [-2.27874322e-02 1.38101699e-03 9.99739379e-01 -5.55362343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.64, Y:-34.74, Z:-5.55 [[ 9.92581339e-01 1.19359919e-01 2.31407507e-02 3.55641316e+02] [-1.19295781e-01 9.92850138e-01 -4.13753252e-03 -3.47398512e+01] [-2.34691531e-02 1.34624364e-03 9.99723655e-01 -5.55455316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.67, Y:-34.74, Z:-5.56 [[ 9.92320502e-01 1.21319555e-01 2.41161131e-02 3.55668401e+02] [-1.21250507e-01 9.92612580e-01 -4.31050154e-03 -3.47422063e+01] [-2.44609054e-02 1.35330813e-03 9.99699871e-01 -5.55536294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.70, Y:-34.74, Z:-5.56 [[ 9.92408881e-01 1.20290439e-01 2.55895185e-02 3.55695181e+02] [-1.20212411e-01 9.92737667e-01 -4.57162800e-03 -3.47440968e+01] [-2.59536021e-02 1.46074650e-03 9.99662081e-01 -5.55632918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.72, Y:-34.75, Z:-5.56 [[ 9.92728210e-01 1.17640552e-01 2.55225715e-02 3.55722882e+02] [-1.17562110e-01 9.93055073e-01 -4.55766754e-03 -3.47484334e+01] [-2.58814856e-02 1.52403777e-03 9.99663857e-01 -5.55764745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.75, Y:-34.75, Z:-5.56 [[ 9.93199642e-01 1.13645994e-01 2.52796038e-02 3.55750399e+02] [-1.13567794e-01 9.93520001e-01 -4.51256864e-03 -3.47529412e+01] [-2.56286274e-02 1.61093272e-03 9.99670235e-01 -5.55849755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.78, Y:-34.76, Z:-5.56 [[ 9.93689342e-01 1.09368416e-01 2.49006455e-02 3.55776588e+02] [-1.09291248e-01 9.93999839e-01 -4.44326095e-03 -3.47581739e+01] [-2.52371900e-02 1.69379844e-03 9.99680056e-01 -5.55989700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.80, Y:-34.76, Z:-5.56 [[ 9.94597143e-01 1.01009585e-01 2.39496908e-02 3.55803761e+02] [-1.00935832e-01 9.94883767e-01 -4.27172679e-03 -3.47641955e+01] [-2.42586440e-02 1.83126529e-03 9.99704039e-01 -5.56117898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.83, Y:-34.77, Z:-5.56 [[ 9.94919998e-01 9.78813848e-02 2.35251378e-02 3.55830092e+02] [-9.78093923e-02 9.95196327e-01 -4.19441856e-03 -3.47689196e+01] [-2.38226863e-02 1.87213147e-03 9.99714447e-01 -5.56149300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.86, Y:-34.77, Z:-5.56 [[ 9.95082256e-01 9.62606203e-02 2.33494496e-02 3.55857107e+02] [-9.61893004e-02 9.95354360e-01 -4.16121501e-03 -3.47731738e+01] [-2.36415376e-02 1.89478400e-03 9.99718704e-01 -5.56165711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.88, Y:-34.78, Z:-5.56 [[ 9.95099988e-01 9.60219399e-02 2.35754250e-02 3.55884848e+02] [-9.59492112e-02 9.95377372e-01 -4.19959426e-03 -3.47767845e+01] [-2.38696978e-02 1.91697277e-03 9.99713240e-01 -5.56208667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:355.91, Y:-34.78, Z:-5.56 [[ 9.94760006e-01 9.92233346e-02 2.46426626e-02 3.55911962e+02] [-9.91448877e-02 9.95063333e-01 -4.38804108e-03 -3.47791281e+01] [-2.49564061e-02 1.92185375e-03 9.99686693e-01 -5.56260409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.94, Y:-34.78, Z:-5.56 [[ 9.94518411e-01 1.01329821e-01 2.57952885e-02 3.55939486e+02] [-1.01244643e-01 9.94850969e-01 -4.59034716e-03 -3.47825937e+01] [-2.61276069e-02 1.95354998e-03 9.99656707e-01 -5.56391839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.97, Y:-34.79, Z:-5.56 [[ 9.94243162e-01 1.03673255e-01 2.70627179e-02 3.55967489e+02] [-1.03580413e-01 9.94609433e-01 -4.81400138e-03 -3.47854764e+01] [-2.74159177e-02 1.98312045e-03 9.99622146e-01 -5.56493153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.99, Y:-34.78, Z:-5.57 [[ 9.93840527e-01 1.07370641e-01 2.74326770e-02 3.55994882e+02] [-1.07276697e-01 9.94217238e-01 -4.87786638e-03 -3.47842721e+01] [-2.77977800e-02 1.90493432e-03 9.99611752e-01 -5.56529252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.02, Y:-34.79, Z:-5.57 [[ 9.93765784e-01 1.08276682e-01 2.65655158e-02 3.56023410e+02] [-1.08188963e-01 9.94119135e-01 -4.72160592e-03 -3.47857089e+01] [-2.69205274e-02 1.81807479e-03 9.99635924e-01 -5.56627414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.05, Y:-34.79, Z:-5.57 [[ 9.93720560e-01 1.08923842e-01 2.55938614e-02 3.56050414e+02] [-1.08842682e-01 9.94048587e-01 -4.54722438e-03 -3.47873833e+01] [-2.59368429e-02 1.73296585e-03 9.99662081e-01 -5.56747443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.08, Y:-34.79, Z:-5.57 [[ 9.93728457e-01 1.08959803e-01 2.51299662e-02 3.56078048e+02] [-1.08881621e-01 9.94044705e-01 -4.46282157e-03 -3.47889633e+01] [-2.54665780e-02 1.69864134e-03 9.99674231e-01 -5.56874032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.11, Y:-34.79, Z:-5.57 [[ 9.93919674e-01 1.07046382e-01 2.57828256e-02 3.56105326e+02] [-1.06963490e-01 9.94252414e-01 -4.57696494e-03 -3.47871230e+01] [-2.61245842e-02 1.79131448e-03 9.99657090e-01 -5.56979935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.13, Y:-34.79, Z:-5.57 [[ 9.94104207e-01 1.05274460e-01 2.59636984e-02 3.56132986e+02] [-1.05189854e-01 9.94441487e-01 -4.60699776e-03 -3.47896839e+01] [-2.63043781e-02 1.84871821e-03 9.99652271e-01 -5.57104520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.16, Y:-34.79, Z:-5.57 [[ 9.94349230e-01 1.03011831e-01 2.56548576e-02 3.56160747e+02] [-1.02928521e-01 9.94678346e-01 -4.55048420e-03 -3.47932681e+01] [-2.59870850e-02 1.88415390e-03 9.99660503e-01 -5.57293317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.19, Y:-34.80, Z:-5.57 [[ 9.94645086e-01 1.00274246e-01 2.50245479e-02 3.56187500e+02] [-1.00194160e-01 9.94958011e-01 -4.43705499e-03 -3.47968867e+01] [-2.53432967e-02 1.90598140e-03 9.99676990e-01 -5.57447547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.21, Y:-34.80, Z:-5.58 [[ 9.95158108e-01 9.55575300e-02 2.30021503e-02 3.56214206e+02] [-9.54886534e-02 9.95422170e-01 -4.07684330e-03 -3.47990107e+01] [-2.32864235e-02 1.86065930e-03 9.99727103e-01 -5.57521411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.24, Y:-34.80, Z:-5.58 [[ 9.95288701e-01 9.43793681e-02 2.22021568e-02 3.56242526e+02] [-9.43149469e-02 9.95534640e-01 -3.93336671e-03 -3.48020322e+01] [-2.24742448e-02 1.82084021e-03 9.99745764e-01 -5.57550540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.27, Y:-34.81, Z:-5.58 [[ 9.95310952e-01 9.41619229e-02 2.21278302e-02 3.56269077e+02] [-9.40979105e-02 9.95555235e-01 -3.91879441e-03 -3.48050271e+01] [-2.23984784e-02 1.81823641e-03 9.99747469e-01 -5.57592324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.30, Y:-34.81, Z:-5.58 [[ 9.95093340e-01 9.58809703e-02 2.44148470e-02 3.56296837e+02] [-9.58036041e-02 9.95390874e-01 -4.32173512e-03 -3.48063142e+01] [-2.47166881e-02 1.96149949e-03 9.99692572e-01 -5.57574665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.32, Y:-34.81, Z:-5.58 [[ 9.94955761e-01 9.69271546e-02 2.58487926e-02 3.56323294e+02] [-9.68408308e-02 9.95289372e-01 -4.57368800e-03 -3.48089995e+01] [-2.61703431e-02 2.04739868e-03 9.99655401e-01 -5.57617927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.35, Y:-34.81, Z:-5.58 [[ 9.94853784e-01 9.77797225e-02 2.65532311e-02 3.56351188e+02] [-9.76890201e-02 9.95205915e-01 -4.69498175e-03 -3.48120092e+01] [-2.68850066e-02 2.07686124e-03 9.99636375e-01 -5.57685480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.38, Y:-34.82, Z:-5.58 [[ 9.94876977e-01 9.74093790e-02 2.70409604e-02 3.56377742e+02] [-9.73152270e-02 9.95242133e-01 -4.77939315e-03 -3.48150760e+01] [-2.73778608e-02 2.12341101e-03 9.99622901e-01 -5.57817893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.41, Y:-34.82, Z:-5.58 [[ 9.95164945e-01 9.39579897e-02 2.86116999e-02 3.56406382e+02] [-9.39216225e-02 9.95576159e-01 -2.61530303e-03 -3.48193885e+01] [-2.87308549e-02 -8.45993840e-05 9.99587180e-01 -5.58012281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.43, Y:-34.82, Z:-5.58 [[ 9.95439549e-01 9.15236144e-02 2.68985731e-02 3.56433825e+02] [-9.13613755e-02 9.95791758e-01 -7.20240495e-03 -3.48207916e+01] [-2.74445675e-02 4.71206810e-03 9.99612221e-01 -5.57865585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.46, Y:-34.83, Z:-5.58 [[ 9.95709639e-01 8.86625427e-02 2.64814855e-02 3.56460294e+02] [-8.85693365e-02 9.96059046e-01 -4.67442163e-03 -3.48250041e+01] [-2.67915693e-02 2.30891907e-03 9.99638375e-01 -5.57959429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.49, Y:-34.83, Z:-5.58 [[ 9.96212667e-01 8.35733238e-02 2.39963038e-02 3.56487902e+02] [-8.34953707e-02 9.96499170e-01 -4.23406617e-03 -3.48286439e+01] [-2.42661518e-02 2.21445007e-03 9.99703081e-01 -5.58097143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.52, Y:-34.83, Z:-5.58 [[ 9.96410858e-01 8.13986861e-02 2.32305092e-02 3.56515438e+02] [-8.13250787e-02 9.96679207e-01 -4.09747800e-03 -3.48344203e+01] [-2.34868948e-02 2.19354858e-03 9.99721738e-01 -5.58245078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.54, Y:-34.84, Z:-5.58 [[ 9.96539561e-01 7.96313800e-02 2.38274523e-02 3.56543076e+02] [-7.95534784e-02 9.96821747e-01 -4.20116019e-03 -3.48405569e+01] [-2.40862668e-02 2.29106562e-03 9.99707259e-01 -5.58371347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.57, Y:-34.85, Z:-5.58 [[ 9.96626624e-01 7.82141502e-02 2.48579770e-02 3.56569831e+02] [-7.81289683e-02 9.96933634e-01 -4.38117428e-03 -3.48464006e+01] [-2.51244232e-02 2.42426684e-03 9.99681392e-01 -5.58437344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.60, Y:-34.85, Z:-5.58 [[ 9.96730489e-01 7.62888554e-02 2.66147071e-02 3.56597154e+02] [-7.61905826e-02 9.97082249e-01 -4.68864528e-03 -3.48537750e+01] [-2.68947434e-02 2.64552566e-03 9.99634770e-01 -5.58427119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.62, Y:-34.86, Z:-5.58 [[ 9.96723903e-01 7.64589067e-02 2.63722810e-02 3.56624480e+02] [-7.63625209e-02 9.97069304e-01 -4.64423342e-03 -3.48603363e+01] [-2.66500849e-02 2.61516461e-03 9.99641403e-01 -5.58496929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.65, Y:-34.87, Z:-5.59 [[ 9.96709231e-01 7.70739975e-02 2.51059323e-02 3.56651724e+02] [-7.69868811e-02 9.97022310e-01 -4.41966836e-03 -3.48667047e+01] [-2.53718162e-02 2.47229682e-03 9.99675027e-01 -5.58575493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.68, Y:-34.87, Z:-5.59 [[ 9.96556585e-01 7.94595608e-02 2.36886315e-02 3.56677232e+02] [-7.93827067e-02 9.96835497e-01 -4.16873586e-03 -3.48745006e+01] [-2.39449147e-02 2.27391349e-03 9.99710693e-01 -5.58754767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.71, Y:-34.88, Z:-5.59 [[ 9.96560685e-01 7.94080279e-02 2.36889509e-02 3.56705293e+02] [-7.93312022e-02 9.96839605e-01 -4.16691997e-03 -3.48793187e+01] [-2.39449714e-02 2.27331566e-03 9.99710693e-01 -5.58830816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.73, Y:-34.89, Z:-5.59 [[ 9.96446248e-01 8.09003914e-02 2.34521124e-02 3.56731297e+02] [-8.08255319e-02 9.96719733e-01 -4.12408358e-03 -3.48856980e+01] [-2.37088232e-02 2.21389815e-03 9.99716455e-01 -5.58909426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.76, Y:-34.89, Z:-5.59 [[ 9.96316446e-01 8.26078478e-02 2.30104893e-02 3.56757034e+02] [-8.25362720e-02 9.96579853e-01 -4.04474915e-03 -3.48925985e+01] [-2.32659181e-02 2.13065010e-03 9.99727041e-01 -5.58968551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.78, Y:-34.90, Z:-5.59 [[ 9.96185292e-01 8.43503358e-02 2.23580889e-02 3.56784293e+02] [-8.42832339e-02 9.96434094e-01 -3.92844029e-03 -3.49000463e+01] [-2.26097273e-02 2.02904240e-03 9.99742308e-01 -5.59052413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.81, Y:-34.91, Z:-5.59 [[ 9.95911047e-01 8.75431389e-02 2.23021400e-02 3.56811410e+02] [-8.74771976e-02 9.96158820e-01 -3.91722514e-03 -3.49098854e+01] [-2.25593996e-02 1.95027909e-03 9.99743602e-01 -5.59214371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.84, Y:-34.92, Z:-5.59 [[ 9.95783515e-01 8.89290027e-02 2.25127374e-02 3.56838256e+02] [-8.88621958e-02 9.96036087e-01 -3.95270185e-03 -3.49169713e+01] [-2.27750087e-02 1.93550407e-03 9.99738742e-01 -5.59266279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.86, Y:-34.92, Z:-5.59 [[ 9.95673050e-01 9.01137776e-02 2.26866778e-02 3.56864338e+02] [-9.00462734e-02 9.95929623e-01 -3.98176205e-03 -3.49241400e+01] [-2.29531461e-02 1.92168237e-03 9.99734695e-01 -5.59404203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.89, Y:-34.93, Z:-5.60 [[ 9.95585333e-01 9.10302594e-02 2.28765386e-02 3.56891485e+02] [-9.09619024e-02 9.95846286e-01 -4.01327322e-03 -3.49316943e+01] [-2.31468453e-02 1.91466249e-03 9.99730242e-01 -5.59546641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.92, Y:-34.94, Z:-5.60 [[ 9.95608049e-01 9.11384763e-02 2.14100876e-02 3.56918263e+02] [-9.10786585e-02 9.95836623e-01 -3.75463634e-03 -3.49428743e+01] [-2.16631412e-02 1.78814411e-03 9.99763728e-01 -5.59606170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.255898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:356.94, Y:-34.95, Z:-5.60 [[ 9.95731324e-01 9.00435627e-02 2.02801956e-02 3.56943858e+02] [-8.99896931e-02 9.95936351e-01 -3.55523975e-03 -3.49506817e+01] [-2.05179105e-02 1.71505500e-03 9.99788014e-01 -5.59709753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.97, Y:-34.96, Z:-5.60 [[ 9.95826660e-01 8.91021141e-02 1.97503573e-02 3.56969416e+02] [-8.90508676e-02 9.96021067e-01 -3.46093205e-03 -3.49597043e+01] [-1.99801483e-02 1.68770195e-03 9.99798952e-01 -5.59812010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.99, Y:-34.97, Z:-5.60 [[ 9.95935548e-01 8.79033329e-02 1.96313231e-02 3.56994295e+02] [-8.78525099e-02 9.96127560e-01 -3.43812528e-03 -3.49724328e+01] [-1.98575247e-02 1.69949018e-03 9.99801375e-01 -5.59912927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.02, Y:-34.98, Z:-5.60 [[ 9.95919445e-01 8.79758374e-02 2.01174449e-02 3.57019874e+02] [-8.79225252e-02 9.96121093e-01 -3.52106256e-03 -3.49809686e+01] [-2.03491796e-02 1.73791811e-03 9.99791424e-01 -5.59980421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.05, Y:-34.99, Z:-5.60 [[ 9.95873789e-01 8.82907852e-02 2.09793837e-02 3.57046329e+02] [-8.82329117e-02 9.96093110e-01 -3.67021103e-03 -3.49894141e+01] [-2.12214653e-02 1.80399486e-03 9.99773172e-01 -5.60031761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.07, Y:-35.00, Z:-5.60 [[ 9.95714890e-01 8.96020398e-02 2.28764547e-02 3.57072492e+02] [-8.95336066e-02 9.95975768e-01 -4.00040348e-03 -3.49995529e+01] [-2.31428388e-02 1.93504982e-03 9.99730296e-01 -5.60019747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.10, Y:-35.01, Z:-5.60 [[ 9.95610729e-01 9.06014747e-02 2.34658971e-02 3.57100009e+02] [-9.05297839e-02 9.95885301e-01 -4.10181520e-03 -3.50064784e+01] [-2.37409725e-02 1.95944863e-03 9.99716223e-01 -5.60038854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.13, Y:-35.01, Z:-5.60 [[ 9.95475340e-01 9.18866524e-02 2.42010594e-02 3.57126623e+02] [-9.18108158e-02 9.95767489e-01 -4.22866376e-03 -3.50132004e+01] [-2.44871859e-02 1.98761149e-03 9.99698168e-01 -5.60086230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49589822699994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:357.15, Y:-35.02, Z:-5.60 [[ 9.95277580e-01 9.40807637e-02 2.39029057e-02 3.57152432e+02] [-9.40074695e-02 9.95562741e-01 -4.17423261e-03 -3.50208545e+01] [-2.41895573e-02 1.90746845e-03 9.99705570e-01 -5.60245597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.18, Y:-35.03, Z:-5.60 [[ 9.95231851e-01 9.47881541e-02 2.29949833e-02 3.57179795e+02] [-9.47205639e-02 9.95495810e-01 -4.01340490e-03 -3.50271111e+01] [-2.32718328e-02 1.81617060e-03 9.99727525e-01 -5.60408827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.21, Y:-35.03, Z:-5.60 [[ 9.95256709e-01 9.46817153e-02 2.23485207e-02 3.57206997e+02] [-9.46178724e-02 9.95506029e-01 -3.89941189e-03 -3.50326395e+01] [-2.26172901e-02 1.76634636e-03 9.99742636e-01 -5.60489952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.23, Y:-35.04, Z:-5.61 [[ 9.95387142e-01 9.33421829e-02 2.21737271e-02 3.57234164e+02] [-9.32790377e-02 9.95632494e-01 -3.86744391e-03 -3.50404433e+01] [-2.24378789e-02 1.78126001e-03 9.99746652e-01 -5.60514943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.26, Y:-35.05, Z:-5.60 [[ 9.95476030e-01 9.22785277e-02 2.26306671e-02 3.57260751e+02] [-9.22125159e-02 9.95731532e-01 -3.94555252e-03 -3.50472768e+01] [-2.28981586e-02 1.84087221e-03 9.99736108e-01 -5.60498959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.29, Y:-35.05, Z:-5.61 [[ 9.95515477e-01 9.16401806e-02 2.34736736e-02 3.57288191e+02] [-9.15690134e-02 9.95790328e-01 -4.09120175e-03 -3.50541360e+01] [-2.37497756e-02 1.92339353e-03 9.99716084e-01 -5.60516047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.32, Y:-35.06, Z:-5.61 [[ 9.95497929e-01 9.17353237e-02 2.38433375e-02 3.57315194e+02] [-9.16619625e-02 9.95781517e-01 -4.15403206e-03 -3.50606548e+01] [-2.41238263e-02 1.94980320e-03 9.99707077e-01 -5.60502083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.34, Y:-35.07, Z:-5.61 [[ 9.95328015e-01 9.36748297e-02 2.33916357e-02 3.57341856e+02] [-9.36047909e-02 9.95601099e-01 -4.07379022e-03 -3.50688249e+01] [-2.36703498e-02 1.86518836e-03 9.99718078e-01 -5.60512767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.37, Y:-35.08, Z:-5.61 [[ 9.95176471e-01 9.53586829e-02 2.30328850e-02 3.57368940e+02] [-9.52912536e-02 9.95441358e-01 -4.01006308e-03 -3.50751923e+01] [-2.33102806e-02 1.79588794e-03 9.99726665e-01 -5.60615880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.40, Y:-35.08, Z:-5.61 [[ 9.95006604e-01 9.71929883e-02 2.27020154e-02 3.57396050e+02] [-9.71279843e-02 9.95264056e-01 -3.95128071e-03 -3.50820458e+01] [-2.29785367e-02 1.72654941e-03 9.99734468e-01 -5.60713479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.42, Y:-35.09, Z:-5.61 [[ 9.94669962e-01 1.00503578e-01 2.30368603e-02 3.57422545e+02] [-1.00437560e-01 9.94935290e-01 -4.00804031e-03 -3.50926826e+01] [-2.33230077e-02 1.67291125e-03 9.99726582e-01 -5.60805008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.45, Y:-35.10, Z:-5.61 [[ 9.94524056e-01 1.01858514e-01 2.33825996e-02 3.57448715e+02] [-1.01790909e-01 9.94797504e-01 -4.06662136e-03 -3.51003119e+01] [-2.36751717e-02 1.66421671e-03 9.99718319e-01 -5.60811941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.48, Y:-35.11, Z:-5.61 [[ 9.94354046e-01 1.03399601e-01 2.38443623e-02 3.57475976e+02] [-1.03329801e-01 9.94638515e-01 -4.14437221e-03 -3.51078992e+01] [-2.41450476e-02 1.65714006e-03 9.99707092e-01 -5.60843388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.885898227 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:357.50, Y:-35.12, Z:-5.61 [[ 9.93975507e-01 1.07332246e-01 2.21919081e-02 3.57502613e+02] [-1.07272787e-01 9.94222148e-01 -3.85603432e-03 -3.51165889e+01] [-2.24775634e-02 1.45221584e-03 9.99746293e-01 -5.60757384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.53, Y:-35.12, Z:-5.61 [[ 9.93674630e-01 1.10282314e-01 2.11787770e-02 3.57529967e+02] [-1.10228860e-01 9.93899425e-01 -3.67853682e-03 -3.51232661e+01] [-2.14552518e-02 1.32075628e-03 9.99768937e-01 -5.60929802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.56, Y:-35.13, Z:-5.61 [[ 9.93372657e-01 1.13085165e-01 2.05550257e-02 3.57557296e+02] [-1.13035433e-01 9.93584547e-01 -3.56911413e-03 -3.51289544e+01] [-2.08267697e-02 1.22201415e-03 9.99782352e-01 -5.61027057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.59, Y:-35.13, Z:-5.61 [[ 9.93058897e-01 1.15783077e-01 2.06955536e-02 3.57585260e+02] [-1.15733278e-01 9.93273832e-01 -3.59207224e-03 -3.51341396e+01] [-2.09722530e-02 1.17197505e-03 9.99779371e-01 -5.61080437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.61, Y:-35.14, Z:-5.61 [[ 9.92536158e-01 1.20121586e-01 2.10423156e-02 3.57611283e+02] [-1.20071106e-01 9.92758582e-01 -3.65081466e-03 -3.51409346e+01] [-2.13284810e-02 1.09699146e-03 9.99771920e-01 -5.61230327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.64, Y:-35.15, Z:-5.61 [[ 9.92418655e-01 1.21118629e-01 2.08684239e-02 3.57637193e+02] [-1.21069235e-01 9.92637468e-01 -3.61895678e-03 -3.51473587e+01] [-2.11531025e-02 1.06499610e-03 9.99775681e-01 -5.61402670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.66, Y:-35.16, Z:-5.62 [[ 9.92341950e-01 1.21610411e-01 2.16416929e-02 3.57664075e+02] [-1.21612802e-01 9.92576879e-01 -1.21048643e-03 -3.51557229e+01] [-2.16282517e-02 -1.43069044e-03 9.99765058e-01 -5.61565592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.69, Y:-35.16, Z:-5.61 [[ 9.92360148e-01 1.21754647e-01 1.99284243e-02 3.57691408e+02] [-1.21659684e-01 9.92554249e-01 -5.91470521e-03 -3.51605216e+01] [-2.05001851e-02 3.44503194e-03 9.99783914e-01 -5.61492091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.72, Y:-35.17, Z:-5.62 [[ 9.92198386e-01 1.22995736e-01 2.03571034e-02 3.57718254e+02] [-1.22949212e-01 9.92406700e-01 -3.52620377e-03 -3.51708638e+01] [-2.06362338e-02 9.95803879e-04 9.99786554e-01 -5.61544157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.75, Y:-35.18, Z:-5.62 [[ 9.91985142e-01 1.24756770e-01 2.00306269e-02 3.57745218e+02] [-1.24712111e-01 9.92186908e-01 -3.46831792e-03 -3.51773196e+01] [-2.03068219e-02 9.42458082e-04 9.99793351e-01 -5.61534970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.77, Y:-35.18, Z:-5.62 [[ 9.91450815e-01 1.28756042e-01 2.11462462e-02 3.57771715e+02] [-1.28707210e-01 9.91675884e-01 -3.65994436e-03 -3.51842304e+01] [-2.14414623e-02 9.06980479e-04 9.99769694e-01 -5.61668599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.80, Y:-35.19, Z:-5.62 [[ 9.91264467e-01 1.30191510e-01 2.10933080e-02 3.57798745e+02] [-1.30143284e-01 9.91488482e-01 -3.64898624e-03 -3.51900978e+01] [-2.13888389e-02 8.71958028e-04 9.99770852e-01 -5.61685028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.82, Y:-35.20, Z:-5.62 [[ 9.91062431e-01 1.31635460e-01 2.16185992e-02 3.57824637e+02] [-1.31585176e-01 9.91297819e-01 -3.73845652e-03 -3.51958869e+01] [-2.19225837e-02 8.60356630e-04 9.99759301e-01 -5.61862989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.85, Y:-35.20, Z:-5.62 [[ 9.90926505e-01 1.32572847e-01 2.21156630e-02 3.57851599e+02] [-1.32520518e-01 9.91172895e-01 -3.82169374e-03 -3.52026028e+01] [-2.24270986e-02 8.56238502e-04 9.99748114e-01 -5.61938413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.88, Y:-35.21, Z:-5.62 [[ 9.90745544e-01 1.33668177e-01 2.35814678e-02 3.57877774e+02] [-1.33609032e-01 9.91025749e-01 -4.07322396e-03 -3.52135041e+01] [-2.39143022e-02 8.84831417e-04 9.99713621e-01 -5.62018613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.90, Y:-35.22, Z:-5.62 [[ 9.90711805e-01 1.34039332e-01 2.28817993e-02 3.57904010e+02] [-1.33983779e-01 9.90975649e-01 -3.95084820e-03 -3.52208758e+01] [-2.32048750e-02 8.48362010e-04 9.99730371e-01 -5.62066618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.93, Y:-35.23, Z:-5.62 [[ 9.90650732e-01 1.34673155e-01 2.17777229e-02 3.57930885e+02] [-1.34623026e-01 9.90889759e-01 -3.75848150e-03 -3.52274811e+01] [-2.20854892e-02 7.91559502e-04 9.99755772e-01 -5.62129358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.96, Y:-35.23, Z:-5.62 [[ 9.90539549e-01 1.35653433e-01 2.07255192e-02 3.57957239e+02] [-1.35608270e-01 9.90756081e-01 -3.57574312e-03 -3.52337080e+01] [-2.10189960e-02 7.31363179e-04 9.99778809e-01 -5.62203939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.98, Y:-35.24, Z:-5.62 [[ 9.90392948e-01 1.36824788e-01 2.00196300e-02 3.57983822e+02] [-1.36782937e-01 9.90595031e-01 -3.45159576e-03 -3.52430697e+01] [-2.03036099e-02 6.80092315e-04 9.99793629e-01 -5.62382804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.01, Y:-35.25, Z:-5.62 [[ 9.90434332e-01 1.36469001e-01 2.03972055e-02 3.58010281e+02] [-1.36425505e-01 9.90644095e-01 -3.51547107e-03 -3.52500914e+01] [-2.06861240e-02 6.99144170e-04 9.99785775e-01 -5.62378303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.04, Y:-35.26, Z:-5.62 [[ 9.90472665e-01 1.35969043e-01 2.18247408e-02 3.58036815e+02] [-1.35919180e-01 9.90712797e-01 -3.75895149e-03 -3.52559590e+01] [-2.21331511e-02 7.56737820e-04 9.99754745e-01 -5.62395815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.06, Y:-35.26, Z:-5.62 [[ 9.90326451e-01 1.36558876e-01 2.46006757e-02 3.58063761e+02] [-1.36495778e-01 9.90631604e-01 -4.23401700e-03 -3.52620753e+01] [-2.49483994e-02 8.35170670e-04 9.99688391e-01 -5.62328746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.09, Y:-35.27, Z:-5.62 [[ 9.90208970e-01 1.37396196e-01 2.46674077e-02 3.58090029e+02] [-1.37333056e-01 9.90515836e-01 -4.24382697e-03 -3.52675731e+01] [-2.50165436e-02 8.14625061e-04 9.99686705e-01 -5.62383245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.12, Y:-35.27, Z:-5.63 [[ 9.90177577e-01 1.37781637e-01 2.37610353e-02 3.58117245e+02] [-1.37723208e-01 9.90462328e-01 -4.08604485e-03 -3.52736652e+01] [-2.40973923e-02 7.73463983e-04 9.99709316e-01 -5.62543965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.15, Y:-35.28, Z:-5.63 [[ 9.90219813e-01 1.37742805e-01 2.21730022e-02 3.58145101e+02] [-1.37691948e-01 9.90467768e-01 -3.81158437e-03 -3.52795818e+01] [-2.24866624e-02 7.21262496e-04 9.99746883e-01 -5.62678473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.17, Y:-35.28, Z:-5.63 [[ 9.90365023e-01 1.37008600e-01 2.01435926e-02 3.58171573e+02] [-1.36966499e-01 9.90569632e-01 -3.46155760e-03 -3.52843935e+01] [-2.04278943e-02 6.69208205e-04 9.99791105e-01 -5.62859600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.20, Y:-35.29, Z:-5.63 [[ 9.90466535e-01 1.36334227e-01 1.97236541e-02 3.58199184e+02] [-1.36293763e-01 9.90662674e-01 -3.38774478e-03 -3.52890634e+01] [-2.00013535e-02 6.67236785e-04 9.99799730e-01 -5.62931796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.23, Y:-35.29, Z:-5.63 [[ 9.90604918e-01 1.35333947e-01 1.96626527e-02 3.58227152e+02] [-1.35293562e-01 9.90799806e-01 -3.37596807e-03 -3.52938072e+01] [-1.99386356e-02 6.84020244e-04 9.99800972e-01 -5.62997794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.25, Y:-35.30, Z:-5.63 [[ 9.90907195e-01 1.33047148e-01 2.00346333e-02 3.58254223e+02] [-1.33004781e-01 9.91109431e-01 -3.43848362e-03 -3.52968664e+01] [-2.03139945e-02 7.42516151e-04 9.99793374e-01 -5.63056381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.28, Y:-35.30, Z:-5.63 [[ 9.90952854e-01 1.32647516e-01 2.04224752e-02 3.58281638e+02] [-1.32603444e-01 9.91162980e-01 -3.50329463e-03 -3.53008065e+01] [-2.07067047e-02 7.63509265e-04 9.99785302e-01 -5.63176127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.31, Y:-35.30, Z:-5.63 [[ 9.90993710e-01 1.32276476e-01 2.08422978e-02 3.58308609e+02] [-1.32230519e-01 9.91212549e-01 -3.57396880e-03 -3.53046595e+01] [-2.11318991e-02 7.85792737e-04 9.99776388e-01 -5.63283788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.34, Y:-35.31, Z:-5.63 [[ 9.91038380e-01 1.31888040e-01 2.11772229e-02 3.58336219e+02] [-1.31840556e-01 9.91264293e-01 -3.62906559e-03 -3.53088221e+01] [-2.14708553e-02 8.04526440e-04 9.99769151e-01 -5.63358545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.36, Y:-35.31, Z:-5.63 [[ 9.91125567e-01 1.31003849e-01 2.25411241e-02 3.58363617e+02] [-1.30949861e-01 9.91381473e-01 -3.86110727e-03 -3.53108671e+01] [-2.28526728e-02 8.75085067e-04 9.99738461e-01 -5.63427619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.39, Y:-35.31, Z:-5.63 [[ 9.91145285e-01 1.30846529e-01 2.25878453e-02 3.58391485e+02] [-1.30792320e-01 9.91402246e-01 -3.86719834e-03 -3.53143441e+01] [-2.28996500e-02 8.78638706e-04 9.99737383e-01 -5.63418399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.42, Y:-35.32, Z:-5.63 [[ 9.91152763e-01 1.30789825e-01 2.25881182e-02 3.58419576e+02] [-1.30735637e-01 9.91409729e-01 -3.86560374e-03 -3.53190288e+01] [-2.28996617e-02 8.78331810e-04 9.99737383e-01 -5.63494637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.45, Y:-35.32, Z:-5.64 [[ 9.91231951e-01 1.30247093e-01 2.22466845e-02 3.58448409e+02] [-1.30194425e-01 9.91481179e-01 -3.80584125e-03 -3.53223182e+01] [-2.25528687e-02 8.76077155e-04 9.99745268e-01 -5.63586267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.48, Y:-35.33, Z:-5.64 [[ 9.91357171e-01 1.29339121e-01 2.19624958e-02 3.58475796e+02] [-1.29287590e-01 9.91600025e-01 -3.75624050e-03 -3.53253584e+01] [-2.22638402e-02 8.84297801e-04 9.99751739e-01 -5.63716412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.50, Y:-35.33, Z:-5.64 [[ 9.91784235e-01 1.26170872e-01 2.10936446e-02 3.58502465e+02] [-1.26122645e-01 9.92008100e-01 -3.60654979e-03 -3.53271076e+01] [-2.13801078e-02 9.16532967e-04 9.99770999e-01 -5.63710599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.53, Y:-35.33, Z:-5.64 [[ 9.92099108e-01 1.23625417e-01 2.13568923e-02 3.58531255e+02] [-1.23575431e-01 9.92328470e-01 -3.64969823e-03 -3.53311611e+01] [-2.16442477e-02 9.81675193e-04 9.99765254e-01 -5.63775819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.56, Y:-35.34, Z:-5.64 [[ 9.92438514e-01 1.20839606e-01 2.15310341e-02 3.58558620e+02] [-1.20788168e-01 9.92671490e-01 -3.67847034e-03 -3.53360356e+01] [-2.18177486e-02 1.04996147e-03 9.99761413e-01 -5.63831731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.59, Y:-35.34, Z:-5.64 [[ 9.93168440e-01 1.14732731e-01 2.12802632e-02 3.58586449e+02] [-1.14681115e-01 9.93395709e-01 -3.63430108e-03 -3.53439445e+01] [-2.15566954e-02 1.16902884e-03 9.99766944e-01 -5.63963334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.61, Y:-35.35, Z:-5.64 [[ 9.93465005e-01 1.12089929e-01 2.15204883e-02 3.58614985e+02] [-1.12036544e-01 9.93697294e-01 -3.67434377e-03 -3.53504389e+01] [-2.17967079e-02 1.23925083e-03 9.99761655e-01 -5.63971623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.64, Y:-35.36, Z:-5.64 [[ 9.93641446e-01 1.10431891e-01 2.19425279e-02 3.58643074e+02] [-1.10376010e-01 9.93882844e-01 -3.74539920e-03 -3.53565189e+01] [-2.22219136e-02 1.29965520e-03 9.99752218e-01 -5.64003498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.67, Y:-35.36, Z:-5.64 [[ 9.93693042e-01 1.09976941e-01 2.18908634e-02 3.58671171e+02] [-1.09921235e-01 9.93933281e-01 -3.73560434e-03 -3.53623416e+01] [-2.21688880e-02 1.30577331e-03 9.99753387e-01 -5.63973920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.70, Y:-35.37, Z:-5.64 [[ 9.93370075e-01 1.12754225e-01 2.24137915e-02 3.58699540e+02] [-1.12696553e-01 9.93622094e-01 -3.82381095e-03 -3.53693219e+01] [-2.27019893e-02 1.27250234e-03 9.99741467e-01 -5.63927088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.73, Y:-35.37, Z:-5.64 [[ 9.93147710e-01 1.14604257e-01 2.28799273e-02 3.58727890e+02] [-1.14544674e-01 9.93410434e-01 -3.90228694e-03 -3.53749533e+01] [-2.31763772e-02 1.25477353e-03 9.99730604e-01 -5.64017468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.76, Y:-35.38, Z:-5.64 [[ 9.92927613e-01 1.16473966e-01 2.29906542e-02 3.58755066e+02] [-1.16414328e-01 9.93193001e-01 -3.92012095e-03 -3.53808374e+01] [-2.32907489e-02 1.21595477e-03 9.99727994e-01 -5.64077933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.78, Y:-35.39, Z:-5.64 [[ 9.92783134e-01 1.17683415e-01 2.30708141e-02 3.58783628e+02] [-1.17623711e-01 9.93050450e-01 -3.93274755e-03 -3.53870304e+01] [-2.33733015e-02 1.19069066e-03 9.99726098e-01 -5.64118582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.81, Y:-35.39, Z:-5.64 [[ 9.92693945e-01 1.18676327e-01 2.17867167e-02 3.58810913e+02] [-1.18623344e-01 9.92932382e-01 -3.71297097e-03 -3.53941881e+01] [-2.20733783e-02 1.10143061e-03 9.99755747e-01 -5.64129126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.84, Y:-35.40, Z:-5.64 [[ 9.92795240e-01 1.18035076e-01 2.06235622e-02 3.58839303e+02] [-1.17987486e-01 9.93008866e-01 -3.51357129e-03 -3.53995208e+01] [-2.08941048e-02 1.05493458e-03 9.99781138e-01 -5.64281305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.87, Y:-35.40, Z:-5.64 [[ 9.92934730e-01 1.17036449e-01 1.95727183e-02 3.58867276e+02] [-1.16993409e-01 9.93127096e-01 -3.33371642e-03 -3.54040486e+01] [-1.98283632e-02 1.02028379e-03 9.99802878e-01 -5.64374185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.90, Y:-35.41, Z:-5.64 [[ 9.93110404e-01 1.15577395e-01 1.93285236e-02 3.58895495e+02] [-1.15535164e-01 9.93297938e-01 -3.29127261e-03 -3.54070170e+01] [-1.95793794e-02 1.03547293e-03 9.99807769e-01 -5.64450474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.92, Y:-35.41, Z:-5.65 [[ 9.93121752e-01 1.15448516e-01 1.95147678e-02 3.58923395e+02] [-1.15405458e-01 9.93312913e-01 -3.32213771e-03 -3.54106216e+01] [-1.97678067e-02 1.04717651e-03 9.99804049e-01 -5.64505697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.95, Y:-35.41, Z:-5.65 [[ 9.93129002e-01 1.15424040e-01 1.92892722e-02 3.58951699e+02] [-1.15381990e-01 9.93315771e-01 -3.28255261e-03 -3.54144980e+01] [-1.95392238e-02 1.03436357e-03 9.99808556e-01 -5.64590038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.98, Y:-35.42, Z:-5.65 [[ 9.93215755e-01 1.14709250e-01 1.90854071e-02 3.58979199e+02] [-1.14667968e-01 9.93398567e-01 -3.24708684e-03 -3.54177598e+01] [-1.93318870e-02 1.03657295e-03 9.99812584e-01 -5.64754210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.01, Y:-35.42, Z:-5.65 [[ 9.93273528e-01 1.14235667e-01 1.89185174e-02 3.59006616e+02] [-1.14195039e-01 9.93453139e-01 -3.21763833e-03 -3.54210154e+01] [-1.91622296e-02 1.03559414e-03 9.99815851e-01 -5.64838732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.03, Y:-35.42, Z:-5.65 [[ 9.93345939e-01 1.13619421e-01 1.88274708e-02 3.59034214e+02] [-1.13579093e-01 9.93523801e-01 -3.20107802e-03 -3.54248041e+01] [-1.90692449e-02 1.04137080e-03 9.99817623e-01 -5.64946379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.06, Y:-35.43, Z:-5.65 [[ 9.93475341e-01 1.12552716e-01 1.84019599e-02 3.59062523e+02] [-1.12514029e-01 9.93645214e-01 -3.12762917e-03 -3.54293922e+01] [-1.86370426e-02 1.03674380e-03 9.99825778e-01 -5.65069855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.09, Y:-35.44, Z:-5.65 [[ 9.93757132e-01 1.10242023e-01 1.71306305e-02 3.59089166e+02] [-1.10208165e-01 9.93904264e-01 -2.91095212e-03 -3.54356657e+01] [-1.73471159e-02 1.00484409e-03 9.99849023e-01 -5.65180988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.12, Y:-35.44, Z:-5.65 [[ 9.93895558e-01 1.08931726e-01 1.74785142e-02 3.59117169e+02] [-1.08896299e-01 9.94048682e-01 -2.96883028e-03 -3.54414163e+01] [-1.76978938e-02 1.04736172e-03 9.99842831e-01 -5.65253474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.14, Y:-35.45, Z:-5.65 [[ 9.94075333e-01 1.07224322e-01 1.78094537e-02 3.59144722e+02] [-1.07187282e-01 9.94234248e-01 -3.02426493e-03 -3.54470827e+01] [-1.80310436e-02 1.09740024e-03 9.99836825e-01 -5.65263443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.17, Y:-35.46, Z:-5.65 [[ 9.94414505e-01 1.04198702e-01 1.68054363e-02 3.59171084e+02] [-1.04165304e-01 9.94555906e-01 -2.85290944e-03 -3.54552108e+01] [-1.70112154e-02 1.08643114e-03 9.99854709e-01 -5.65425282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.20, Y:-35.46, Z:-5.66 [[ 9.94528382e-01 1.03138377e-01 1.66063987e-02 3.59198966e+02] [-1.03105640e-01 9.94666420e-01 -2.81791085e-03 -3.54627826e+01] [-1.68084619e-02 1.09027896e-03 9.99858133e-01 -5.65513981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.23, Y:-35.47, Z:-5.66 [[ 9.94594779e-01 1.02447108e-01 1.69060891e-02 3.59226081e+02] [-1.02413090e-01 9.94737821e-01 -2.86813593e-03 -3.54704075e+01] [-1.71109585e-02 1.12122820e-03 9.99852968e-01 -5.65583534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.25, Y:-35.48, Z:-5.66 [[ 9.94628668e-01 1.01907763e-01 1.81278689e-02 3.59253062e+02] [-1.01868586e-01 9.94793115e-01 -3.07401667e-03 -3.54800261e+01] [-1.83467453e-02 1.21084474e-03 9.99830951e-01 -5.65507227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.28, Y:-35.49, Z:-5.66 [[ 9.94566542e-01 1.02413647e-01 1.86772176e-02 3.59281674e+02] [-1.02372169e-01 9.94741130e-01 -3.16599556e-03 -3.54865858e+01] [-1.89032377e-02 1.23676597e-03 9.99820553e-01 -5.65575257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.31, Y:-35.49, Z:-5.66 [[ 9.94451206e-01 1.03615595e-01 1.81826374e-02 3.59309011e+02] [-1.03576498e-01 9.94616717e-01 -3.08147359e-03 -3.54928854e+01] [-1.84040439e-02 1.18108122e-03 9.99829934e-01 -5.65580697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.34, Y:-35.50, Z:-5.66 [[ 9.94319480e-01 1.05109356e-01 1.67569424e-02 3.59336824e+02] [-1.05076377e-01 9.94460102e-01 -2.83895604e-03 -3.54983735e+01] [-1.69625115e-02 1.06207050e-03 9.99855562e-01 -5.65643060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.37, Y:-35.50, Z:-5.66 [[ 9.94059394e-01 1.07823846e-01 1.48303568e-02 3.59365573e+02] [-1.07798324e-01 9.94169609e-01 -2.51202030e-03 -3.55039548e+01] [-1.50147458e-02 8.98409761e-04 9.99886869e-01 -5.65748818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.39, Y:-35.51, Z:-5.66 [[ 9.93962097e-01 1.08654314e-01 1.52836747e-02 3.59393976e+02] [-1.08627317e-01 9.94079176e-01 -2.58805459e-03 -3.55082853e+01] [-1.54743861e-02 9.12203579e-04 9.99879848e-01 -5.65786930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.42, Y:-35.51, Z:-5.66 [[ 9.93900454e-01 1.09134973e-01 1.58570347e-02 3.59422072e+02] [-1.09105988e-01 9.94026498e-01 -2.68423034e-03 -3.55125739e+01] [-1.60552561e-02 9.37760318e-04 9.99870666e-01 -5.65858400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.45, Y:-35.52, Z:-5.66 [[ 9.93972594e-01 1.08266205e-01 1.72311390e-02 3.59449725e+02] [-1.08231856e-01 9.94121401e-01 -2.91636522e-03 -3.55172318e+01] [-1.74455879e-02 1.03382893e-03 9.99847280e-01 -5.65962723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.48, Y:-35.52, Z:-5.66 [[ 9.94025274e-01 1.07681913e-01 1.78426318e-02 3.59478421e+02] [-1.07645011e-01 9.94184811e-01 -3.01866238e-03 -3.55219458e+01] [-1.80639289e-02 1.07995640e-03 9.99836251e-01 -5.65991122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.51, Y:-35.53, Z:-5.66 [[ 9.94053958e-01 1.07330133e-01 1.83567786e-02 3.59505719e+02] [-1.07291029e-01 9.94222810e-01 -3.10485380e-03 -3.55259225e+01] [-1.85839723e-02 1.11687455e-03 9.99826679e-01 -5.66027094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.53, Y:-35.53, Z:-5.66 [[ 9.94051534e-01 1.07321499e-01 1.85376155e-02 3.59533924e+02] [-1.07281640e-01 9.94223730e-01 -3.13425197e-03 -3.55297249e+01] [-1.87669098e-02 1.12686218e-03 9.99823251e-01 -5.66120609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.56, Y:-35.53, Z:-5.66 [[ 9.94167841e-01 1.06186666e-01 1.88333957e-02 3.59563007e+02] [-1.06164098e-01 9.94346196e-01 -2.19693834e-03 -3.55336646e+01] [-1.89602010e-02 1.84694974e-04 9.99820222e-01 -5.66248432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.59, Y:-35.54, Z:-5.66 [[ 9.94287072e-01 1.05203014e-01 1.80428321e-02 3.59590956e+02] [-1.05147551e-01 9.94448594e-01 -3.99819384e-03 -3.55357335e+01] [-1.83632910e-02 2.07819285e-03 9.99829221e-01 -5.66323423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.62, Y:-35.54, Z:-5.66 [[ 9.94757704e-01 1.00806643e-01 1.71793534e-02 3.59618913e+02] [-1.00771485e-01 9.94905365e-01 -2.90225772e-03 -3.55374873e+01] [-1.73843977e-02 1.15585428e-03 9.99848212e-01 -5.66497924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.65, Y:-35.54, Z:-5.67 [[ 9.95029074e-01 9.81746492e-02 1.66997353e-02 3.59647172e+02] [-9.81410769e-02 9.95168516e-01 -2.82011648e-03 -3.55415995e+01] [-1.68959147e-02 1.16716788e-03 9.99856573e-01 -5.66606987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.67, Y:-35.55, Z:-5.67 [[ 9.95216864e-01 9.61950729e-02 1.70265042e-02 3.59674662e+02] [-9.61598977e-02 9.95361749e-01 -2.87458511e-03 -3.55452932e+01] [-1.72240519e-02 1.22356867e-03 9.99850906e-01 -5.66670530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.70, Y:-35.55, Z:-5.67 [[ 9.95326881e-01 9.45916989e-02 1.94115870e-02 3.59703160e+02] [-9.45457003e-02 9.95515132e-01 -3.27591061e-03 -3.55464868e+01] [-1.96344025e-02 1.42531981e-03 9.99806211e-01 -5.66573267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.73, Y:-35.55, Z:-5.67 [[ 9.95341540e-01 9.42458396e-02 2.03209265e-02 3.59731510e+02] [-9.41953848e-02 9.95547828e-01 -3.42806728e-03 -3.55486905e+01] [-2.05535353e-02 1.49796028e-03 9.99787632e-01 -5.66646878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.76, Y:-35.55, Z:-5.67 [[ 9.95437902e-01 9.32258415e-02 2.03057900e-02 3.59759234e+02] [-9.31752673e-02 9.95643832e-01 -3.42471535e-03 -3.55504886e+01] [-2.05366065e-02 1.51709406e-03 9.99787951e-01 -5.66743425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.79, Y:-35.55, Z:-5.67 [[ 9.95592822e-01 9.17066043e-02 1.96171020e-02 3.59787947e+02] [-9.16591356e-02 9.95784949e-01 -3.30725332e-03 -3.55528468e+01] [-1.98377119e-02 1.49459105e-03 9.99802096e-01 -5.66865431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.82, Y:-35.55, Z:-5.67 [[ 9.95957079e-01 8.78856531e-02 1.85905482e-02 3.59816044e+02] [-8.78423736e-02 9.96129459e-01 -3.13354192e-03 -3.55529071e+01] [-1.87939861e-02 1.48783537e-03 9.99822270e-01 -5.66948999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.84, Y:-35.56, Z:-5.67 [[ 9.96056231e-01 8.67178686e-02 1.87615315e-02 3.59844548e+02] [-8.66736097e-02 9.96231747e-01 -3.16097684e-03 -3.55554258e+01] [-1.89649465e-02 1.52238102e-03 9.99818990e-01 -5.66945001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.87, Y:-35.56, Z:-5.67 [[ 9.96085854e-01 8.61858864e-02 1.96204939e-02 3.59872697e+02] [-8.61373961e-02 9.96277786e-01 -3.30482801e-03 -3.55582704e+01] [-1.98322918e-02 1.60183418e-03 9.99802038e-01 -5.67015176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.90, Y:-35.56, Z:-5.67 [[ 9.96091209e-01 8.59234586e-02 2.04807985e-02 3.59901756e+02] [-8.58705937e-02 9.96300331e-01 -3.44843983e-03 -3.55605194e+01] [-2.07013282e-02 1.67626228e-03 9.99784299e-01 -5.67067001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.93, Y:-35.56, Z:-5.67 [[ 9.96118180e-01 8.55357975e-02 2.07893716e-02 3.59930723e+02] [-8.54812631e-02 9.96333633e-01 -3.49945830e-03 -3.55646189e+01] [-2.10124791e-02 1.70877229e-03 9.99777753e-01 -5.67155081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.96, Y:-35.57, Z:-5.67 [[ 9.96162888e-01 8.49570043e-02 2.10192238e-02 3.59958859e+02] [-8.49011512e-02 9.96383101e-01 -3.53711038e-03 -3.55686155e+01] [-2.12437017e-02 1.73898180e-03 9.99772815e-01 -5.67201541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.99, Y:-35.57, Z:-5.67 [[ 9.96236496e-01 8.41633644e-02 2.07212937e-02 3.59988238e+02] [-8.41089292e-02 9.96450468e-01 -3.48621398e-03 -3.55736994e+01] [-2.09411543e-02 1.73024778e-03 9.99779213e-01 -5.67289291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.02, Y:-35.58, Z:-5.68 [[ 9.96497131e-01 8.16124413e-02 1.82449099e-02 3.60016593e+02] [-8.15698216e-02 9.96662904e-01 -3.06932385e-03 -3.55799533e+01] [-1.84345199e-02 1.57033836e-03 9.99828837e-01 -5.67541457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.05, Y:-35.59, Z:-5.68 [[ 9.96556536e-01 8.11757696e-02 1.68986720e-02 3.60045591e+02] [-8.11391565e-02 9.96698730e-01 -2.84222147e-03 -3.55857104e+01] [-1.70736044e-02 1.46129039e-03 9.99853168e-01 -5.67628766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.07, Y:-35.59, Z:-5.68 [[ 9.96504619e-01 8.19085374e-02 1.64175757e-02 3.60073842e+02] [-8.18740824e-02 9.96638857e-01 -2.76105212e-03 -3.55908447e+01] [-1.65885476e-02 1.40722724e-03 9.99861410e-01 -5.67690407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.10, Y:-35.60, Z:-5.68 [[ 9.96194949e-01 8.54263818e-02 1.72614483e-02 3.60102427e+02] [-8.54338568e-02 9.96343798e-01 -3.05251297e-04 -3.55955390e+01] [-1.72244135e-02 -1.17062231e-03 9.99850964e-01 -5.67764364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.13, Y:-35.60, Z:-5.68 [[ 9.95976989e-01 8.83017453e-02 1.52525153e-02 3.60131818e+02] [-8.82336172e-02 9.96086831e-01 -5.08462617e-03 -3.55970661e+01] [-1.56418110e-02 3.71838607e-03 9.99870745e-01 -5.67717536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.16, Y:-35.60, Z:-5.68 [[ 9.95757669e-01 9.07099205e-02 1.54393730e-02 3.60159119e+02] [-9.06805014e-02 9.95876652e-01 -2.59642526e-03 -3.56010383e+01] [-1.56112327e-02 1.18536028e-03 9.99877435e-01 -5.67834308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.19, Y:-35.61, Z:-5.68 [[ 9.95764508e-01 9.06348007e-02 1.54394836e-02 3.60188036e+02] [-9.06053828e-02 9.95883490e-01 -2.59576760e-03 -3.56058070e+01] [-1.56111937e-02 1.18587292e-03 9.99877435e-01 -5.67913182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.22, Y:-35.61, Z:-5.68 [[ 9.95528758e-01 9.31471530e-02 1.56875523e-02 3.60215559e+02] [-9.31171146e-02 9.95651673e-01 -2.63605536e-03 -3.56092001e+01] [-1.58648788e-02 1.16348931e-03 9.99873468e-01 -5.67987142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.24, Y:-35.61, Z:-5.68 [[ 9.95230130e-01 9.60351837e-02 1.71531938e-02 3.60244116e+02] [-9.59997198e-02 9.95377192e-01 -2.88097153e-03 -3.56132670e+01] [-1.73505725e-02 1.22052787e-03 9.99848723e-01 -5.68100034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.27, Y:-35.62, Z:-5.68 [[ 9.95253133e-01 9.56279001e-02 1.80695003e-02 3.60271584e+02] [-9.55884936e-02 9.95416312e-01 -3.03406207e-03 -3.56184156e+01] [-1.82768163e-02 1.29242347e-03 9.99832130e-01 -5.68156867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.30, Y:-35.62, Z:-5.68 [[ 9.95365290e-01 9.43713768e-02 1.84927606e-02 3.60300011e+02] [-9.43299090e-02 9.95536154e-01 -3.10393185e-03 -3.56245096e+01] [-1.87031341e-02 1.34512560e-03 9.99824176e-01 -5.68166310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.33, Y:-35.63, Z:-5.68 [[ 9.95792257e-01 8.99753658e-02 1.73843423e-02 3.60326312e+02] [-8.99380652e-02 9.95943088e-01 -2.91726147e-03 -3.56332878e+01] [-1.75762972e-02 1.34147227e-03 9.99844625e-01 -5.68168952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.35, Y:-35.64, Z:-5.68 [[ 9.96008448e-01 8.75633311e-02 1.73157519e-02 3.60353373e+02] [-8.75259796e-02 9.96158002e-01 -2.90474693e-03 -3.56414992e+01] [-1.75035741e-02 1.37757433e-03 9.99845852e-01 -5.68228221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.38, Y:-35.65, Z:-5.68 [[ 9.96159732e-01 8.55977234e-02 1.84069982e-02 3.60380711e+02] [-8.55552040e-02 9.96328651e-01 -3.08661029e-03 -3.56510171e+01] [-1.86036265e-02 1.49994240e-03 9.99825812e-01 -5.68328783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.41, Y:-35.66, Z:-5.68 [[ 9.96291779e-01 8.37366155e-02 1.97704197e-02 3.60408952e+02] [-8.36872216e-02 9.96486561e-01 -3.31409344e-03 -3.56597969e+01] [-1.99784685e-02 1.64727256e-03 9.99799053e-01 -5.68336706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.065898227 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:360.44, Y:-35.67, Z:-5.68 [[ 9.96481988e-01 8.12846426e-02 2.04072245e-02 3.60436746e+02] [-8.12315162e-02 9.96689391e-01 -3.42027007e-03 -3.56702824e+01] [-2.06176795e-02 1.75052774e-03 9.99785901e-01 -5.68195439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.46, Y:-35.68, Z:-5.68 [[ 9.96516356e-01 8.09332496e-02 2.01236651e-02 3.60464985e+02] [-8.08815232e-02 9.96718017e-01 -3.37251288e-03 -3.56780855e+01] [-2.03305680e-02 1.73313157e-03 9.99791810e-01 -5.68314681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.49, Y:-35.69, Z:-5.68 [[ 9.96554627e-01 8.07234012e-02 1.90422824e-02 3.60494199e+02] [-8.06770530e-02 9.96735186e-01 -3.19099803e-03 -3.56855503e+01] [-1.92377011e-02 1.64372862e-03 9.99813587e-01 -5.68432729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.52, Y:-35.69, Z:-5.69 [[ 9.96418107e-01 8.27660484e-02 1.73418003e-02 3.60522117e+02] [-8.27279182e-02 9.96567934e-01 -2.90593676e-03 -3.56949074e+01] [-1.75227950e-02 1.46087697e-03 9.99845397e-01 -5.68536287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.55, Y:-35.70, Z:-5.69 [[ 9.96205179e-01 8.53230528e-02 1.71818824e-02 3.60551488e+02] [-8.52859915e-02 9.96352351e-01 -2.87965096e-03 -3.57011309e+01] [-1.73649095e-02 1.40334933e-03 9.99848234e-01 -5.68559023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.58, Y:-35.71, Z:-5.69 [[ 9.95912051e-01 8.85230828e-02 1.79680324e-02 3.60581045e+02] [-8.84830771e-02 9.96073129e-01 -3.01097676e-03 -3.57064462e+01] [-1.81640152e-02 1.40880124e-03 9.99834028e-01 -5.68629697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.61, Y:-35.71, Z:-5.69 [[ 9.95124549e-01 9.65696885e-02 2.00356296e-02 3.60609577e+02] [-9.65215745e-02 9.95325231e-01 -3.35698202e-03 -3.57116171e+01] [-2.02661504e-02 1.40674470e-03 9.99793631e-01 -5.68641658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.64, Y:-35.72, Z:-5.69 [[ 9.94772413e-01 1.00074219e-01 2.03223426e-02 3.60638076e+02] [-1.00025459e-01 9.94979054e-01 -3.40435823e-03 -3.57167968e+01] [-2.05609937e-02 1.35381000e-03 9.99787684e-01 -5.68759972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.67, Y:-35.72, Z:-5.69 [[ 9.94503677e-01 1.02796771e-01 1.98811815e-02 3.60665433e+02] [-1.02750663e-01 9.94701571e-01 -3.32965171e-03 -3.57217542e+01] [-2.01181199e-02 1.26854630e-03 9.99796805e-01 -5.68850701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.69, Y:-35.73, Z:-5.69 [[ 9.94141799e-01 1.06408495e-01 1.89556277e-02 3.60693908e+02] [-1.06367257e-01 9.94321847e-01 -3.17348155e-03 -3.57274951e+01] [-1.91856801e-02 1.13863254e-03 9.99815290e-01 -5.68961467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.72, Y:-35.73, Z:-5.69 [[ 9.93996594e-01 1.07673860e-01 1.94193391e-02 3.60722346e+02] [-1.07630838e-01 9.94185616e-01 -3.25019151e-03 -3.57329589e+01] [-1.96563883e-02 1.14055955e-03 9.99806144e-01 -5.69012011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.75, Y:-35.74, Z:-5.69 [[ 9.93903023e-01 1.08382632e-01 2.02481268e-02 3.60749583e+02] [-1.08336024e-01 9.94108559e-01 -3.38799848e-03 -3.57387734e+01] [-2.04960364e-02 1.17374038e-03 9.99789245e-01 -5.68980602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.78, Y:-35.75, Z:-5.69 [[ 9.93740913e-01 1.09530383e-01 2.19566287e-02 3.60776723e+02] [-1.09475893e-01 9.93982668e-01 -3.67217912e-03 -3.57480203e+01] [-2.22267235e-02 1.24547311e-03 9.99752180e-01 -5.69024687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.81, Y:-35.76, Z:-5.69 [[ 9.93760479e-01 1.09401398e-01 2.17127747e-02 3.60805553e+02] [-1.09348112e-01 9.93996888e-01 -3.62997820e-03 -3.57552094e+01] [-2.19795552e-02 1.23307795e-03 9.99757660e-01 -5.69125972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.83, Y:-35.76, Z:-5.69 [[ 9.93801103e-01 1.09217048e-01 2.07606638e-02 3.60833629e+02] [-1.09168303e-01 9.94017222e-01 -3.47035849e-03 -3.57627215e+01] [-2.10154797e-02 1.18243966e-03 9.99778451e-01 -5.69290701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.86, Y:-35.77, Z:-5.69 [[ 9.93828549e-01 1.09141833e-01 1.98210905e-02 3.60861817e+02] [-1.09097395e-01 9.94025545e-01 -3.31282642e-03 -3.57711571e+01] [-2.00642382e-02 1.12995214e-03 9.99798054e-01 -5.69396472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.89, Y:-35.78, Z:-5.69 [[ 9.93755301e-01 1.09810265e-01 1.98016829e-02 3.60889869e+02] [-1.09766056e-01 9.93951942e-01 -3.30913353e-03 -3.57846144e+01] [-2.00452980e-02 1.11491636e-03 9.99798451e-01 -5.69435756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.92, Y:-35.79, Z:-5.69 [[ 9.93580063e-01 1.11280567e-01 2.03787462e-02 3.60918917e+02] [-1.11234062e-01 9.93788403e-01 -3.40508005e-03 -3.57935171e+01] [-2.06310809e-02 1.11640894e-03 9.99786533e-01 -5.69459139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.95, Y:-35.80, Z:-5.69 [[ 9.93273585e-01 1.13878137e-01 2.09607931e-02 3.60946459e+02] [-1.13829522e-01 9.93494125e-01 -3.50189331e-03 -3.58015126e+01] [-2.12232139e-02 1.09238106e-03 9.99774165e-01 -5.69418597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.98, Y:-35.81, Z:-5.69 [[ 9.92816745e-01 1.17737223e-01 2.12804645e-02 3.60975044e+02] [-1.17688015e-01 9.93044257e-01 -3.55448429e-03 -3.58088133e+01] [-2.15509382e-02 1.02449590e-03 9.99767227e-01 -5.69439982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.00, Y:-35.82, Z:-5.69 [[ 9.91646687e-01 1.27529806e-01 1.93131129e-02 3.61001898e+02] [-1.27491133e-01 9.91834465e-01 -3.22564860e-03 -3.58173874e+01] [-1.95667774e-02 7.36453101e-04 9.99808281e-01 -5.69448410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.03, Y:-35.82, Z:-5.70 [[ 9.91006884e-01 1.32571871e-01 1.81674156e-02 3.61029712e+02] [-1.32538511e-01 9.91173214e-01 -3.03351269e-03 -3.58228712e+01] [-1.84092142e-02 5.98349739e-04 9.99830357e-01 -5.69526912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.06, Y:-35.83, Z:-5.70 [[ 9.89630708e-01 1.42498867e-01 1.80314992e-02 3.61057105e+02] [-1.42467664e-01 9.89794880e-01 -3.00998432e-03 -3.58262078e+01] [-1.82764050e-02 4.09867343e-04 9.99832889e-01 -5.69534012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.09, Y:-35.83, Z:-5.70 [[ 9.88978414e-01 1.46849965e-01 1.88887199e-02 3.61085330e+02] [-1.46816534e-01 9.89158718e-01 -3.15214378e-03 -3.58300663e+01] [-1.91468342e-02 3.44225774e-04 9.99816623e-01 -5.69649640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.11, Y:-35.83, Z:-5.70 [[ 9.88431688e-01 1.50301977e-01 2.03006140e-02 3.61114236e+02] [-1.50264110e-01 9.88640090e-01 -3.38670753e-03 -3.58346847e+01] [-2.05790297e-02 2.97075342e-04 9.99788185e-01 -5.69752989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.815898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.14, Y:-35.84, Z:-5.70 [[ 9.88032280e-01 1.52779853e-01 2.12257180e-02 3.61142144e+02] [-1.52739050e-01 9.88260214e-01 -3.53996934e-03 -3.58390621e+01] [-2.15173686e-02 2.55607977e-04 9.99768442e-01 -5.69868352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.17, Y:-35.84, Z:-5.70 [[ 9.87460889e-01 1.56335643e-01 2.19125516e-02 3.61169923e+02] [-1.56293053e-01 9.87703970e-01 -3.65353555e-03 -3.58404196e+01] [-2.22142921e-02 1.82943865e-04 9.99753215e-01 -5.70032459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.20, Y:-35.84, Z:-5.70 [[ 9.87208431e-01 1.57937351e-01 2.18015298e-02 3.61198474e+02] [-1.57895615e-01 9.87449124e-01 -3.63353629e-03 -3.58422810e+01] [-2.21017726e-02 1.44691711e-04 9.99755716e-01 -5.70123187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.23, Y:-35.84, Z:-5.70 [[ 9.86988596e-01 1.59359506e-01 2.14023091e-02 3.61226226e+02] [-1.59319651e-01 9.87220612e-01 -3.56550637e-03 -3.58435208e+01] [-2.16969980e-02 1.09305714e-04 9.99764586e-01 -5.70166630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.25, Y:-35.84, Z:-5.70 [[ 9.86763254e-01 1.60793612e-01 2.10640644e-02 3.61253882e+02] [-1.60755366e-01 9.86988049e-01 -3.50768154e-03 -3.58447790e+01] [-2.13539926e-02 7.50898774e-05 9.99771975e-01 -5.70263009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.28, Y:-35.84, Z:-5.70 [[ 9.86555919e-01 1.62234224e-01 1.96844087e-02 3.61281719e+02] [-1.62201135e-01 9.86752276e-01 -3.27672611e-03 -3.58422777e+01] [-1.99552322e-02 3.98400962e-05 9.99800874e-01 -5.70308580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.31, Y:-35.84, Z:-5.70 [[ 9.86583499e-01 1.62116767e-01 1.92653640e-02 3.61308962e+02] [-1.62085074e-01 9.86771581e-01 -3.20567897e-03 -3.58439710e+01] [-1.95302080e-02 4.00420220e-05 9.99809266e-01 -5.70416400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.34, Y:-35.85, Z:-5.71 [[ 9.86719496e-01 1.61233726e-01 1.97058717e-02 3.61336419e+02] [-1.61200446e-01 9.86916249e-01 -3.27621360e-03 -3.58470150e+01] [-1.99762811e-02 5.61085127e-05 9.99800453e-01 -5.70554729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.36, Y:-35.85, Z:-5.71 [[ 9.87004711e-01 1.59392082e-01 2.03927597e-02 3.61363937e+02] [-1.59356080e-01 9.87215354e-01 -3.38891613e-03 -3.58511693e+01] [-2.06722119e-02 9.51659466e-05 9.99786302e-01 -5.70567160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.39, Y:-35.86, Z:-5.71 [[ 9.87757096e-01 1.54358492e-01 2.25693383e-02 3.61390622e+02] [-1.54313118e-01 9.88014882e-01 -3.74885405e-03 -3.58550894e+01] [-2.28775095e-02 2.20212227e-04 9.99738251e-01 -5.70743191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.42, Y:-35.86, Z:-5.71 [[ 9.88077420e-01 1.52307076e-01 2.24848026e-02 3.61417898e+02] [-1.52261555e-01 9.88333185e-01 -3.73290726e-03 -3.58591349e+01] [-2.27910248e-02 2.64830374e-04 9.99740216e-01 -5.70798388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.45, Y:-35.86, Z:-5.71 [[ 9.88335455e-01 1.50691683e-01 2.20237243e-02 3.61445949e+02] [-1.50647641e-01 9.88580766e-01 -3.65487848e-03 -3.58635881e+01] [-2.23229900e-02 2.94423870e-04 9.99750768e-01 -5.70861638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.47, Y:-35.87, Z:-5.71 [[ 9.88540034e-01 1.49360374e-01 2.19107376e-02 3.61472039e+02] [-1.49316489e-01 9.88782775e-01 -3.63469147e-03 -3.58681706e+01] [-2.22078388e-02 3.21403628e-04 9.99753324e-01 -5.70969602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.205898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.50, Y:-35.87, Z:-5.71 [[ 9.88729155e-01 1.48293362e-01 2.05848812e-02 3.61499235e+02] [-1.48254428e-01 9.88943363e-01 -3.41318931e-03 -3.58749636e+01] [-2.08634349e-02 3.22919994e-04 9.99782283e-01 -5.71005087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.53, Y:-35.88, Z:-5.71 [[ 9.88657200e-01 1.48891094e-01 1.97074548e-02 3.61525999e+02] [-1.48855552e-01 9.88853556e-01 -3.26648073e-03 -3.58809319e+01] [-1.99741367e-02 2.95865616e-04 9.99800453e-01 -5.71152096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.55, Y:-35.89, Z:-5.71 [[ 9.88452776e-01 1.50430245e-01 1.82168027e-02 3.61553362e+02] [-1.50400165e-01 9.88620596e-01 -3.01799103e-03 -3.58868350e+01] [-1.84635035e-02 2.43331479e-04 9.99829505e-01 -5.71210118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29589822699995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:361.58, Y:-35.89, Z:-5.71 [[ 9.88081082e-01 1.52973384e-01 1.71731936e-02 3.61580756e+02] [-1.52947054e-01 9.88230292e-01 -2.84401299e-03 -3.58928058e+01] [-1.74061284e-02 1.83526060e-04 9.99848485e-01 -5.71253095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.61, Y:-35.90, Z:-5.71 [[ 9.87166276e-01 1.58728841e-01 1.75470488e-02 3.61608196e+02] [-1.58702283e-01 9.87322211e-01 -2.90467225e-03 -3.59009869e+01] [-1.77856463e-02 8.26377826e-05 9.99841819e-01 -5.71361971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35589822699995 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:361.63, Y:-35.91, Z:-5.71 [[ 9.86824295e-01 1.60674252e-01 1.90156667e-02 3.61634320e+02] [-1.60643449e-01 9.87007489e-01 -3.14640968e-03 -3.59073528e+01] [-1.92741524e-02 5.02112377e-05 9.99814235e-01 -5.71214692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.66, Y:-35.91, Z:-5.71 [[ 9.86560156e-01 1.62081392e-01 2.07046044e-02 3.61661623e+02] [-1.62045224e-01 9.86777392e-01 -3.42395658e-03 -3.59144912e+01] [-2.09857951e-02 2.28568975e-05 9.99779774e-01 -5.71292506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.69, Y:-35.92, Z:-5.71 [[ 9.86256586e-01 1.63942234e-01 2.05156333e-02 3.61687648e+02] [-1.63907153e-01 9.86469941e-01 -3.39138588e-03 -3.59245012e+01] [-2.07940469e-02 -1.78823956e-05 9.99783780e-01 -5.71276100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.71, Y:-35.93, Z:-5.71 [[ 9.86048955e-01 1.65209748e-01 2.03272682e-02 3.61714586e+02] [-1.65175612e-01 9.86258454e-01 -3.35859940e-03 -3.59317524e+01] [-2.06028134e-02 -4.58255269e-05 9.99787738e-01 -5.71322326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.74, Y:-35.94, Z:-5.71 [[ 9.85647578e-01 1.67604869e-01 2.01856301e-02 3.61740556e+02] [-1.67571737e-01 9.85854248e-01 -3.33383425e-03 -3.59390416e+01] [-2.04588561e-02 -9.65554496e-05 9.99790691e-01 -5.71399614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.505898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.77, Y:-35.95, Z:-5.71 [[ 9.85028009e-01 1.71219161e-01 2.00952884e-02 3.61767550e+02] [-1.71187113e-01 9.85232952e-01 -3.31712878e-03 -3.59458841e+01] [-2.03664963e-02 -1.72589647e-04 9.99792567e-01 -5.71383880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.79, Y:-35.95, Z:-5.71 [[ 9.83112210e-01 1.81830913e-01 2.06857880e-02 3.61794477e+02] [-1.81799326e-01 9.83329729e-01 -3.41323732e-03 -3.59519473e+01] [-2.09615823e-02 -4.05067021e-04 9.99780200e-01 -5.71312904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.565898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.82, Y:-35.96, Z:-5.71 [[ 9.82059312e-01 1.87490312e-01 2.01715419e-02 3.61822582e+02] [-1.87461496e-01 9.82266318e-01 -3.32698740e-03 -3.59556484e+01] [-2.04376041e-02 -5.14088454e-04 9.99790998e-01 -5.71348815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.85, Y:-35.96, Z:-5.71 [[ 9.81119290e-01 1.92414619e-01 1.95333688e-02 3.61849783e+02] [-1.92388592e-01 9.81313536e-01 -3.22072171e-03 -3.59585292e+01] [-1.97880731e-02 -5.98085118e-04 9.99804018e-01 -5.71479466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.88, Y:-35.96, Z:-5.72 [[ 9.79906062e-01 1.98452609e-01 2.00167751e-02 3.61877465e+02] [-1.98426592e-01 9.80110205e-01 -3.29757243e-03 -3.59594804e+01] [-2.02730574e-02 -7.40549242e-04 9.99794206e-01 -5.71765315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.90, Y:-35.96, Z:-5.72 [[ 9.79725184e-01 1.99246209e-01 2.09645452e-02 3.61904623e+02] [-1.99217883e-01 9.79949140e-01 -3.45221697e-03 -3.59634735e+01] [-2.12320291e-02 -7.94288389e-04 9.99774260e-01 -5.71793054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.93, Y:-35.97, Z:-5.72 [[ 9.79887623e-01 1.98366053e-01 2.17061339e-02 3.61931920e+02] [-1.98335513e-01 9.80127676e-01 -3.57245700e-03 -3.59683776e+01] [-2.19834368e-02 -8.04490802e-04 9.99758011e-01 -5.71846729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.96, Y:-35.97, Z:-5.72 [[ 9.79899179e-01 1.98308929e-01 2.17063936e-02 3.61960046e+02] [-1.98278410e-01 9.80139236e-01 -3.57087820e-03 -3.59728761e+01] [-2.19834251e-02 -8.04808590e-04 9.99758011e-01 -5.71923374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.99, Y:-35.98, Z:-5.72 [[ 9.81076347e-01 1.92491991e-01 2.08814474e-02 3.61986707e+02] [-1.92462452e-01 9.81298329e-01 -3.43411160e-03 -3.59782217e+01] [-2.11519684e-02 -6.49768906e-04 9.99776061e-01 -5.72038714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.01, Y:-35.98, Z:-5.72 [[ 9.81784261e-01 1.88886320e-01 2.05334662e-02 3.62014104e+02] [-1.88857006e-01 9.81998798e-01 -3.37513849e-03 -3.59843173e+01] [-2.08013566e-02 -5.64231099e-04 9.99783469e-01 -5.72179376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.04, Y:-35.99, Z:-5.72 [[ 9.82436181e-01 1.85433522e-01 2.08220771e-02 3.62040303e+02] [-1.85402633e-01 9.82656684e-01 -3.42112514e-03 -3.59905349e+01] [-2.10953446e-02 -4.99430818e-04 9.99777344e-01 -5.72235364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.07, Y:-36.00, Z:-5.72 [[ 9.83137331e-01 1.81523702e-01 2.21389583e-02 3.62067143e+02] [-1.81487837e-01 9.83386470e-01 -3.63545210e-03 -3.59993466e+01] [-2.24310728e-02 -4.43802978e-04 9.99748293e-01 -5.72249494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.09, Y:-36.00, Z:-5.72 [[ 9.83066769e-01 1.81914606e-01 2.20636416e-02 3.62093195e+02] [-1.81879116e-01 9.83314228e-01 -3.62155665e-03 -3.60047445e+01] [-2.23543068e-02 -4.52683645e-04 9.99750009e-01 -5.72280442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.12, Y:-36.01, Z:-5.72 [[ 9.82730919e-01 1.83814475e-01 2.12645198e-02 3.62120673e+02] [-1.83781992e-01 9.82960838e-01 -3.48862521e-03 -3.60095782e+01] [-2.15434500e-02 -4.79655956e-04 9.99767798e-01 -5.72283980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.15, Y:-36.01, Z:-5.72 [[ 9.82216607e-01 1.86686653e-01 1.99657440e-02 3.62148638e+02] [-1.86658637e-01 9.82419377e-01 -3.27424235e-03 -3.60138053e+01] [-2.02259911e-02 -5.10763344e-04 9.99795303e-01 -5.72369918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.18, Y:-36.02, Z:-5.73 [[ 9.81094053e-01 1.92702165e-01 1.78978787e-02 3.62176196e+02] [-1.92680670e-01 9.81257128e-01 -2.93406519e-03 -3.60175137e+01] [-1.81278218e-02 -5.69981350e-04 9.99835515e-01 -5.72551619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.20, Y:-36.02, Z:-5.73 [[ 9.80757371e-01 1.94429768e-01 1.76647980e-02 3.62202736e+02] [-1.94409129e-01 9.80916261e-01 -2.89469552e-03 -3.60216024e+01] [-1.78905026e-02 -5.95204031e-04 9.99839775e-01 -5.72662470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.23, Y:-36.03, Z:-5.73 [[ 9.80618466e-01 1.95114404e-01 1.78267731e-02 3.62230447e+02] [-1.95093528e-01 9.80780297e-01 -2.91961131e-03 -3.60263096e+01] [-1.80538061e-02 -6.14863306e-04 9.99836828e-01 -5.72818433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.26, Y:-36.03, Z:-5.73 [[ 9.81180616e-01 1.92327473e-01 1.71680337e-02 3.62257239e+02] [-1.92307705e-01 9.81330651e-01 -2.81056664e-03 -3.60334931e+01] [-1.73880669e-02 -5.43871664e-04 9.99848668e-01 -5.72966249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.28, Y:-36.04, Z:-5.73 [[ 9.81805109e-01 1.89133561e-01 1.69476938e-02 3.62283488e+02] [-1.89113834e-01 9.81951253e-01 -2.77375402e-03 -3.60403665e+01] [-1.71664191e-02 -4.81757471e-04 9.99852530e-01 -5.73114314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.31, Y:-36.05, Z:-5.73 [[ 9.82457368e-01 1.85772850e-01 1.63085225e-02 3.62309164e+02] [-1.85754157e-01 9.82592632e-01 -2.66694331e-03 -3.60475562e+01] [-1.65200797e-02 -4.09217734e-04 9.99863450e-01 -5.73177417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.34, Y:-36.06, Z:-5.73 [[ 9.82987445e-01 1.83000496e-01 1.57003455e-02 3.62336093e+02] [-1.82982838e-01 9.83112758e-01 -2.56617667e-03 -3.60553365e+01] [-1.59048215e-02 -3.50374329e-04 9.99873449e-01 -5.73232570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.36, Y:-36.07, Z:-5.73 [[ 9.83529422e-01 1.80008287e-01 1.63368288e-02 3.62361247e+02] [-1.79988775e-01 9.83665043e-01 -2.66906537e-03 -3.60660135e+01] [-1.65504213e-02 -3.15341482e-04 9.99862983e-01 -5.73206757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.39, Y:-36.07, Z:-5.73 [[ 9.83308769e-01 1.81164084e-01 1.68356459e-02 3.62388565e+02] [-1.81143559e-01 9.83452823e-01 -2.74891900e-03 -3.60727056e+01] [-1.70550689e-02 -3.46632668e-04 9.99854492e-01 -5.73173452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.42, Y:-36.08, Z:-5.73 [[ 9.82656073e-01 1.84642671e-01 1.71501347e-02 3.62416324e+02] [-1.84621922e-01 9.82805632e-01 -2.79908135e-03 -3.60786794e+01] [-1.73720788e-02 -4.15756535e-04 9.99849008e-01 -5.73208372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.44, Y:-36.08, Z:-5.73 [[ 9.81714909e-01 1.89530731e-01 1.77183389e-02 3.62442681e+02] [-1.89509401e-01 9.81874652e-01 -2.89057638e-03 -3.60836127e+01] [-1.79450409e-02 -5.20069868e-04 9.99838840e-01 -5.73260826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.47, Y:-36.09, Z:-5.73 [[ 9.79291330e-01 2.01501856e-01 1.96339998e-02 3.62470117e+02] [-2.01478100e-01 9.79487789e-01 -3.20114988e-03 -3.60879949e+01] [-1.98763007e-02 -8.20962654e-04 9.99802110e-01 -5.73269059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.315898227 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:362.50, Y:-36.09, Z:-5.73 [[ 9.78042226e-01 2.07329592e-01 2.11623246e-02 3.62496706e+02] [-2.07303388e-01 9.78270623e-01 -3.44869109e-03 -3.60905986e+01] [-2.14174961e-02 -1.01405608e-03 9.99770105e-01 -5.73276368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.52, Y:-36.09, Z:-5.73 [[ 9.76007032e-01 2.16518046e-01 2.30262759e-02 3.62524749e+02] [-2.16489618e-01 9.76277717e-01 -3.75024190e-03 -3.60917106e+01] [-2.32920351e-02 -1.32468719e-03 9.99727826e-01 -5.73403535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.55, Y:-36.09, Z:-5.73 [[ 9.75479747e-01 2.18931733e-01 2.25424041e-02 3.62551986e+02] [-2.18905159e-01 9.75739238e-01 -3.67010678e-03 -3.60947327e+01] [-2.27990110e-02 -1.35453373e-03 9.99739151e-01 -5.73487575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.58, Y:-36.10, Z:-5.74 [[ 9.75204471e-01 2.20276994e-01 2.13139642e-02 3.62579254e+02] [-2.20253617e-01 9.75436477e-01 -3.46735552e-03 -3.60983980e+01] [-2.15541968e-02 -1.31309711e-03 9.99766819e-01 -5.73608231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.61, Y:-36.10, Z:-5.74 [[ 9.75129318e-01 2.20763752e-01 1.96514336e-02 3.62607446e+02] [-2.20744002e-01 9.75326547e-01 -3.19566775e-03 -3.61021627e+01] [-1.98720525e-02 -1.22174680e-03 9.99801785e-01 -5.73707934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.64, Y:-36.10, Z:-5.74 [[ 9.75262953e-01 2.20327633e-01 1.78299210e-02 3.62635933e+02] [-2.20311322e-01 9.75425303e-01 -2.89837097e-03 -3.61037908e+01] [-1.80303473e-02 -1.10145963e-03 9.99836833e-01 -5.73944734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.66, Y:-36.11, Z:-5.74 [[ 9.75533445e-01 2.19137843e-01 1.76947308e-02 3.62662628e+02] [-2.19121604e-01 9.75693320e-01 -2.87527220e-03 -3.61058059e+01] [-1.78947115e-02 -1.07237359e-03 9.99839302e-01 -5.74065756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.69, Y:-36.11, Z:-5.74 [[ 9.75812642e-01 2.17868920e-01 1.79672441e-02 3.62690474e+02] [-2.17851991e-01 9.75977456e-01 -2.91796536e-03 -3.61084616e+01] [-1.81713592e-02 -1.06681242e-03 9.99834318e-01 -5.74125614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.72, Y:-36.11, Z:-5.74 [[ 9.76149403e-01 2.16325526e-01 1.83196729e-02 3.62718685e+02] [-2.16307680e-01 9.76320718e-01 -2.97385994e-03 -3.61113278e+01] [-1.85291980e-02 -1.05975434e-03 9.99827758e-01 -5.74143088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.75, Y:-36.11, Z:-5.74 [[ 9.77134762e-01 2.11671871e-01 2.00668118e-02 3.62745373e+02] [-2.11649510e-01 9.77340209e-01 -3.25595248e-03 -3.61130657e+01] [-2.03012956e-02 -1.06562654e-03 9.99793340e-01 -5.74156505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.77, Y:-36.12, Z:-5.74 [[ 9.77632181e-01 2.09336970e-01 2.03310627e-02 3.62772985e+02] [-2.09313550e-01 9.77843018e-01 -3.29705536e-03 -3.61166391e+01] [-2.05707833e-02 -1.03225949e-03 9.99787866e-01 -5.74281182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.645898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.80, Y:-36.12, Z:-5.74 [[ 9.78124234e-01 2.07064178e-01 1.99351426e-02 3.62800539e+02] [-2.07041217e-01 9.78326884e-01 -3.23148056e-03 -3.61205240e+01] [-2.01722098e-02 -9.66606749e-04 9.99796053e-01 -5.74409350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.83, Y:-36.12, Z:-5.75 [[ 9.78399783e-01 2.05857108e-01 1.88869115e-02 3.62826913e+02] [-2.05836296e-01 9.78581654e-01 -3.06038937e-03 -3.61247825e+01] [-1.91123880e-02 -8.93327607e-04 9.99816943e-01 -5.74506577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.85, Y:-36.13, Z:-5.75 [[ 9.78421783e-01 2.05959983e-01 1.64711911e-02 3.62854602e+02] [-2.05944190e-01 9.78560102e-01 -2.66772274e-03 -3.61288675e+01] [-1.66674946e-02 -7.81988078e-04 9.99860782e-01 -5.74647146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.88, Y:-36.13, Z:-5.75 [[ 9.78163492e-01 2.07210423e-01 1.61252739e-02 3.62882252e+02] [-2.07195473e-01 9.78296080e-01 -2.61063264e-03 -3.61324881e+01] [-1.63162426e-02 -7.87458220e-04 9.99866571e-01 -5.74762889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.765898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:362.91, Y:-36.13, Z:-5.75 [[ 9.77826617e-01 2.08771291e-01 1.64211980e-02 3.62908932e+02] [-2.08756026e-01 9.77964140e-01 -2.65741293e-03 -3.61348348e+01] [-1.66141343e-02 -8.29534924e-04 9.99861632e-01 -5.74745845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.94, Y:-36.14, Z:-5.75 [[ 9.77044825e-01 2.12244139e-01 1.83258081e-02 3.62937254e+02] [-2.12225772e-01 9.77216168e-01 -2.96367957e-03 -3.61354895e+01] [-1.85372996e-02 -9.93560987e-04 9.99827676e-01 -5.74669091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.96, Y:-36.14, Z:-5.75 [[ 9.76752628e-01 2.13576819e-01 1.84186319e-02 3.62964805e+02] [-2.13558527e-01 9.76925735e-01 -2.97736381e-03 -3.61381879e+01] [-1.86295314e-02 -1.02530796e-03 9.99825930e-01 -5.74785473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.99, Y:-36.14, Z:-5.75 [[ 9.76642060e-01 2.14136656e-01 1.77701687e-02 3.62991553e+02] [-2.14119741e-01 9.76803200e-01 -2.87144132e-03 -3.61407608e+01] [-1.79728385e-02 -1.00057354e-03 9.99837975e-01 -5.74908512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.02, Y:-36.14, Z:-5.75 [[ 9.76634264e-01 2.14210327e-01 1.73046330e-02 3.63019136e+02] [-2.14194324e-01 9.76787071e-01 -2.79474712e-03 -3.61424203e+01] [-1.75016055e-02 -9.77108373e-04 9.99846358e-01 -5.75020382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.05, Y:-36.15, Z:-5.75 [[ 9.76774600e-01 2.13533831e-01 1.77393009e-02 3.63046951e+02] [-2.13516926e-01 9.76935168e-01 -2.86366727e-03 -3.61460435e+01] [-1.79416367e-02 -9.90483541e-04 9.99838545e-01 -5.75113246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.07, Y:-36.15, Z:-5.75 [[ 9.76918668e-01 2.12858783e-01 1.79179903e-02 3.63073952e+02] [-2.12841444e-01 9.77082474e-01 -2.89127403e-03 -3.61502540e+01] [-1.81227873e-02 -9.89151351e-04 9.99835280e-01 -5.75098494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.10, Y:-36.16, Z:-5.75 [[ 9.77331667e-01 2.10911779e-01 1.84128826e-02 3.63100551e+02] [-2.10893156e-01 9.77504608e-01 -2.96946418e-03 -3.61551474e+01] [-1.86249725e-02 -9.80999545e-04 9.99826059e-01 -5.75110196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.005898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:363.13, Y:-36.16, Z:-5.75 [[ 9.77544582e-01 2.09936186e-01 1.82589145e-02 3.63127937e+02] [-2.09917732e-01 9.77714623e-01 -2.94307023e-03 -3.61599821e+01] [-1.84698646e-02 -9.55887549e-04 9.99828961e-01 -5.75063488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.16, Y:-36.17, Z:-5.75 [[ 9.77674579e-01 2.09320615e-01 1.83656914e-02 3.63155231e+02] [-2.09301861e-01 9.77846601e-01 -2.95896593e-03 -3.61671859e+01] [-1.85782015e-02 -9.51067612e-04 9.99826958e-01 -5.75123340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.18, Y:-36.17, Z:-5.75 [[ 9.77494928e-01 2.10149257e-01 1.84649945e-02 3.63181910e+02] [-2.10130470e-01 9.77668831e-01 -2.97371883e-03 -3.61728849e+01] [-1.86775744e-02 -9.73262900e-04 9.99825085e-01 -5.75202865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.21, Y:-36.18, Z:-5.75 [[ 9.77288833e-01 2.11145939e-01 1.79980101e-02 3.63207872e+02] [-2.11128285e-01 9.77454068e-01 -2.89705458e-03 -3.61784219e+01] [-1.82039295e-02 -9.68629919e-04 9.99833826e-01 -5.75255166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.24, Y:-36.18, Z:-5.75 [[ 9.77029201e-01 2.12406353e-01 1.72476338e-02 3.63235167e+02] [-2.12390362e-01 9.77180963e-01 -2.77482884e-03 -3.61838201e+01] [-1.74434507e-02 -9.52142383e-04 9.99847398e-01 -5.75344761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.26, Y:-36.19, Z:-5.75 [[ 9.76737530e-01 2.13755732e-01 1.70963214e-02 3.63261484e+02] [-2.13740244e-01 9.76886661e-01 -2.74939258e-03 -3.61892829e+01] [-1.72888667e-02 -9.68736997e-04 9.99850067e-01 -5.75448643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:363.29, Y:-36.19, Z:-5.75 [[ 9.76858865e-01 2.13090154e-01 1.84212958e-02 3.63289255e+02] [-2.13072088e-01 9.77031995e-01 -2.96068479e-03 -3.61937834e+01] [-1.86290881e-02 -1.03289277e-03 9.99825930e-01 -5.75396621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.32, Y:-36.20, Z:-5.75 [[ 9.77113779e-01 2.11774628e-01 2.00042483e-02 3.63316323e+02] [-2.11753082e-01 9.77317914e-01 -3.21353408e-03 -3.61992611e+01] [-2.02310552e-02 -1.09597279e-03 9.99794731e-01 -5.75436700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.34, Y:-36.21, Z:-5.75 [[ 9.77689139e-01 2.09034819e-01 2.06976399e-02 3.63343002e+02] [-2.09011171e-01 9.77907606e-01 -3.32347512e-03 -3.62064702e+01] [-2.09351015e-02 -1.07671241e-03 9.99780257e-01 -5.75436971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.37, Y:-36.21, Z:-5.76 [[ 9.77829254e-01 2.08431217e-01 2.01587944e-02 3.63369419e+02] [-2.08408689e-01 9.78036477e-01 -3.23534934e-03 -3.62119814e+01] [-2.03903841e-02 -1.03764868e-03 9.99791556e-01 -5.75503686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.40, Y:-36.22, Z:-5.76 [[ 9.77890855e-01 2.08256398e-01 1.89406369e-02 3.63396925e+02] [-2.08236505e-01 9.78073784e-01 -3.03838350e-03 -3.62170495e+01] [-1.91581032e-02 -9.72924600e-04 9.99815993e-01 -5.75578039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.42, Y:-36.22, Z:-5.76 [[ 9.77938675e-01 2.08120554e-01 1.79382828e-02 3.63423952e+02] [-2.08102701e-01 9.78102750e-01 -2.87691770e-03 -3.62215812e+01] [-1.81442294e-02 -9.19556008e-04 9.99834957e-01 -5.75610379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.45, Y:-36.23, Z:-5.76 [[ 9.77957940e-01 2.08013425e-01 1.81296216e-02 3.63451220e+02] [-2.07995220e-01 9.78125529e-01 -2.90487785e-03 -3.62262409e+01] [-1.83372993e-02 -9.30026281e-04 9.99831425e-01 -5.75731294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.48, Y:-36.23, Z:-5.76 [[ 9.78160778e-01 2.06892437e-01 1.99251831e-02 3.63477909e+02] [-2.06870245e-01 9.78363183e-01 -3.19110061e-03 -3.62319750e+01] [-2.01542801e-02 -1.00051805e-03 9.99796381e-01 -5.75738170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.51, Y:-36.24, Z:-5.76 [[ 9.78308442e-01 2.06087483e-01 2.09890648e-02 3.63505129e+02] [-2.06062712e-01 9.78533020e-01 -3.35964330e-03 -3.62371356e+01] [-2.12308734e-02 -1.03829622e-03 9.99774060e-01 -5.75811736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.53, Y:-36.24, Z:-5.76 [[ 9.78523573e-01 2.05062565e-01 2.09990969e-02 3.63532464e+02] [-2.05037566e-01 9.78748337e-01 -3.35982618e-03 -3.62425288e+01] [-2.12418057e-02 -1.01793460e-03 9.99773849e-01 -5.75872364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.56, Y:-36.25, Z:-5.76 [[ 9.78821550e-01 2.03700830e-01 2.03554900e-02 3.63559511e+02] [-2.03677073e-01 9.79032712e-01 -3.25552908e-03 -3.62480046e+01] [-2.05918446e-02 -9.59364601e-04 9.99787505e-01 -5.75971535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.59, Y:-36.25, Z:-5.76 [[ 9.79122854e-01 2.02327823e-01 1.95419992e-02 3.63586760e+02] [-2.02305678e-01 9.79317442e-01 -3.12417643e-03 -3.62537733e+01] [-1.97699285e-02 -8.94504873e-04 9.99804156e-01 -5.76140252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.61, Y:-36.26, Z:-5.76 [[ 9.79584815e-01 2.00199316e-01 1.82708452e-02 3.63614292e+02] [-2.00179610e-01 9.79754866e-01 -2.91983749e-03 -3.62607104e+01] [-1.84854990e-02 -7.97222193e-04 9.99828811e-01 -5.76286827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.64, Y:-36.27, Z:-5.76 [[ 9.79778620e-01 1.99250504e-01 1.82508382e-02 3.63642162e+02] [-1.99230699e-01 9.79948279e-01 -2.91541699e-03 -3.62668233e+01] [-1.84657758e-02 -7.79664017e-04 9.99829189e-01 -5.76330491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.67, Y:-36.27, Z:-5.76 [[ 9.79789436e-01 1.99197289e-01 1.82510422e-02 3.63670311e+02] [-1.99177499e-01 9.79959097e-01 -2.91413950e-03 -3.62711852e+01] [-1.84657635e-02 -7.79953831e-04 9.99829189e-01 -5.76407135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.70, Y:-36.28, Z:-5.77 [[ 9.79937747e-01 1.98434136e-01 1.85985274e-02 3.63696946e+02] [-1.98413465e-01 9.80113914e-01 -2.96873316e-03 -3.62776406e+01] [-1.88177735e-02 -7.81024581e-04 9.99822625e-01 -5.76540260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.72, Y:-36.29, Z:-5.77 [[ 9.80099028e-01 1.97532730e-01 1.96650859e-02 3.63723099e+02] [-1.97509471e-01 9.80295958e-01 -3.13733283e-03 -3.62856089e+01] [-1.98973302e-02 -8.09143862e-04 9.99801701e-01 -5.76602141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.75, Y:-36.29, Z:-5.77 [[ 9.80101695e-01 1.97516590e-01 1.96942757e-02 3.63749658e+02] [-1.97493289e-01 9.80299209e-01 -3.14046020e-03 -3.62916311e+01] [-1.99265759e-02 -8.11516921e-04 9.99801117e-01 -5.76674300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.78, Y:-36.30, Z:-5.77 [[ 9.79917754e-01 1.98470741e-01 1.92499527e-02 3.63777166e+02] [-1.98448694e-01 9.80106475e-01 -3.06810244e-03 -3.62980549e+01] [-1.94759319e-02 -8.13639925e-04 9.99809995e-01 -5.76744912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.80, Y:-36.30, Z:-5.77 [[ 9.79641259e-01 1.99910102e-01 1.84107127e-02 3.63803958e+02] [-1.99890210e-01 9.79813911e-01 -2.93321440e-03 -3.63046181e+01] [-1.86254516e-02 -8.06623363e-04 9.99826206e-01 -5.76818988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.83, Y:-36.31, Z:-5.77 [[ 9.78990840e-01 2.03193514e-01 1.70097609e-02 3.63829725e+02] [-2.03177043e-01 9.79138269e-01 -2.70913318e-03 -3.63136362e+01] [-1.72053861e-02 -8.03776341e-04 9.99851653e-01 -5.76928217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.86, Y:-36.32, Z:-5.77 [[ 9.78742168e-01 2.04444811e-01 1.63121946e-02 3.63856340e+02] [-2.04429856e-01 9.78877771e-01 -2.59686900e-03 -3.63201711e+01] [-1.64985611e-02 -7.93034408e-04 9.99863575e-01 -5.76997045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.88, Y:-36.33, Z:-5.77 [[ 9.78599049e-01 2.05166165e-01 1.58349374e-02 3.63883541e+02] [-2.05152186e-01 9.78726842e-01 -2.51964335e-03 -3.63264411e+01] [-1.60150239e-02 -7.82851448e-04 9.99871445e-01 -5.77092588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.91, Y:-36.33, Z:-5.77 [[ 9.78451093e-01 2.05884947e-01 1.56476276e-02 3.63910567e+02] [-2.05871404e-01 9.78575889e-01 -2.48885887e-03 -3.63329277e+01] [-1.58248097e-02 -7.86172377e-04 9.99874471e-01 -5.77177078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.94, Y:-36.34, Z:-5.77 [[ 9.78107745e-01 2.07555998e-01 1.50248902e-02 3.63937567e+02] [-2.07543721e-01 9.78222826e-01 -2.38898507e-03 -3.63434926e+01] [-1.51935388e-02 -7.81636830e-04 9.99884266e-01 -5.77204076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.96, Y:-36.35, Z:-5.77 [[ 9.77878303e-01 2.08601736e-01 1.54706384e-02 3.63964442e+02] [-2.08588868e-01 9.78000327e-01 -2.45870974e-03 -3.63513130e+01] [-1.56431805e-02 -8.22684032e-04 9.99877300e-01 -5.77275834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.99, Y:-36.36, Z:-5.77 [[ 9.77574796e-01 2.09937831e-01 1.65416056e-02 3.63991355e+02] [-2.09923332e-01 9.77714319e-01 -2.62763918e-03 -3.63585027e+01] [-1.67246055e-02 -9.03755119e-04 9.99859726e-01 -5.77330599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.02, Y:-36.36, Z:-5.77 [[ 9.77163038e-01 2.11751554e-01 1.77108952e-02 3.64017904e+02] [-2.11735253e-01 9.77323015e-01 -2.81208594e-03 -3.63646623e+01] [-1.79047290e-02 -1.00215442e-03 9.99839195e-01 -5.77302104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.04, Y:-36.37, Z:-5.77 [[ 9.76612395e-01 2.14119041e-01 1.95260440e-02 3.64044463e+02] [-2.14099734e-01 9.76806892e-01 -3.09844215e-03 -3.63698783e+01] [-1.97366098e-02 -1.15454383e-03 9.99804548e-01 -5.77355927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.07, Y:-36.37, Z:-5.77 [[ 9.75958624e-01 2.16999601e-01 2.03945348e-02 3.64071848e+02] [-2.16979203e-01 9.76170868e-01 -3.23439762e-03 -3.63749179e+01] [-2.06104137e-02 -1.26855166e-03 9.99786778e-01 -5.77350144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.10, Y:-36.38, Z:-5.77 [[ 9.74633228e-01 2.22887250e-01 2.02816361e-02 3.64099388e+02] [-2.22868372e-01 9.74843245e-01 -3.21515023e-03 -3.63811786e+01] [-2.04880319e-02 -1.38654297e-03 9.99789137e-01 -5.77366737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.13, Y:-36.39, Z:-5.77 [[ 9.74182593e-01 2.24870323e-01 2.00402758e-02 3.64126256e+02] [-2.24852334e-01 9.74387676e-01 -3.17570002e-03 -3.63859770e+01] [-2.02411184e-02 -1.41239111e-03 9.99794130e-01 -5.77442619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.15, Y:-36.39, Z:-5.78 [[ 9.73933923e-01 2.25958934e-01 1.98815155e-02 3.64152524e+02] [-2.25941494e-01 9.74135785e-01 -3.14855223e-03 -3.63903659e+01] [-2.00787392e-02 -1.42557751e-03 9.99797385e-01 -5.77577671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.18, Y:-36.40, Z:-5.78 [[ 9.73769798e-01 2.26639881e-01 2.01679240e-02 3.64179968e+02] [-2.26622125e-01 9.73977528e-01 -3.19168050e-03 -3.63957806e+01] [-2.03664668e-02 -1.46253572e-03 9.99791512e-01 -5.77684762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.21, Y:-36.40, Z:-5.78 [[ 9.73693872e-01 2.26862463e-01 2.12994556e-02 3.64207226e+02] [-2.26842746e-01 9.73925571e-01 -3.36918857e-03 -3.64002444e+01] [-2.15084268e-02 -1.55106874e-03 9.99767464e-01 -5.77765328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.23, Y:-36.40, Z:-5.78 [[ 9.73646805e-01 2.26973806e-01 2.22438739e-02 3.64234665e+02] [-2.26952368e-01 9.73899509e-01 -3.51692800e-03 -3.64045317e+01] [-2.24615484e-02 -1.62405417e-03 9.99746388e-01 -5.77800662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.26, Y:-36.41, Z:-5.78 [[ 9.73729338e-01 2.26703322e-01 2.13724231e-02 3.64262676e+02] [-2.26683498e-01 9.73962619e-01 -3.37765259e-03 -3.64087045e+01] [-2.15816663e-02 -1.55585622e-03 9.99765878e-01 -5.77831527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.29, Y:-36.41, Z:-5.78 [[ 9.73813691e-01 2.26454356e-01 2.01325717e-02 3.64290438e+02] [-2.26436733e-01 9.74020682e-01 -3.18069852e-03 -3.64122352e+01] [-2.03298242e-02 -1.46134599e-03 9.99792260e-01 -5.77952441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.325898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:364.32, Y:-36.42, Z:-5.78 [[ 9.73890077e-01 2.26196040e-01 1.93253342e-02 3.64318386e+02] [-2.26179777e-01 9.74080795e-01 -3.05189208e-03 -3.64151998e+01] [-1.95147628e-02 -1.39879235e-03 9.99808590e-01 -5.78002883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.35, Y:-36.42, Z:-5.78 [[ 9.73881488e-01 2.26222518e-01 1.94478666e-02 3.64346259e+02] [-2.26206079e-01 9.74074631e-01 -3.06987532e-03 -3.64198273e+01] [-1.96381484e-02 -1.40953090e-03 9.99806159e-01 -5.78133183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.37, Y:-36.42, Z:-5.78 [[ 9.74068706e-01 2.25354562e-01 2.01364633e-02 3.64374093e+02] [-2.25336784e-01 9.74275751e-01 -3.17710699e-03 -3.64246747e+01] [-2.03344435e-02 -1.44276538e-03 9.99792193e-01 -5.78122364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.40, Y:-36.43, Z:-5.78 [[ 9.74784235e-01 2.22223351e-01 2.03095518e-02 3.64401216e+02] [-2.22204620e-01 9.74994794e-01 -3.20291107e-03 -3.64314217e+01] [-2.05134689e-02 -1.39072902e-03 9.99788609e-01 -5.78169247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.43, Y:-36.44, Z:-5.78 [[ 9.75137504e-01 2.20738424e-01 1.95293603e-02 3.64428988e+02] [-2.20720831e-01 9.75332167e-01 -3.07872460e-03 -3.64376175e+01] [-1.97272061e-02 -1.30835682e-03 9.99804544e-01 -5.78240245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:364.46, Y:-36.44, Z:-5.78 [[ 9.75440794e-01 2.19433506e-01 1.90838813e-02 3.64457039e+02] [-2.19416474e-01 9.75626653e-01 -3.00764616e-03 -3.64442359e+01] [-1.92787216e-02 -1.25353718e-03 9.99813362e-01 -5.78375699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.49, Y:-36.45, Z:-5.78 [[ 9.75667979e-01 2.18431511e-01 1.89649377e-02 3.64485093e+02] [-2.18414519e-01 9.75851510e-01 -2.98804867e-03 -3.64511937e+01] [-1.91596471e-02 -1.22687433e-03 9.99815684e-01 -5.78485718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.51, Y:-36.46, Z:-5.79 [[ 9.75840999e-01 2.17614602e-01 1.94481177e-02 3.64512585e+02] [-2.17596587e-01 9.76033986e-01 -3.06334927e-03 -3.64586554e+01] [-1.96486534e-02 -1.24250223e-03 9.99806175e-01 -5.78567108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.54, Y:-36.47, Z:-5.79 [[ 9.76298303e-01 2.15513533e-01 1.98881950e-02 3.64539406e+02] [-2.15494288e-01 9.76500080e-01 -3.13126484e-03 -3.64708291e+01] [-2.00956540e-02 -1.22874388e-03 9.99797307e-01 -5.78597336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.57, Y:-36.48, Z:-5.79 [[ 9.76502961e-01 2.14605954e-01 1.96532829e-02 3.64567082e+02] [-2.14586994e-01 9.76699981e-01 -3.09341735e-03 -3.64789598e+01] [-1.98592268e-02 -1.19660772e-03 9.99802070e-01 -5.78640259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.59, Y:-36.49, Z:-5.79 [[ 9.76599331e-01 2.14219072e-01 1.90770981e-02 3.64593639e+02] [-2.14201149e-01 9.76784959e-01 -3.00195850e-03 -3.64868425e+01] [-1.92772992e-02 -1.15462567e-03 9.99813509e-01 -5.78683738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.62, Y:-36.49, Z:-5.79 [[ 9.76511856e-01 2.14658407e-01 1.86108361e-02 3.64622172e+02] [-2.14641450e-01 9.76688526e-01 -2.92745702e-03 -3.64941015e+01] [-1.88053933e-02 -1.13596036e-03 9.99822518e-01 -5.78775023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.65, Y:-36.50, Z:-5.79 [[ 9.75836218e-01 2.17718256e-01 1.85050265e-02 3.64648976e+02] [-2.17702053e-01 9.76010936e-01 -2.91005400e-03 -3.65036021e+01] [-1.86946801e-02 -1.18884617e-03 9.99824532e-01 -5.78862413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.68, Y:-36.51, Z:-5.79 [[ 9.75468157e-01 2.19360940e-01 1.85108569e-02 3.64678229e+02] [-2.19345046e-01 9.75643011e-01 -2.90963964e-03 -3.65100038e+01] [-1.86982494e-02 -1.22200393e-03 9.99824426e-01 -5.78923475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74589822699994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:364.71, Y:-36.52, Z:-5.79 [[ 9.75228463e-01 2.20475508e-01 1.78884370e-02 3.64707724e+02] [-2.20460859e-01 9.75391770e-01 -2.81140503e-03 -3.65152085e+01] [-1.80680802e-02 -1.20193798e-03 9.99836036e-01 -5.78930966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:364.74, Y:-36.52, Z:-5.79 [[ 9.75369981e-01 2.19929341e-01 1.68666990e-02 3.64735869e+02] [-2.19916240e-01 9.75515157e-01 -2.65057515e-03 -3.65217442e+01] [-1.70366598e-02 -1.12396959e-03 9.99854234e-01 -5.79117887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80589822699994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:364.77, Y:-36.53, Z:-5.79 [[ 9.76008303e-01 2.17040066e-01 1.73609518e-02 3.64765557e+02] [-2.17025748e-01 9.76162070e-01 -2.72728406e-03 -3.65280875e+01] [-1.75390326e-02 -1.10592168e-03 9.99845568e-01 -5.79136373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.80, Y:-36.54, Z:-5.79 [[ 9.76859141e-01 2.13099257e-01 1.83009929e-02 3.64795306e+02] [-2.13082665e-01 9.77029946e-01 -2.87448947e-03 -3.65364767e+01] [-1.84931696e-02 -1.09165302e-03 9.99828391e-01 -5.79205083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.83, Y:-36.54, Z:-5.79 [[ 9.77913674e-01 2.08085881e-01 1.96242877e-02 3.64825722e+02] [-2.08065767e-01 9.78109977e-01 -3.08378413e-03 -3.65445491e+01] [-1.98364035e-02 -1.06746780e-03 9.99802669e-01 -5.79312612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.86, Y:-36.55, Z:-5.79 [[ 9.78939669e-01 2.03079872e-01 2.08732009e-02 3.64857319e+02] [-2.03055989e-01 9.79161636e-01 -3.27969569e-03 -3.65517459e+01] [-2.11042778e-02 -1.02780425e-03 9.99776752e-01 -5.79372336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.89, Y:-36.56, Z:-5.79 [[ 9.80404697e-01 1.95783473e-01 2.18050781e-02 3.64889765e+02] [-1.95755517e-01 9.80646731e-01 -3.43013748e-03 -3.65587586e+01] [-2.20546428e-02 -9.05541450e-04 9.99756357e-01 -5.79428437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.92, Y:-36.56, Z:-5.79 [[ 9.80792939e-01 1.93924169e-01 2.09434335e-02 3.64921172e+02] [-1.93897870e-01 9.81016175e-01 -3.29860564e-03 -3.65646854e+01] [-2.11855264e-02 -8.25638029e-04 9.99775221e-01 -5.79485087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.95, Y:-36.57, Z:-5.80 [[ 9.81042629e-01 1.92728838e-01 2.02720137e-02 3.64953244e+02] [-1.92703870e-01 9.81251752e-01 -3.19646235e-03 -3.65703200e+01] [-2.05079994e-02 -7.70629671e-04 9.99789392e-01 -5.79583676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.98, Y:-36.58, Z:-5.80 [[ 9.81174993e-01 1.92017017e-01 2.06178991e-02 3.64984509e+02] [-1.91990949e-01 9.81391298e-01 -3.25498509e-03 -3.65752283e+01] [-2.08592393e-02 -7.64740056e-04 9.99782130e-01 -5.79652457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.02, Y:-36.58, Z:-5.80 [[ 9.81176378e-01 1.91901316e-01 2.16055664e-02 3.65017321e+02] [-1.91872578e-01 9.81413905e-01 -3.41479284e-03 -3.65774115e+01] [-2.18593065e-02 -7.95001653e-04 9.99760741e-01 -5.79673705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.05, Y:-36.58, Z:-5.80 [[ 9.81155863e-01 1.92076801e-01 2.09684297e-02 3.65049694e+02] [-1.92049691e-01 9.81379594e-01 -3.31796780e-03 -3.65800382e+01] [-2.12152937e-02 -7.71536899e-04 9.99774633e-01 -5.79730776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.08, Y:-36.58, Z:-5.80 [[ 9.81249414e-01 1.91727848e-01 1.97488998e-02 3.65080978e+02] [-1.91703644e-01 9.81447870e-01 -3.12922815e-03 -3.65829586e+01] [-1.99824759e-02 -7.15382786e-04 9.99800074e-01 -5.79919065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.11, Y:-36.59, Z:-5.80 [[ 9.81509507e-01 1.90504313e-01 1.86331444e-02 3.65112943e+02] [-1.90482561e-01 9.81686142e-01 -2.95169630e-03 -3.65862104e+01] [-1.88542105e-02 -6.52171090e-04 9.99822031e-01 -5.80064988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.14, Y:-36.59, Z:-5.80 [[ 9.82525358e-01 1.85063810e-01 1.98823111e-02 3.65144024e+02] [-1.85037856e-01 9.82726335e-01 -3.15325318e-03 -3.65868308e+01] [-2.01224237e-02 -5.80828993e-04 9.99797355e-01 -5.80073562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.18, Y:-36.59, Z:-5.80 [[ 9.83143685e-01 1.81625609e-01 2.09912656e-02 3.65176141e+02] [-1.81595824e-01 9.83367607e-01 -3.33250673e-03 -3.65898892e+01] [-2.12473992e-02 -5.35593218e-04 9.99774105e-01 -5.80137634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.21, Y:-36.59, Z:-5.80 [[ 9.83800461e-01 1.78052273e-01 2.08336320e-02 3.65209277e+02] [-1.78022064e-01 9.84020927e-01 -3.31070440e-03 -3.65939143e+01] [-2.10902083e-02 -4.51773647e-04 9.99777475e-01 -5.80201903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.24, Y:-36.60, Z:-5.80 [[ 9.85152100e-01 1.70553828e-01 1.96655024e-02 3.65241464e+02] [-1.70525347e-01 9.85348323e-01 -3.12856620e-03 -3.65974496e+01] [-1.99109587e-02 -2.71353048e-04 9.99801720e-01 -5.80327056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.27, Y:-36.60, Z:-5.80 [[ 9.85707202e-01 1.67300622e-01 1.97942769e-02 3.65274115e+02] [-1.67271034e-01 9.85905909e-01 -3.15289283e-03 -3.66011565e+01] [-2.00427755e-02 -2.03179991e-04 9.99799103e-01 -5.80355563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.31, Y:-36.60, Z:-5.80 [[ 9.86145751e-01 1.64623856e-01 2.03849117e-02 3.65306379e+02] [-1.64591818e-01 9.86356408e-01 -3.25108978e-03 -3.66039795e+01] [-2.06419952e-02 -1.49141310e-04 9.99786920e-01 -5.80381235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.34, Y:-36.61, Z:-5.80 [[ 9.86486691e-01 1.62427774e-01 2.14762075e-02 3.65339425e+02] [-1.62391606e-01 9.86720430e-01 -3.42915186e-03 -3.66074831e+01] [-2.17480022e-02 -1.04743155e-04 9.99763479e-01 -5.80458909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.37, Y:-36.61, Z:-5.81 [[ 9.87170318e-01 1.58115285e-01 2.22332938e-02 3.65372101e+02] [-1.58075327e-01 9.87420658e-01 -3.55446463e-03 -3.66105952e+01] [-2.25156288e-02 -5.67321396e-06 9.99746491e-01 -5.80581897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.40, Y:-36.62, Z:-5.81 [[ 9.87544328e-01 1.55671858e-01 2.28576492e-02 3.65403417e+02] [-1.55682123e-01 9.87806296e-01 -1.34066317e-03 -3.66168185e+01] [-2.27876334e-02 -2.23456305e-03 9.99737831e-01 -5.80650886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43589822699994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:365.44, Y:-36.62, Z:-5.81 [[ 9.88022390e-01 1.52836608e-01 2.12774287e-02 3.65435300e+02] [-1.52749748e-01 9.88248699e-01 -5.65896451e-03 -3.66201213e+01] [-2.18922881e-02 2.34106178e-03 9.99757594e-01 -5.80697764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.47, Y:-36.63, Z:-5.81 [[ 9.88984021e-01 1.46481636e-01 2.13011181e-02 3.65466409e+02] [-1.46442065e-01 9.89213356e-01 -3.41426616e-03 -3.66281411e+01] [-2.15714778e-02 2.57274943e-04 9.99767275e-01 -5.80835011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.50, Y:-36.63, Z:-5.81 [[ 9.89514696e-01 1.42889769e-01 2.10518298e-02 3.65498890e+02] [-1.42850227e-01 9.89738552e-01 -3.37806133e-03 -3.66345160e+01] [-2.13184980e-02 3.35382661e-04 9.99772679e-01 -5.80906684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.53, Y:-36.64, Z:-5.81 [[ 9.89496353e-01 1.43016841e-01 2.10511561e-02 3.65531931e+02] [-1.42977239e-01 9.89720198e-01 -3.38225397e-03 -3.66399942e+01] [-2.13184736e-02 3.36891802e-04 9.99772679e-01 -5.80997101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.56, Y:-36.65, Z:-5.81 [[ 9.89933824e-01 1.40000430e-01 2.07582224e-02 3.65563740e+02] [-1.39961201e-01 9.90151362e-01 -3.33795317e-03 -3.66464052e+01] [-2.10210971e-02 3.99007016e-04 9.99778953e-01 -5.81086129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.60, Y:-36.65, Z:-5.81 [[ 9.90278906e-01 1.37589965e-01 2.04130086e-02 3.65596191e+02] [-1.37551478e-01 9.90489174e-01 -3.28435244e-03 -3.66527870e+01] [-2.06707580e-02 4.44585443e-04 9.99786238e-01 -5.81178433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.63, Y:-36.66, Z:-5.81 [[ 9.90505622e-01 1.35993508e-01 2.01091724e-02 3.65628228e+02] [-1.35955753e-01 9.90709615e-01 -3.23920887e-03 -3.66591541e+01] [-2.03628618e-02 4.74496920e-04 9.99792543e-01 -5.81208754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.66, Y:-36.67, Z:-5.81 [[ 9.90838606e-01 1.33609912e-01 1.96786059e-02 3.65659984e+02] [-1.33573214e-01 9.91033867e-01 -3.17349168e-03 -3.66677277e+01] [-1.99261748e-02 5.15883433e-04 9.99801321e-01 -5.81294614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.69, Y:-36.68, Z:-5.81 [[ 9.90949966e-01 1.32786856e-01 1.96421702e-02 3.65691088e+02] [-1.32750057e-01 9.91144472e-01 -3.17145648e-03 -3.66751598e+01] [-1.98893561e-02 5.35255490e-04 9.99802044e-01 -5.81417020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.72, Y:-36.68, Z:-5.81 [[ 9.91064441e-01 1.31886811e-01 1.99284424e-02 3.65722361e+02] [-1.31848668e-01 9.91264621e-01 -3.22170463e-03 -3.66822169e+01] [-2.01792603e-02 5.65378305e-04 9.99796218e-01 -5.81494990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.75, Y:-36.69, Z:-5.82 [[ 9.91165986e-01 1.31099816e-01 2.00705363e-02 3.65754786e+02] [-1.31060926e-01 9.91368999e-01 -3.24661381e-03 -3.66891533e+01] [-2.03229379e-02 5.87470103e-04 9.99793295e-01 -5.81572840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.79, Y:-36.70, Z:-5.82 [[ 9.91325575e-01 1.29798560e-01 2.06382747e-02 3.65785413e+02] [-1.29757064e-01 9.91540180e-01 -3.34290553e-03 -3.66970312e+01] [-2.08975830e-02 6.35945820e-04 9.99781419e-01 -5.81662659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.82, Y:-36.70, Z:-5.82 [[ 9.91363294e-01 1.29568782e-01 2.02669786e-02 3.65818182e+02] [-1.29528681e-01 9.91570236e-01 -3.28458718e-03 -3.67039408e+01] [-2.05217127e-02 6.31064161e-04 9.99789208e-01 -5.81729257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.85, Y:-36.71, Z:-5.82 [[ 9.91331347e-01 1.29807951e-01 2.02991691e-02 3.65849903e+02] [-1.29767689e-01 9.91538954e-01 -3.29387006e-03 -3.67104545e+01] [-2.05549875e-02 6.31140386e-04 9.99788525e-01 -5.81853326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.88, Y:-36.72, Z:-5.82 [[ 9.91304432e-01 1.30031063e-01 2.01852892e-02 3.65881830e+02] [-1.29991221e-01 9.91509723e-01 -3.27909509e-03 -3.67164053e+01] [-2.04402947e-02 6.26671106e-04 9.99790879e-01 -5.81912004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.91, Y:-36.72, Z:-5.82 [[ 9.91306985e-01 1.30085770e-01 1.97016113e-02 3.65914459e+02] [-1.30047763e-01 9.91502555e-01 -3.20370930e-03 -3.67225017e+01] [-1.99509549e-02 6.13708943e-04 9.99800772e-01 -5.82023563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.95, Y:-36.73, Z:-5.82 [[ 9.91366312e-01 1.29632602e-01 1.97034216e-02 3.65947153e+02] [-1.29594425e-01 9.91561897e-01 -3.20766138e-03 -3.67284142e+01] [-1.99529796e-02 6.26513850e-04 9.99800723e-01 -5.82128644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.98, Y:-36.73, Z:-5.82 [[ 9.91481216e-01 1.28767239e-01 1.95958352e-02 3.65979730e+02] [-1.28729235e-01 9.91674636e-01 -3.19388209e-03 -3.67344643e+01] [-1.98439601e-02 6.44117228e-04 9.99802882e-01 -5.82230453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.01, Y:-36.74, Z:-5.82 [[ 9.91672787e-01 1.27287030e-01 1.95728026e-02 3.66012159e+02] [-1.27248753e-01 9.91865694e-01 -3.19385125e-03 -3.67409483e+01] [-1.98201273e-02 6.76640638e-04 9.99803333e-01 -5.82308299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.04, Y:-36.75, Z:-5.82 [[ 9.92185915e-01 1.23296524e-01 1.91070184e-02 3.66043248e+02] [-1.23259238e-01 9.92369597e-01 -3.12148771e-03 -3.67474256e+01] [-1.93460927e-02 7.41979611e-04 9.99812572e-01 -5.82322617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.07, Y:-36.75, Z:-5.82 [[ 9.92399952e-01 1.21564196e-01 1.90913950e-02 3.66074559e+02] [-1.21526585e-01 9.92583266e-01 -3.12233387e-03 -3.67527615e+01] [-1.93293632e-02 7.78491956e-04 9.99812867e-01 -5.82425187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.11, Y:-36.76, Z:-5.83 [[ 9.92599242e-01 1.19910579e-01 1.91885052e-02 3.66107036e+02] [-1.19872211e-01 9.92784359e-01 -3.14153929e-03 -3.67589546e+01] [-1.94267517e-02 8.18120977e-04 9.99810948e-01 -5.82523666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.14, Y:-36.77, Z:-5.83 [[ 9.92952846e-01 1.16788337e-01 2.01278350e-02 3.66139692e+02] [-1.16745397e-01 9.93156396e-01 -3.29939610e-03 -3.67663481e+01] [-2.03754191e-02 9.26312658e-04 9.99791970e-01 -5.82609071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.17, Y:-36.77, Z:-5.83 [[ 9.93049337e-01 1.15927385e-01 2.03434553e-02 3.66171187e+02] [-1.15883250e-01 9.93257229e-01 -3.33908230e-03 -3.67720512e+01] [-2.05933751e-02 9.58407735e-04 9.99787475e-01 -5.82680036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.20, Y:-36.78, Z:-5.83 [[ 9.93086580e-01 1.15700838e-01 1.98081211e-02 3.66202711e+02] [-1.15658913e-01 9.93283662e-01 -3.25306535e-03 -3.67775341e+01] [-2.00514655e-02 9.39589769e-04 9.99798508e-01 -5.82765839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.24, Y:-36.78, Z:-5.83 [[ 9.93011134e-01 1.16468208e-01 1.90799518e-02 3.66235312e+02] [-1.16429392e-01 9.93194019e-01 -3.13658352e-03 -3.67832998e+01] [-1.93154063e-02 8.93195174e-04 9.99813041e-01 -5.82872656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.27, Y:-36.79, Z:-5.83 [[ 9.92923307e-01 1.17348962e-01 1.82353199e-02 3.66268253e+02] [-1.17313596e-01 9.93090386e-01 -3.00088804e-03 -3.67892264e+01] [-1.84614720e-02 8.40400728e-04 9.99829219e-01 -5.82922410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.30, Y:-36.79, Z:-5.83 [[ 9.92889636e-01 1.17690864e-01 1.78614397e-02 3.66301224e+02] [-1.17656931e-01 9.93049942e-01 -2.94255063e-03 -3.67936246e+01] [-1.80836130e-02 8.20105843e-04 9.99836142e-01 -5.82986343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.33, Y:-36.80, Z:-5.83 [[ 9.92917272e-01 1.17462158e-01 1.78306505e-02 3.66333448e+02] [-1.17428244e-01 9.93077016e-01 -2.94084476e-03 -3.67978863e+01] [-1.80526471e-02 8.26193580e-04 9.99836696e-01 -5.83084690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.37, Y:-36.80, Z:-5.83 [[ 9.92991269e-01 1.16840005e-01 1.77975280e-02 3.66366123e+02] [-1.16806065e-01 9.93150396e-01 -2.93831847e-03 -3.68020240e+01] [-1.80189352e-02 8.38865371e-04 9.99837294e-01 -5.83103047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.40, Y:-36.81, Z:-5.83 [[ 9.93018505e-01 1.16554736e-01 1.81450241e-02 3.66398161e+02] [-1.16519346e-01 9.93183894e-01 -2.99918622e-03 -3.68062765e+01] [-1.83709150e-02 8.64001085e-04 9.99830867e-01 -5.83153200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.43, Y:-36.81, Z:-5.83 [[ 9.92911446e-01 1.17089988e-01 2.04155433e-02 3.66431332e+02] [-1.17045216e-01 9.93120840e-01 -3.37840606e-03 -3.68093120e+01] [-2.06706790e-02 9.64916370e-04 9.99785873e-01 -5.83119465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.46, Y:-36.81, Z:-5.83 [[ 9.92820648e-01 1.17594041e-01 2.18815722e-02 3.66463786e+02] [-1.17542631e-01 9.93061220e-01 -3.62544919e-03 -3.68131458e+01] [-2.21560720e-02 1.02740324e-03 9.99753996e-01 -5.83143489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.50, Y:-36.82, Z:-5.83 [[ 9.92785237e-01 1.17768639e-01 2.25393139e-02 3.66495912e+02] [-1.17714034e-01 9.93040496e-01 -3.73888495e-03 -3.68162912e+01] [-2.28227748e-02 1.05871622e-03 9.99738966e-01 -5.83191428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:-36.82, Z:-5.83 [[ 9.92795216e-01 1.17711135e-01 2.23997373e-02 3.66528655e+02] [-1.17657102e-01 9.93047316e-01 -3.71962903e-03 -3.68194071e+01] [-2.26818407e-02 1.05734174e-03 9.99742175e-01 -5.83340299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.56, Y:-36.82, Z:-5.83 [[ 9.92849011e-01 1.17501300e-01 2.10781037e-02 3.66560175e+02] [-1.17453335e-01 9.93072222e-01 -3.50361571e-03 -3.68219457e+01] [-2.13437587e-02 1.00286782e-03 9.99771693e-01 -5.83395230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.59, Y:-36.82, Z:-5.83 [[ 9.92917278e-01 1.17206310e-01 1.94411807e-02 3.66593468e+02] [-1.17165393e-01 9.93107149e-01 -3.23442728e-03 -3.68208843e+01] [-1.96862709e-02 9.33685147e-04 9.99805771e-01 -5.83454691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.63, Y:-36.82, Z:-5.83 [[ 9.92960507e-01 1.16828348e-01 1.95081837e-02 3.66625939e+02] [-1.16786998e-01 9.93151669e-01 -3.24951485e-03 -3.68227447e+01] [-1.97542207e-02 9.48337700e-04 9.99804417e-01 -5.83494572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.66, Y:-36.82, Z:-5.83 [[ 9.93293338e-01 1.13812989e-01 2.03702623e-02 3.66659684e+02] [-1.13767191e-01 9.93501629e-01 -3.39700109e-03 -3.68205836e+01] [-2.06245116e-02 1.05675104e-03 9.99786734e-01 -5.83474939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.69, Y:-36.82, Z:-5.84 [[ 9.93567347e-01 1.11325502e-01 2.07499490e-02 3.66692927e+02] [-1.11277354e-01 9.93783351e-01 -3.46432806e-03 -3.68231319e+01] [-2.10066219e-02 1.13304381e-03 9.99778695e-01 -5.83594473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.73, Y:-36.83, Z:-5.84 [[ 9.93910247e-01 1.08226179e-01 2.07247499e-02 3.66726049e+02] [-1.08177394e-01 9.94125572e-01 -3.46401090e-03 -3.68272408e+01] [-2.09779005e-02 1.20096649e-03 9.99779218e-01 -5.83695310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.76, Y:-36.83, Z:-5.84 [[ 9.94299290e-01 1.04758082e-01 1.98662229e-02 3.66758136e+02] [-1.04712495e-01 9.94496980e-01 -3.32410203e-03 -3.68325078e+01] [-2.01051253e-02 1.22491052e-03 9.99797121e-01 -5.83853894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.79, Y:-36.84, Z:-5.84 [[ 9.95038416e-01 9.77289466e-02 1.86441536e-02 3.66788930e+02] [-9.76875038e-02 9.95212238e-01 -3.12294581e-03 -3.68399009e+01] [-1.88600920e-02 1.28615023e-03 9.99821305e-01 -5.84081883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.82, Y:-36.85, Z:-5.84 [[ 9.95277673e-01 9.53128460e-02 1.83797248e-02 3.66820778e+02] [-9.52721031e-02 9.95446497e-01 -3.08174583e-03 -3.68469576e+01] [-1.85897626e-02 1.31611779e-03 9.99826329e-01 -5.84046461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.85, Y:-36.85, Z:-5.84 [[ 9.95334964e-01 9.47485565e-02 1.81939879e-02 3.66851862e+02] [-9.47084753e-02 9.95500365e-01 -3.05407619e-03 -3.68537101e+01] [-1.84014909e-02 1.31670396e-03 9.99829811e-01 -5.84027106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.88, Y:-36.86, Z:-5.84 [[ 9.95251237e-01 9.58197306e-02 1.71334504e-02 3.66884702e+02] [-9.57842992e-02 9.95397951e-01 -2.87865134e-03 -3.68599398e+01] [-1.73304330e-02 1.22386577e-03 9.99849068e-01 -5.84022826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.92, Y:-36.87, Z:-5.84 [[ 9.94644074e-01 1.02243046e-01 1.51501120e-02 3.66916572e+02] [-1.02216047e-01 9.94758960e-01 -2.54783542e-03 -3.68661316e+01] [-1.53312081e-02 9.85604838e-04 9.99881984e-01 -5.84089111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.95, Y:-36.87, Z:-5.84 [[ 9.94252195e-01 1.06080174e-01 1.44764939e-02 3.66948565e+02] [-1.06055878e-01 9.94357183e-01 -2.43802246e-03 -3.68721553e+01] [-1.46534315e-02 8.88691914e-04 9.99892238e-01 -5.84163514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:-36.88, Z:-5.84 [[ 9.93880408e-01 1.09524090e-01 1.43599215e-02 3.66980060e+02] [-1.09500541e-01 9.93983794e-01 -2.41840661e-03 -3.68782818e+01] [-1.45384030e-02 8.31187772e-04 9.99893966e-01 -5.84232781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.01, Y:-36.89, Z:-5.84 [[ 9.93385635e-01 1.13922871e-01 1.43722147e-02 3.67012160e+02] [-1.13899706e-01 9.93489299e-01 -2.42286453e-03 -3.68852227e+01] [-1.45546611e-02 7.69847793e-04 9.99893779e-01 -5.84413275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:-36.89, Z:-5.85 [[ 9.93232924e-01 1.15296481e-01 1.39671197e-02 3.67044620e+02] [-1.15274703e-01 9.93330855e-01 -2.35703773e-03 -3.68918606e+01] [-1.41457291e-02 7.31031907e-04 9.99899677e-01 -5.84529060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.08, Y:-36.90, Z:-5.85 [[ 9.93102904e-01 1.16461455e-01 1.35407381e-02 3.67076953e+02] [-1.16441063e-01 9.93194969e-01 -2.28741547e-03 -3.68983152e+01] [-1.37149887e-02 6.94941015e-04 9.99905704e-01 -5.84561873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.11, Y:-36.90, Z:-5.85 [[ 9.92971384e-01 1.17525141e-01 1.39882711e-02 3.67108101e+02] [-1.17503432e-01 9.93069656e-01 -2.36670824e-03 -3.69043718e+01] [-1.41694753e-02 7.06403694e-04 9.99899358e-01 -5.84585299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.14, Y:-36.91, Z:-5.85 [[ 9.92813072e-01 1.18737777e-01 1.49514300e-02 3.67139245e+02] [-1.18713082e-01 9.92925372e-01 -2.53167447e-03 -3.69103158e+01] [-1.51462596e-02 7.38549176e-04 9.99885016e-01 -5.84557040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.17, Y:-36.92, Z:-5.85 [[ 9.92681881e-01 1.19738917e-01 1.56612732e-02 3.67171850e+02] [-1.19711927e-01 9.92805125e-01 -2.65304585e-03 -3.69154531e+01] [-1.58662651e-02 7.58789350e-04 9.99873835e-01 -5.84531288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.20, Y:-36.92, Z:-5.85 [[ 9.92529141e-01 1.20775477e-01 1.72970542e-02 3.67204991e+02] [-1.20742647e-01 9.92679508e-01 -2.93377021e-03 -3.69185513e+01] [-1.75247587e-02 8.23360317e-04 9.99846091e-01 -5.84538535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.24, Y:-36.92, Z:-5.85 [[ 9.92509625e-01 1.20882965e-01 1.76622059e-02 3.67237445e+02] [-1.20848690e-01 9.92666409e-01 -2.99910032e-03 -3.69229046e+01] [-1.78952187e-02 8.42181480e-04 9.99839513e-01 -5.84613681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.27, Y:-36.93, Z:-5.85 [[ 9.92489002e-01 1.20966557e-01 1.82393137e-02 3.67270035e+02] [-1.20929952e-01 9.92656200e-01 -3.10072047e-03 -3.69277829e+01] [-1.84804513e-02 8.71751632e-04 9.99828842e-01 -5.84738447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.30, Y:-36.93, Z:-5.85 [[ 9.92487065e-01 1.20972836e-01 1.83029512e-02 3.67301884e+02] [-1.20935901e-01 9.92655429e-01 -3.11563531e-03 -3.69326222e+01] [-1.85454312e-02 8.78743853e-04 9.99827633e-01 -5.84790543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.205898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:367.33, Y:-36.94, Z:-5.85 [[ 9.92606214e-01 1.19952378e-01 1.85561427e-02 3.67333514e+02] [-1.19914202e-01 9.92779228e-01 -3.16051277e-03 -3.69355566e+01] [-1.88012640e-02 9.11999577e-04 9.99822825e-01 -5.84817611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.37, Y:-36.94, Z:-5.85 [[ 9.92723166e-01 1.18943045e-01 1.87954310e-02 3.67366034e+02] [-1.18903634e-01 9.92900628e-01 -3.20458964e-03 -3.69398409e+01] [-1.90431589e-02 9.46425318e-04 9.99818215e-01 -5.84909646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.40, Y:-36.94, Z:-5.85 [[ 9.92872042e-01 1.17671859e-01 1.89325794e-02 3.67399188e+02] [-1.17631575e-01 9.93052048e-01 -3.23139667e-03 -3.69440588e+01] [-1.91812812e-02 9.81294272e-04 9.99815541e-01 -5.84977232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.43, Y:-36.95, Z:-5.85 [[ 9.93428397e-01 1.12851054e-01 1.90960676e-02 3.67432285e+02] [-1.12809116e-01 9.93611321e-01 -3.26273970e-03 -3.69468597e+01] [-1.93422725e-02 1.08708776e-03 9.99812330e-01 -5.85081666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.46, Y:-36.95, Z:-5.85 [[ 9.93802438e-01 1.09492222e-01 1.91876840e-02 3.67463493e+02] [-1.09449182e-01 9.93986973e-01 -3.28225934e-03 -3.69515897e+01] [-1.94316899e-02 1.16184102e-03 9.99810512e-01 -5.85222567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.50, Y:-36.96, Z:-5.85 [[ 9.94255356e-01 1.05344201e-01 1.89443094e-02 3.67496272e+02] [-1.05301431e-01 9.94435058e-01 -3.24394808e-03 -3.69569961e+01] [-1.91806166e-02 1.23044985e-03 9.99815278e-01 -5.85340359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.53, Y:-36.96, Z:-5.85 [[ 9.94729113e-01 1.00922417e-01 1.81289036e-02 3.67528771e+02] [-1.00882462e-01 9.94893498e-01 -3.10745752e-03 -3.69627185e+01] [-1.83499405e-02 1.26219003e-03 9.99830829e-01 -5.85413628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.56, Y:-36.97, Z:-5.86 [[ 9.94721064e-01 1.01001849e-01 1.81281891e-02 3.67561757e+02] [-1.00961832e-01 9.94885434e-01 -3.11161949e-03 -3.69685142e+01] [-1.83497506e-02 1.26493827e-03 9.99830829e-01 -5.85504036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.59, Y:-36.97, Z:-5.86 [[ 9.95111623e-01 9.72976965e-02 1.69120208e-02 3.67593924e+02] [-9.72623324e-02 9.95254546e-01 -2.90310279e-03 -3.69746823e+01] [-1.71142308e-02 1.24400874e-03 9.99852767e-01 -5.85614471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.63, Y:-36.98, Z:-5.86 [[ 9.95709249e-01 9.11412182e-02 1.60115595e-02 3.67626349e+02] [-9.11086847e-02 9.95837155e-01 -2.75122183e-03 -3.69813428e+01] [-1.61956555e-02 1.28062490e-03 9.99868022e-01 -5.85689124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.66, Y:-36.99, Z:-5.86 [[ 9.95874289e-01 8.91767880e-02 1.67899108e-02 3.67657953e+02] [-8.91406765e-02 9.96014857e-01 -2.88852314e-03 -3.69871210e+01] [-1.69805898e-02 1.37994192e-03 9.99854867e-01 -5.85738600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.69, Y:-36.99, Z:-5.86 [[ 9.95947246e-01 8.82593345e-02 1.73023898e-02 3.67690913e+02] [-8.82207931e-02 9.96096488e-01 -2.97977326e-03 -3.69929569e+01] [-1.74978426e-02 1.44126642e-03 9.99845862e-01 -5.85808011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.72, Y:-37.00, Z:-5.86 [[ 9.95924620e-01 8.85710245e-02 1.70095488e-02 3.67723942e+02] [-8.85337695e-02 9.96068859e-01 -2.93238890e-03 -3.69984514e+01] [-1.72024066e-02 1.41451883e-03 9.99851027e-01 -5.85818343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.76, Y:-37.00, Z:-5.86 [[ 9.95674311e-01 9.16201221e-02 1.54408332e-02 3.67756874e+02] [-9.15897484e-02 9.95793261e-01 -2.66440223e-03 -3.70039429e+01] [-1.56199905e-02 1.23865483e-03 9.99877233e-01 -5.85942938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:-37.01, Z:-5.86 [[ 9.95510326e-01 9.35390309e-02 1.44789445e-02 3.67788313e+02] [-9.35124883e-02 9.95614966e-01 -2.50096478e-03 -3.70092839e+01] [-1.46493916e-02 1.13577414e-03 9.99892047e-01 -5.86032264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.82, Y:-37.02, Z:-5.86 [[ 9.95316891e-01 9.55746556e-02 1.44835095e-02 3.67820947e+02] [-9.55482748e-02 9.95421647e-01 -2.50418338e-03 -3.70153679e+01] [-1.46565354e-02 1.10858166e-03 9.99891973e-01 -5.86090096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.85, Y:-37.02, Z:-5.86 [[ 9.95208967e-01 9.66110711e-02 1.50137709e-02 3.67852631e+02] [-9.65827937e-02 9.95321561e-01 -2.59893671e-03 -3.70209198e+01] [-1.51946159e-02 1.13641318e-03 9.99883909e-01 -5.86161183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.88, Y:-37.03, Z:-5.86 [[ 9.95281562e-01 9.57597493e-02 1.56423383e-02 3.67884945e+02] [-9.57289060e-02 9.95403752e-01 -2.71050738e-03 -3.70275861e+01] [-1.58299997e-02 1.20029409e-03 9.99873977e-01 -5.86349352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.92, Y:-37.03, Z:-5.86 [[ 9.95407623e-01 9.45040375e-02 1.52528827e-02 3.67916708e+02] [-9.44745245e-02 9.95523764e-01 -2.64561774e-03 -3.70346497e+01] [-1.54346287e-02 1.19245923e-03 9.99880168e-01 -5.86444811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.95, Y:-37.04, Z:-5.87 [[ 9.95533596e-01 9.32259598e-02 1.48922951e-02 3.67948757e+02] [-9.31976440e-02 9.95644270e-01 -2.58570621e-03 -3.70419780e+01] [-1.50684833e-02 1.18623058e-03 9.99885760e-01 -5.86587023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.98, Y:-37.05, Z:-5.87 [[ 9.95615588e-01 9.23713269e-02 1.47356365e-02 3.67980544e+02] [-9.23434702e-02 9.95723919e-01 -2.56122053e-03 -3.70492811e+01] [-1.49092091e-02 1.18925127e-03 9.99888144e-01 -5.86664707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.01, Y:-37.06, Z:-5.87 [[ 9.95645049e-01 9.19180479e-02 1.55566560e-02 3.68012908e+02] [-9.18868956e-02 9.95765771e-01 -2.70708557e-03 -3.70578232e+01] [-1.57396156e-02 1.26584351e-03 9.99875323e-01 -5.86680781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.04, Y:-37.06, Z:-5.87 [[ 9.95548409e-01 9.29288202e-02 1.57353330e-02 3.68043864e+02] [-9.28970136e-02 9.95671947e-01 -2.74193958e-03 -3.70639563e+01] [-1.59220349e-02 1.26796814e-03 9.99872432e-01 -5.86691376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.895898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:368.08, Y:-37.07, Z:-5.87 [[ 9.95408880e-01 9.44655419e-02 1.54085548e-02 3.68076512e+02] [-9.44352123e-02 9.95527386e-01 -2.68585181e-03 -3.70697805e+01] [-1.55933587e-02 1.21841059e-03 9.99877674e-01 -5.86728916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.11, Y:-37.07, Z:-5.87 [[ 9.94980137e-01 9.89180614e-02 1.51573332e-02 3.68109377e+02] [-9.88891826e-02 9.95094937e-01 -2.64490098e-03 -3.70749485e+01] [-1.53446140e-02 1.13272765e-03 9.99881623e-01 -5.86795186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.14, Y:-37.08, Z:-5.87 [[ 9.94689331e-01 1.01695030e-01 1.58510296e-02 3.68140728e+02] [-1.01663742e-01 9.94814965e-01 -2.76937699e-03 -3.70799780e+01] [-1.60504733e-02 1.14319476e-03 9.99870529e-01 -5.86925128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.17, Y:-37.08, Z:-5.87 [[ 9.94423257e-01 1.04127354e-01 1.67295922e-02 3.68172087e+02] [-1.04092778e-01 9.94563285e-01 -2.92673590e-03 -3.70844508e+01] [-1.69433914e-02 1.16898452e-03 9.99855767e-01 -5.86932588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.20, Y:-37.09, Z:-5.87 [[ 9.94198399e-01 1.06102609e-01 1.76573012e-02 3.68204684e+02] [-1.06064373e-01 9.94354462e-01 -3.09069184e-03 -3.70885737e+01] [-1.78855467e-02 1.19995029e-03 9.99839321e-01 -5.86982333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.24, Y:-37.09, Z:-5.87 [[ 9.93918521e-01 1.08595597e-01 1.82474886e-02 3.68237006e+02] [-1.08555111e-01 9.94085289e-01 -3.19772445e-03 -3.70889575e+01] [-1.84868187e-02 1.19741942e-03 9.99828387e-01 -5.87006676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.27, Y:-37.09, Z:-5.87 [[ 9.93914640e-01 1.08749218e-01 1.75298871e-02 3.68270072e+02] [-1.08711828e-01 9.94068551e-01 -3.07476292e-03 -3.70918619e+01] [-1.77602876e-02 1.15034582e-03 9.99841612e-01 -5.87163412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:-37.10, Z:-5.87 [[ 9.94014300e-01 1.07967316e-01 1.66921889e-02 3.68303373e+02] [-1.07933256e-01 9.94153823e-01 -2.93072843e-03 -3.70950118e+01] [-1.69110263e-02 1.11154368e-03 9.99856381e-01 -5.87294228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.34, Y:-37.10, Z:-5.87 [[ 9.94197088e-01 1.06410562e-01 1.57778995e-02 3.68336471e+02] [-1.06379893e-01 9.94321693e-01 -2.77288290e-03 -3.70985727e+01] [-1.59833718e-02 1.07834083e-03 9.99871676e-01 -5.87429489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.37, Y:-37.10, Z:-5.87 [[ 9.94592102e-01 1.02642448e-01 1.58454325e-02 3.68368688e+02] [-1.02610990e-01 9.94717655e-01 -2.78786926e-03 -3.71001812e+01] [-1.60478851e-02 1.14687724e-03 9.99870567e-01 -5.87479818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.40, Y:-37.10, Z:-5.88 [[ 9.94730917e-01 1.01171241e-01 1.65766003e-02 3.68401868e+02] [-1.01136559e-01 9.94868269e-01 -2.91949323e-03 -3.71045691e+01] [-1.67869024e-02 1.22760986e-03 9.99858336e-01 -5.87578677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:-37.11, Z:-5.88 [[ 9.94852163e-01 9.98592676e-02 1.72424186e-02 3.68434725e+02] [-9.98214881e-02 9.95000718e-01 -3.04015592e-03 -3.71091763e+01] [-1.74598067e-02 1.30334180e-03 9.99846716e-01 -5.87663687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.47, Y:-37.11, Z:-5.88 [[ 9.94879040e-01 9.94522974e-02 1.80259798e-02 3.68467871e+02] [-9.94108748e-02 9.95041383e-01 -3.18184344e-03 -3.71137744e+01] [-1.82530375e-02 1.37357093e-03 9.99832456e-01 -5.87756711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.50, Y:-37.12, Z:-5.88 [[ 9.94885529e-01 9.93572523e-02 1.81912502e-02 3.68499187e+02] [-9.93149860e-02 9.95050853e-01 -3.21452755e-03 -3.71180394e+01] [-1.84206056e-02 1.39142318e-03 9.99829358e-01 -5.87846231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.53, Y:-37.12, Z:-5.88 [[ 9.94852874e-01 9.97364638e-02 1.78996366e-02 3.68531821e+02] [-9.96955500e-02 9.95012952e-01 -3.16592483e-03 -3.71224740e+01] [-1.81261284e-02 1.36511530e-03 9.99834776e-01 -5.87993131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.56, Y:-37.13, Z:-5.88 [[ 9.94674693e-01 1.01836746e-01 1.58597934e-02 3.68563393e+02] [-1.01804853e-01 9.94800427e-01 -2.80760895e-03 -3.71262209e+01] [-1.60632470e-02 1.17805364e-03 9.99870284e-01 -5.88106115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.59, Y:-37.13, Z:-5.88 [[ 9.94469072e-01 1.03963199e-01 1.49304251e-02 3.68594882e+02] [-1.03935136e-01 9.94580559e-01 -2.64549368e-03 -3.71313642e+01] [-1.51245445e-02 1.07906588e-03 9.99885035e-01 -5.88181796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.63, Y:-37.13, Z:-5.88 [[ 9.94083021e-01 1.07503657e-01 1.55534936e-02 3.68626222e+02] [-1.07473590e-01 9.94204113e-01 -2.75863134e-03 -3.71349821e+01] [-1.57599103e-02 1.07071878e-03 9.99875232e-01 -5.88265741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.66, Y:-37.14, Z:-5.88 [[ 9.93919060e-01 1.08786828e-01 1.70390140e-02 3.68657737e+02] [-1.08750884e-01 9.94064432e-01 -3.02485410e-03 -3.71397607e+01] [-1.72669421e-02 1.15345231e-03 9.99850250e-01 -5.88291817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.69, Y:-37.14, Z:-5.88 [[ 9.93863638e-01 1.08988085e-01 1.88856176e-02 3.68688531e+02] [-1.08943895e-01 9.94042234e-01 -3.35617422e-03 -3.71445043e+01] [-1.91388845e-02 1.27810678e-03 9.99816018e-01 -5.88375451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.72, Y:-37.15, Z:-5.88 [[ 9.93915039e-01 1.08369149e-01 1.97236612e-02 3.68721488e+02] [-1.08320774e-01 9.94109805e-01 -3.50783434e-03 -3.71498120e+01] [-1.99876260e-02 1.35000707e-03 9.99799316e-01 -5.88484781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.75, Y:-37.15, Z:-5.89 [[ 9.94129844e-01 1.06516228e-01 1.89775137e-02 3.68753558e+02] [-1.06471034e-01 9.94310063e-01 -3.37901314e-03 -3.71541412e+01] [-1.92294526e-02 1.33862230e-03 9.99814201e-01 -5.88521863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.79, Y:-37.16, Z:-5.89 [[ 9.94170641e-01 1.06239275e-01 1.83834798e-02 3.68785283e+02] [-1.06196780e-01 9.94339739e-01 -3.27531796e-03 -3.71584728e+01] [-1.86273919e-02 1.30395859e-03 9.99825645e-01 -5.88526704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.82, Y:-37.16, Z:-5.89 [[ 9.94150338e-01 1.06477585e-01 1.81005126e-02 3.68818211e+02] [-1.06436404e-01 9.94314278e-01 -3.22624169e-03 -3.71630130e+01] [-1.83411205e-02 1.28081580e-03 9.99830967e-01 -5.88542233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.85, Y:-37.17, Z:-5.89 [[ 9.94087059e-01 1.06956679e-01 1.87399963e-02 3.68850469e+02] [-1.06912550e-01 9.94262805e-01 -3.34397092e-03 -3.71665473e+01] [-1.89901413e-02 1.32065744e-03 9.99818799e-01 -5.88607773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.88, Y:-37.17, Z:-5.89 [[ 9.94032030e-01 1.07256541e-01 1.99087303e-02 3.68882696e+02] [-1.07206713e-01 9.94230392e-01 -3.55651897e-03 -3.71672553e+01] [-2.01753247e-02 1.40094423e-03 9.99795476e-01 -5.88709697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.92, Y:-37.17, Z:-5.89 [[ 9.94009758e-01 1.07413377e-01 2.01734502e-02 3.68915107e+02] [-1.07362203e-01 9.94213435e-01 -3.60599319e-03 -3.71704677e+01] [-2.04440472e-02 1.41852635e-03 9.99789992e-01 -5.88831924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.95, Y:-37.17, Z:-5.89 [[ 9.94035718e-01 1.07253286e-01 1.97414513e-02 3.68946656e+02] [-1.07204185e-01 9.94230752e-01 -3.53195072e-03 -3.71734963e+01] [-2.00063713e-02 1.39451896e-03 9.99798880e-01 -5.88950403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.98, Y:-37.18, Z:-5.89 [[ 9.94085843e-01 1.06759448e-01 1.98936506e-02 3.68977362e+02] [-1.06709402e-01 9.94283865e-01 -3.56346872e-03 -3.71768803e+01] [-2.01603697e-02 1.41955424e-03 9.99795751e-01 -5.89068824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.01, Y:-37.18, Z:-5.89 [[ 9.94378470e-01 1.03754887e-01 2.11277591e-02 3.69009752e+02] [-1.03697730e-01 9.94601652e-01 -3.78607963e-03 -3.71801781e+01] [-2.14065283e-02 1.57389541e-03 9.99769615e-01 -5.89128815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.04, Y:-37.18, Z:-5.89 [[ 9.94598223e-01 1.01786240e-01 2.03454026e-02 3.69040388e+02] [-1.01732768e-01 9.94805071e-01 -3.64887877e-03 -3.71848781e+01] [-2.06111153e-02 1.55937422e-03 9.99786352e-01 -5.89247001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.07, Y:-37.19, Z:-5.89 [[ 9.94817218e-01 9.99448965e-02 1.87008159e-02 3.69072433e+02] [-9.98993550e-02 9.94991887e-01 -3.35615013e-03 -3.71899258e+01] [-1.89425902e-02 1.47055649e-03 9.99819492e-01 -5.89361721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.10, Y:-37.19, Z:-5.90 [[ 9.95055016e-01 9.78851492e-02 1.68526940e-02 3.69102911e+02] [-9.78478140e-02 9.95196783e-01 -3.02785639e-03 -3.71948320e+01] [-1.70681290e-02 1.36388442e-03 9.99853399e-01 -5.89546774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.13, Y:-37.20, Z:-5.90 [[ 9.95352494e-01 9.48496696e-02 1.66418942e-02 3.69134026e+02] [-9.48128548e-02 9.95490626e-01 -2.98917537e-03 -3.72006278e+01] [-1.68503719e-02 1.39741766e-03 9.99857046e-01 -5.89655451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.17, Y:-37.21, Z:-5.90 [[ 9.95405418e-01 9.40887817e-02 1.77582197e-02 3.69165989e+02] [-9.40466966e-02 9.95562670e-01 -3.19216964e-03 -3.72061556e+01] [-1.79797680e-02 1.50740106e-03 9.99837215e-01 -5.89648805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.20, Y:-37.21, Z:-5.90 [[ 9.95365336e-01 9.42425897e-02 1.91358699e-02 3.69198058e+02] [-9.41936826e-02 9.95547937e-01 -3.44322959e-03 -3.72113295e+01] [-1.93751747e-02 1.62479332e-03 9.99810963e-01 -5.89687368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.23, Y:-37.22, Z:-5.90 [[ 9.95246266e-01 9.53654234e-02 1.97561491e-02 3.69229100e+02] [-9.53134446e-02 9.95440951e-01 -3.55827654e-03 -3.72158899e+01] [-2.00054164e-02 1.65833482e-03 9.99798496e-01 -5.89667437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.26, Y:-37.22, Z:-5.90 [[ 9.94891425e-01 9.90325467e-02 1.95859081e-02 3.69259687e+02] [-9.89820883e-02 9.95082949e-01 -3.53150389e-03 -3.72178237e+01] [-1.98393370e-02 1.57480885e-03 9.99801941e-01 -5.89721978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.29, Y:-37.22, Z:-5.90 [[ 9.94720320e-01 1.00785806e-01 1.93315066e-02 3.69291370e+02] [-1.00736976e-01 9.94906986e-01 -3.48575488e-03 -3.72211860e+01] [-1.95843656e-02 1.51995369e-03 9.99807053e-01 -5.89784786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.32, Y:-37.22, Z:-5.90 [[ 9.94605986e-01 1.01985146e-01 1.89198942e-02 3.69322076e+02] [-1.01938579e-01 9.94784843e-01 -3.41207361e-03 -3.72239130e+01] [-1.91692048e-02 1.46500169e-03 9.99815181e-01 -5.89864576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.35, Y:-37.23, Z:-5.90 [[ 9.94510326e-01 1.02850355e-01 1.92617926e-02 3.69353250e+02] [-1.02802255e-01 9.94695748e-01 -3.47355735e-03 -3.72264264e+01] [-1.95168798e-02 1.47433294e-03 9.99808441e-01 -5.89883441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.38, Y:-37.23, Z:-5.90 [[ 9.94468588e-01 1.02879155e-01 2.11685412e-02 3.69384190e+02] [-1.02821051e-01 9.94692542e-01 -3.81804668e-03 -3.72263174e+01] [-2.14489875e-02 1.62035582e-03 9.99768631e-01 -5.89964240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.42, Y:-37.23, Z:-5.90 [[ 9.94590113e-01 1.01679549e-01 2.12550389e-02 3.69415520e+02] [-1.01605448e-01 9.94814414e-01 -4.54040140e-03 -3.72285998e+01] [-2.16064850e-02 2.35621060e-03 9.99763776e-01 -5.90016709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.45, Y:-37.23, Z:-5.90 [[ 9.94666801e-01 1.00877167e-01 2.14884398e-02 3.69446409e+02] [-1.00831551e-01 9.94898370e-01 -3.19858897e-03 -3.72321396e+01] [-2.17014784e-02 1.01481754e-03 9.99763980e-01 -5.90071437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.48, Y:-37.23, Z:-5.90 [[ 9.94847103e-01 9.93523357e-02 2.02078176e-02 3.69476520e+02] [-9.92986427e-02 9.95050998e-01 -3.64580522e-03 -3.72342403e+01] [-2.04700283e-02 1.62040990e-03 9.99789154e-01 -5.90178160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.51, Y:-37.23, Z:-5.90 [[ 9.95125463e-01 9.67173742e-02 1.92629775e-02 3.69507620e+02] [-9.66680693e-02 9.95310603e-01 -3.47666150e-03 -3.72331906e+01] [-1.95088994e-02 1.59759954e-03 9.99808407e-01 -5.90208475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.54, Y:-37.24, Z:-5.90 [[ 9.95221074e-01 9.55304520e-02 2.02224092e-02 3.69538344e+02] [-9.54758627e-02 9.95425053e-01 -3.65014214e-03 -3.72359098e+01] [-2.04785925e-02 1.70194642e-03 9.99788843e-01 -5.90308806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.57, Y:-37.24, Z:-5.90 [[ 9.95302807e-01 9.44689714e-02 2.11644865e-02 3.69567874e+02] [-9.44089368e-02 9.95526172e-01 -3.82024925e-03 -3.72389108e+01] [-2.14306952e-02 1.80418814e-03 9.99768708e-01 -5.90354758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.60, Y:-37.24, Z:-5.90 [[ 9.95301804e-01 9.44795209e-02 2.11645505e-02 3.69598371e+02] [-9.44194962e-02 9.95525172e-01 -3.81989457e-03 -3.72444201e+01] [-2.14307446e-02 1.80360176e-03 9.99768708e-01 -5.90438388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.63, Y:-37.25, Z:-5.91 [[ 9.95422165e-01 9.32210479e-02 2.10843554e-02 3.69629304e+02] [-9.31611909e-02 9.95643766e-01 -3.80571032e-03 -3.72456826e+01] [-2.13472793e-02 1.82404475e-03 9.99770457e-01 -5.90502182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.66, Y:-37.25, Z:-5.91 [[ 9.95438089e-01 9.33694646e-02 1.96253542e-02 3.69660049e+02] [-9.33176348e-02 9.95630087e-01 -3.54236169e-03 -3.72485897e+01] [-1.98703415e-02 1.69481012e-03 9.99801129e-01 -5.90605371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.69, Y:-37.25, Z:-5.91 [[ 9.95422249e-01 9.38018738e-02 1.83236020e-02 3.69689102e+02] [-9.37567636e-02 9.95589639e-01 -3.30749093e-03 -3.72518000e+01] [-1.85530372e-02 1.57438844e-03 9.99826638e-01 -5.90767983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.72, Y:-37.26, Z:-5.91 [[ 9.95404710e-01 9.41677739e-02 1.73750715e-02 3.69718934e+02] [-9.41272705e-02 9.95555233e-01 -3.13620081e-03 -3.72554178e+01] [-1.75931724e-02 1.48632101e-03 9.99844123e-01 -5.90829119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.75, Y:-37.26, Z:-5.91 [[ 9.95376532e-01 9.44590468e-02 1.74082977e-02 3.69747198e+02] [-9.44184391e-02 9.95527643e-01 -3.14182063e-03 -3.72584675e+01] [-1.76272150e-02 1.48363023e-03 9.99843528e-01 -5.90909643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.78, Y:-37.26, Z:-5.91 [[ 9.95209076e-01 9.61838129e-02 1.75376377e-02 3.69776842e+02] [-9.61428742e-02 9.95362513e-01 -3.16466548e-03 -3.72588907e+01] [-1.77606968e-02 1.46338491e-03 9.99841195e-01 -5.90823406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.81, Y:-37.26, Z:-5.91 [[ 9.95092885e-01 9.73749252e-02 1.75577623e-02 3.69806449e+02] [-9.73340837e-02 9.95246723e-01 -3.16789818e-03 -3.72609538e+01] [-1.77827792e-02 1.44338423e-03 9.99840832e-01 -5.90928218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.83, Y:-37.26, Z:-5.91 [[ 9.94959440e-01 9.87577310e-02 1.73960650e-02 3.69834544e+02] [-9.87178496e-02 9.95110514e-01 -3.13864204e-03 -3.72628480e+01] [-1.76209724e-02 1.40551940e-03 9.99843751e-01 -5.90977819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.86, Y:-37.27, Z:-5.91 [[ 9.94834717e-01 9.99926567e-02 1.74744168e-02 3.69863271e+02] [-9.99526247e-02 9.94987206e-01 -3.15163568e-03 -3.72650885e+01] [-1.77019616e-02 1.38874276e-03 9.99842344e-01 -5.91064449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.89, Y:-37.27, Z:-5.91 [[ 9.94665046e-01 1.01752941e-01 1.69642272e-02 3.69891457e+02] [-1.01715477e-01 9.94808828e-01 -3.05905855e-03 -3.72654575e+01] [-1.71874312e-02 1.31721415e-03 9.99851418e-01 -5.91124852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66589822699996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:369.92, Y:-37.27, Z:-5.91 [[ 9.94541708e-01 1.03052192e-01 1.63412862e-02 3.69920238e+02] [-1.03017623e-01 9.94675170e-01 -2.94554464e-03 -3.72683614e+01] [-1.65578165e-02 1.24602653e-03 9.99862134e-01 -5.91089631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.95, Y:-37.27, Z:-5.91 [[ 9.94392957e-01 1.04567636e-01 1.57561613e-02 3.69949170e+02] [-1.04535699e-01 9.94517082e-01 -2.83938014e-03 -3.72718179e+01] [-1.59666789e-02 1.17637828e-03 9.99871832e-01 -5.91262563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.98, Y:-37.28, Z:-5.91 [[ 9.94192792e-01 1.06475515e-01 1.56095480e-02 3.69977248e+02] [-1.06444413e-01 9.94314677e-01 -2.81236745e-03 -3.72751337e+01] [-1.58202510e-02 1.13448628e-03 9.99874208e-01 -5.91348717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.755898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:370.01, Y:-37.28, Z:-5.91 [[ 9.93609110e-01 1.11628883e-01 1.67310727e-02 3.70005429e+02] [-1.11593896e-01 9.93749326e-01 -3.01333625e-03 -3.72770163e+01] [-1.69628676e-02 1.12699277e-03 9.99855485e-01 -5.91266786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.03, Y:-37.28, Z:-5.91 [[ 9.93203248e-01 1.14968881e-01 1.81511798e-02 3.70033744e+02] [-1.14928275e-01 9.93368417e-01 -3.26805414e-03 -3.72802539e+01] [-1.84065332e-02 1.15975820e-03 9.99829913e-01 -5.91312591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.06, Y:-37.28, Z:-5.91 [[ 9.92761580e-01 1.18566072e-01 1.91450348e-02 3.70061295e+02] [-1.18521592e-01 9.92945497e-01 -3.44548284e-03 -3.72829372e+01] [-1.94184934e-02 1.15144298e-03 9.99810780e-01 -5.91282922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.09, Y:-37.29, Z:-5.91 [[ 9.92345939e-01 1.21850084e-01 2.00522730e-02 3.70088079e+02] [-1.21801976e-01 9.92547864e-01 -3.60779958e-03 -3.72856105e+01] [-2.03424514e-02 1.13777879e-03 9.99792424e-01 -5.91403199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.12, Y:-37.29, Z:-5.92 [[ 9.91640959e-01 1.27128948e-01 2.20553818e-02 3.70115793e+02] [-1.27072104e-01 9.91885555e-01 -3.96565726e-03 -3.72877087e+01] [-2.23805645e-02 1.12988440e-03 9.99748885e-01 -5.91512974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.14, Y:-37.29, Z:-5.92 [[ 9.91363581e-01 1.29046416e-01 2.33510890e-02 3.70143776e+02] [-1.28983266e-01 9.91637889e-01 -4.19691116e-03 -3.72914986e+01] [-2.36974209e-02 1.14876514e-03 9.99718517e-01 -5.91576015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.17, Y:-37.29, Z:-5.92 [[ 9.91075153e-01 1.30958748e-01 2.48967323e-02 3.70171354e+02] [-1.30887599e-01 9.91387122e-01 -4.47323956e-03 -3.72948569e+01] [-2.52681097e-02 1.17464306e-03 9.99680020e-01 -5.91559127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.20, Y:-37.30, Z:-5.92 [[ 9.90754185e-01 1.33174916e-01 2.58956834e-02 3.70200000e+02] [-1.33098746e-01 9.91091869e-01 -4.65085648e-03 -3.72978604e+01] [-2.62843787e-02 1.16117255e-03 9.99653832e-01 -5.91575561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.23, Y:-37.30, Z:-5.92 [[ 9.90196839e-01 1.37387483e-01 2.51972098e-02 3.70227024e+02] [-1.37316756e-01 9.90516855e-01 -4.52429780e-03 -3.72989342e+01] [-2.55798429e-02 1.01994628e-03 9.99672262e-01 -5.91716913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.25, Y:-37.30, Z:-5.92 [[ 9.90017869e-01 1.38812690e-01 2.44060832e-02 3.70253682e+02] [-1.38746816e-01 9.90318198e-01 -4.38030144e-03 -3.73022193e+01] [-2.47778298e-02 9.50310363e-04 9.99692531e-01 -5.91860147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.28, Y:-37.31, Z:-5.92 [[ 9.89890947e-01 1.39716664e-01 2.43960560e-02 3.70280037e+02] [-1.39651166e-01 9.90191091e-01 -4.37656954e-03 -3.73053208e+01] [-2.47682370e-02 9.25388896e-04 9.99692792e-01 -5.91952026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.31, Y:-37.31, Z:-5.92 [[ 9.89488318e-01 1.42293321e-01 2.57969043e-02 3.70308001e+02] [-1.42221014e-01 9.89824119e-01 -4.62572211e-03 -3.73075785e+01] [-2.61926074e-02 9.08236101e-04 9.99656502e-01 -5.91944922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:370.34, Y:-37.31, Z:-5.92 [[ 9.89231503e-01 1.43966542e-01 2.63565484e-02 3.70335167e+02] [-1.43891706e-01 9.89582164e-01 -4.72418071e-03 -3.73108021e+01] [-2.67620941e-02 8.80819671e-04 9.99641443e-01 -5.92043773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.145898227 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:370.36, Y:-37.31, Z:-5.92 [[ 9.88912582e-01 1.46053741e-01 2.68367141e-02 3.70362568e+02] [-1.45976981e-01 9.89276303e-01 -4.80800903e-03 -3.73142264e+01] [-2.72511530e-02 8.37158112e-04 9.99628268e-01 -5.92115096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.39, Y:-37.32, Z:-5.92 [[ 9.88604925e-01 1.48105826e-01 2.69252049e-02 3.70390215e+02] [-1.48029369e-01 9.88971210e-01 -4.82204978e-03 -3.73178470e+01] [-2.73424262e-02 7.81381063e-04 9.99625821e-01 -5.92260446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.205898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:370.42, Y:-37.32, Z:-5.92 [[ 9.88004183e-01 1.52353242e-01 2.52234894e-02 3.70417086e+02] [-1.52287569e-01 9.88325910e-01 -4.51565913e-03 -3.73201950e+01] [-2.56170034e-02 6.20266222e-04 9.99671638e-01 -5.92382737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23589822699995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:370.45, Y:-37.32, Z:-5.92 [[ 9.87680763e-01 1.54584732e-01 2.42955040e-02 3.70445152e+02] [-1.54524526e-01 9.87979387e-01 -4.34760200e-03 -3.73238844e+01] [-2.46755300e-02 5.39791617e-04 9.99695367e-01 -5.92465759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.265898227 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:370.47, Y:-37.33, Z:-5.93 [[ 9.87328440e-01 1.56940306e-01 2.35008908e-02 3.70472839e+02] [-1.56884677e-01 9.87607982e-01 -4.20394014e-03 -3.73283670e+01] [-2.38694349e-02 4.63740011e-04 9.99714977e-01 -5.92603775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29589822699995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:370.50, Y:-37.33, Z:-5.93 [[ 9.87143941e-01 1.58206156e-01 2.27519597e-02 3.70500188e+02] [-1.58154386e-01 9.87406015e-01 -4.06847262e-03 -3.73329763e+01] [-2.31090793e-02 4.17845864e-04 9.99732862e-01 -5.92738729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.325898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:370.53, Y:-37.34, Z:-5.93 [[ 9.87179786e-01 1.58081721e-01 2.20508439e-02 3.70526808e+02] [-1.58033091e-01 9.87425949e-01 -3.94181748e-03 -3.73388138e+01] [-2.23967047e-02 4.06519531e-04 9.99749080e-01 -5.92837083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:370.55, Y:-37.34, Z:-5.93 [[ 9.87261125e-01 1.57615041e-01 2.17478532e-02 3.70553279e+02] [-1.57567689e-01 9.87500548e-01 -3.88479173e-03 -3.73442869e+01] [-2.20883186e-02 4.08544888e-04 9.99755940e-01 -5.92900459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.385898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:370.58, Y:-37.35, Z:-5.93 [[ 9.87242363e-01 1.57798631e-01 2.12628362e-02 3.70580819e+02] [-1.57753473e-01 9.87471234e-01 -3.79522582e-03 -3.73502589e+01] [-2.15953205e-02 3.92521466e-04 9.99766717e-01 -5.92954805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41589822699996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:370.61, Y:-37.36, Z:-5.93 [[ 9.87111637e-01 1.58691102e-01 2.06821096e-02 3.70607882e+02] [-1.58648602e-01 9.87328215e-01 -3.69022221e-03 -3.73558954e+01] [-2.10056358e-02 3.61473522e-04 9.99779292e-01 -5.92976941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.445898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:370.63, Y:-37.36, Z:-5.93 [[ 9.86875212e-01 1.60209119e-01 2.02572098e-02 3.70633984e+02] [-1.60168694e-01 9.87083044e-01 -3.61308176e-03 -3.73608352e+01] [-2.05743970e-02 3.21089982e-04 9.99788273e-01 -5.93059575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47589822699996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:370.66, Y:-37.36, Z:-5.93 [[ 9.86309767e-01 1.63617925e-01 2.05479297e-02 3.70661757e+02] [-1.63577108e-01 9.86523751e-01 -3.66313031e-03 -3.73648654e+01] [-2.08703744e-02 2.51810297e-04 9.99782158e-01 -5.93019974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.505898227 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:370.69, Y:-37.37, Z:-5.93 [[ 9.86075109e-01 1.64973499e-01 2.09672280e-02 3.70689072e+02] [-1.64931337e-01 9.86297974e-01 -3.73636319e-03 -3.73690348e+01] [-2.12963354e-02 2.26181791e-04 9.99773182e-01 -5.93098371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53589822699996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:370.72, Y:-37.38, Z:-5.94 [[ 9.85744837e-01 1.65884168e-01 2.80991063e-02 3.70715061e+02] [-1.66287816e-01 9.85995741e-01 1.26791778e-02 -3.73813217e+01] [-2.56023243e-02 -1.71709731e-02 9.99524726e-01 -5.93632498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.565898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:370.75, Y:-37.37, Z:-5.93 [[ 9.85602695e-01 1.68338880e-01 1.57907742e-02 3.70745600e+02] [-1.68006997e-01 9.85574421e-01 -2.04134808e-02 -3.73730967e+01] [-1.89993656e-02 1.74666211e-02 9.99666915e-01 -5.93133785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59589822699996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:370.77, Y:-37.38, Z:-5.93 [[ 9.85559035e-01 1.68420080e-01 1.75517756e-02 3.70771618e+02] [-1.68391182e-01 9.85715305e-01 -3.12216029e-03 -3.73843627e+01] [-1.78268883e-02 1.21509040e-04 9.99841081e-01 -5.93416212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.625898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:370.80, Y:-37.39, Z:-5.93 [[ 9.85498382e-01 1.68788758e-01 1.74153611e-02 3.70799076e+02] [-1.68760386e-01 9.85652242e-01 -3.09672480e-03 -3.73883853e+01] [-1.76881820e-02 1.12794217e-04 9.99843546e-01 -5.93477851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.83, Y:-37.39, Z:-5.93 [[ 9.85402061e-01 1.69265018e-01 1.82244973e-02 3.70826067e+02] [-1.69234055e-01 9.85570567e-01 -3.23925935e-03 -3.73926653e+01] [-1.85098214e-02 1.07767266e-04 9.99828673e-01 -5.93498961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68589822699994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:370.85, Y:-37.40, Z:-5.93 [[ 9.85398384e-01 1.69079886e-01 2.00503481e-02 3.70853421e+02] [-1.69042410e-01 9.85602343e-01 -3.56174577e-03 -3.73971823e+01] [-2.03638897e-02 1.20379362e-04 9.99792627e-01 -5.93409674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:370.88, Y:-37.40, Z:-5.93 [[ 9.85564615e-01 1.68050339e-01 2.05298172e-02 3.70880370e+02] [-1.68010850e-01 9.85778404e-01 -3.64574131e-03 -3.74021152e+01] [-2.08505185e-02 1.43881595e-04 9.99782594e-01 -5.93445076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74589822699994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:370.91, Y:-37.41, Z:-5.94 [[ 9.85776841e-01 1.66814671e-01 2.04177697e-02 3.70907245e+02] [-1.66775404e-01 9.85988254e-01 -3.62312845e-03 -3.74075582e+01] [-2.07360721e-02 1.66414332e-04 9.99784971e-01 -5.93509712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77589822699997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:370.93, Y:-37.41, Z:-5.94 [[ 9.85983393e-01 1.65571595e-01 2.05620025e-02 3.70934747e+02] [-1.65531561e-01 9.86197754e-01 -3.64579771e-03 -3.74138800e+01] [-2.08818412e-02 1.91035633e-04 9.99781932e-01 -5.93620053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80589822699994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:370.96, Y:-37.42, Z:-5.94 [[ 9.86126273e-01 1.64356310e-01 2.32803954e-02 3.70961873e+02] [-1.64304693e-01 9.86401006e-01 -4.12597858e-03 -3.74232692e+01] [-2.36419360e-02 2.43657658e-04 9.99720461e-01 -5.93671431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.835898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:370.99, Y:-37.43, Z:-5.94 [[ 9.86004344e-01 1.64808359e-01 2.51721698e-02 3.70989037e+02] [-1.64748208e-01 9.86325576e-01 -4.45930200e-03 -3.74306227e+01] [-2.55628852e-02 2.49821259e-04 9.99673185e-01 -5.93713317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.02, Y:-37.44, Z:-5.94 [[ 9.85830371e-01 1.65655941e-01 2.63929874e-02 3.71016026e+02] [-1.65590170e-01 9.86183580e-01 -4.67359858e-03 -3.74380274e+01] [-2.68025402e-02 2.36956159e-04 9.99640719e-01 -5.93701747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.04, Y:-37.45, Z:-5.94 [[ 9.85562154e-01 1.67187893e-01 2.67478627e-02 3.71042697e+02] [-1.67120957e-01 9.85925033e-01 -4.73451032e-03 -3.74455172e+01] [-2.71629402e-02 1.96025774e-04 9.99631000e-01 -5.93752657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.07, Y:-37.45, Z:-5.94 [[ 9.84766643e-01 1.72180345e-01 2.42608436e-02 3.71069852e+02] [-1.72126832e-01 9.85065443e-01 -4.29274644e-03 -3.74547595e+01] [-2.46376452e-02 5.14113527e-05 9.99696446e-01 -5.93914249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.955898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.10, Y:-37.46, Z:-5.94 [[ 9.84278871e-01 1.75072701e-01 2.33378160e-02 3.71097512e+02] [-1.75024033e-01 9.84555508e-01 -4.12782232e-03 -3.74617905e+01] [-2.37000443e-02 -2.17503859e-05 9.99719114e-01 -5.93973851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:371.12, Y:-37.47, Z:-5.94 [[ 9.83323954e-01 1.80332141e-01 2.35440164e-02 3.71123202e+02] [-1.80284155e-01 9.83605763e-01 -4.16262304e-03 -3.74713093e+01] [-2.39086849e-02 -1.51406154e-04 9.99714135e-01 -5.94022907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.15, Y:-37.48, Z:-5.94 [[ 9.83000907e-01 1.82013140e-01 2.40922048e-02 3.71150652e+02] [-1.81963449e-01 9.83296078e-01 -4.25744907e-03 -3.74788414e+01] [-2.44646822e-02 -1.98824388e-04 9.99700675e-01 -5.94063993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.18, Y:-37.49, Z:-5.94 [[ 9.82698215e-01 1.83596275e-01 2.44259167e-02 3.71177937e+02] [-1.83545730e-01 9.83001703e-01 -4.31467842e-03 -3.74861261e+01] [-2.48028766e-02 -2.43245928e-04 9.99692332e-01 -5.94164977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.075898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:371.20, Y:-37.49, Z:-5.94 [[ 9.82437843e-01 1.85036403e-01 2.40294570e-02 3.71204536e+02] [-1.84987958e-01 9.82731628e-01 -4.24294507e-03 -3.74936276e+01] [-2.43996067e-02 -2.76730377e-04 9.99702247e-01 -5.94284609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.23, Y:-37.50, Z:-5.94 [[ 9.82280961e-01 1.85977114e-01 2.31652080e-02 3.71230083e+02] [-1.85932390e-01 9.82554033e-01 -4.08878149e-03 -3.75012054e+01] [-2.35214883e-02 -2.90830269e-04 9.99723289e-01 -5.94415142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.135898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.26, Y:-37.51, Z:-5.94 [[ 9.82097762e-01 1.87112880e-01 2.17429403e-02 3.71255844e+02] [-1.87073796e-01 9.82338374e-01 -3.83600137e-03 -3.75138469e+01] [-2.20766898e-02 -3.00206000e-04 9.99756235e-01 -5.94451912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.28, Y:-37.52, Z:-5.94 [[ 9.82029366e-01 1.87537273e-01 2.11682713e-02 3.71281288e+02] [-1.87500356e-01 9.82257441e-01 -3.73319974e-03 -3.75225040e+01] [-2.14928061e-02 -3.02946641e-04 9.99768957e-01 -5.94420122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.31, Y:-37.53, Z:-5.94 [[ 9.81851862e-01 1.88509305e-01 2.07644749e-02 3.71308475e+02] [-1.88474039e-01 9.82071352e-01 -3.66020487e-03 -3.75312907e+01] [-2.10821786e-02 -3.19785484e-04 9.99777695e-01 -5.94484960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.34, Y:-37.54, Z:-5.95 [[ 9.81884202e-01 1.88340769e-01 2.07646207e-02 3.71336542e+02] [-1.88305483e-01 9.82103688e-01 -3.65937806e-03 -3.75360364e+01] [-2.10822206e-02 -3.17006407e-04 9.99777695e-01 -5.94561736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.36, Y:-37.55, Z:-5.95 [[ 9.81289758e-01 1.91506629e-01 1.98902366e-02 3.71362053e+02] [-1.91474982e-01 9.81491249e-01 -3.50132922e-03 -3.75493676e+01] [-2.01926209e-02 -3.72664187e-04 9.99796039e-01 -5.94526783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.39, Y:-37.56, Z:-5.95 [[ 9.80819187e-01 1.93952273e-01 1.93968458e-02 3.71388872e+02] [-1.93922686e-01 9.81010879e-01 -3.41284972e-03 -3.75581287e+01] [-1.96904467e-02 -4.14099950e-04 9.99806039e-01 -5.94585957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.42, Y:-37.57, Z:-5.95 [[ 9.80178530e-01 1.97200168e-01 1.90300613e-02 3.71416040e+02] [-1.97172325e-01 9.80363132e-01 -3.34704083e-03 -3.75668214e+01] [-1.93164076e-02 -4.71503888e-04 9.99813310e-01 -5.94622319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.44, Y:-37.58, Z:-5.95 [[ 9.78600451e-01 2.04862117e-01 1.93046754e-02 3.71441678e+02] [-2.04834979e-01 9.78790638e-01 -3.39400147e-03 -3.75764151e+01] [-1.95905378e-02 -6.32901405e-04 9.99807887e-01 -5.94607927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.47, Y:-37.58, Z:-5.95 [[ 9.77778592e-01 2.08690212e-01 1.99354278e-02 3.71468899e+02] [-2.08662101e-01 9.77981521e-01 -3.50307990e-03 -3.75827581e+01] [-2.02275385e-02 -7.34531739e-04 9.99795133e-01 -5.94571187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40589822699997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:371.50, Y:-37.59, Z:-5.95 [[ 9.77030241e-01 2.12118851e-01 2.04328662e-02 3.71495168e+02] [-2.12090093e-01 9.77243526e-01 -3.58932634e-03 -3.75883669e+01] [-2.07292500e-02 -8.26728113e-04 9.99784784e-01 -5.94637423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.52, Y:-37.59, Z:-5.95 [[ 9.76499741e-01 2.14521920e-01 2.07027035e-02 3.71522061e+02] [-2.14493000e-01 9.76718767e-01 -3.63363683e-03 -3.75941171e+01] [-2.10002138e-02 -8.92339565e-04 9.99779073e-01 -5.94766873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.55, Y:-37.60, Z:-5.95 [[ 9.75943444e-01 2.16936729e-01 2.17451009e-02 3.71548776e+02] [-2.16905456e-01 9.76185161e-01 -3.81500986e-03 -3.76008078e+01] [-2.20548606e-02 -9.93397163e-04 9.99756268e-01 -5.94891962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.57, Y:-37.61, Z:-5.95 [[ 9.76018169e-01 2.16554595e-01 2.21955388e-02 3.71574965e+02] [-2.16521946e-01 9.76269990e-01 -3.89265416e-03 -3.76061880e+01] [-2.25118106e-02 -1.00652009e-03 9.99746070e-01 -5.94970140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.52589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:371.60, Y:-37.61, Z:-5.95 [[ 9.76224586e-01 2.15618368e-01 2.22323227e-02 3.71602103e+02] [-2.15585439e-01 9.76477209e-01 -3.89593828e-03 -3.76121019e+01] [-2.25493923e-02 -9.89654334e-04 9.99745240e-01 -5.94988832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.63, Y:-37.62, Z:-5.95 [[ 9.76506359e-01 2.14328917e-01 2.23259127e-02 3.71629065e+02] [-2.14295409e-01 9.76761068e-01 -3.91081132e-03 -3.76192663e+01] [-2.26452823e-02 -9.65408472e-04 9.99743097e-01 -5.95096703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.66, Y:-37.63, Z:-5.95 [[ 9.77011697e-01 2.11982404e-01 2.26186915e-02 3.71655909e+02] [-2.11947421e-01 9.77273046e-01 -3.96047465e-03 -3.76280259e+01] [-2.29441885e-02 -9.24543269e-04 9.99736320e-01 -5.95130940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.68, Y:-37.63, Z:-5.95 [[ 9.77027250e-01 2.11865385e-01 2.30393417e-02 3.71682328e+02] [-2.11829094e-01 9.77298406e-01 -4.03244939e-03 -3.76341242e+01] [-2.33706483e-02 -9.40589950e-04 9.99726427e-01 -5.95228962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.645898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:371.71, Y:-37.64, Z:-5.95 [[ 9.76750567e-01 2.13118400e-01 2.32137488e-02 3.71709156e+02] [-2.13081959e-01 9.77025889e-01 -4.06094805e-03 -3.76403432e+01] [-2.35458963e-02 -9.79897775e-04 9.99722277e-01 -5.95316046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.74, Y:-37.65, Z:-5.95 [[ 9.76456634e-01 2.14478233e-01 2.30549064e-02 3.71736216e+02] [-2.14442706e-01 9.76728249e-01 -4.03152936e-03 -3.76462270e+01] [-2.33830537e-02 -1.00734293e-03 9.99726072e-01 -5.95413048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.705898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.76, Y:-37.65, Z:-5.96 [[ 9.76093583e-01 2.16119855e-01 2.30981698e-02 3.71764105e+02] [-2.16084691e-01 9.76366276e-01 -4.03742977e-03 -3.76518904e+01] [-2.34248428e-02 -1.05025161e-03 9.99725049e-01 -5.95524359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.79, Y:-37.66, Z:-5.96 [[ 9.75139874e-01 2.20308920e-01 2.37950822e-02 3.71790885e+02] [-2.20272887e-01 9.75429429e-01 -4.15751786e-03 -3.76582195e+01] [-2.41263617e-02 -1.18725002e-03 9.99708212e-01 -5.95575672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.82, Y:-37.66, Z:-5.96 [[ 9.74697479e-01 2.22270193e-01 2.36809016e-02 3.71818053e+02] [-2.22235130e-01 9.74984330e-01 -4.13557628e-03 -3.76643156e+01] [-2.40077233e-02 -1.23179247e-03 9.99711014e-01 -5.95667803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.85, Y:-37.67, Z:-5.96 [[ 9.74432061e-01 2.23510387e-01 2.29186575e-02 3.71845451e+02] [-2.23477923e-01 9.74700780e-01 -4.00089633e-03 -3.76706065e+01] [-2.32330753e-02 -1.22321232e-03 9.99729327e-01 -5.95752975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.87, Y:-37.68, Z:-5.96 [[ 9.74382738e-01 2.23894365e-01 2.12036239e-02 3.71871530e+02] [-2.23866697e-01 9.74612749e-01 -3.70020783e-03 -3.76780266e+01] [-2.14937779e-02 -1.14136660e-03 9.99768331e-01 -5.95874428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.90, Y:-37.68, Z:-5.96 [[ 9.74399488e-01 2.23855055e-01 2.08459011e-02 3.71898635e+02] [-2.23828340e-01 9.74621800e-01 -3.63604344e-03 -3.76839488e+01] [-2.11308164e-02 -1.12294456e-03 9.99776089e-01 -5.95943425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.93, Y:-37.69, Z:-5.96 [[ 9.74406539e-01 2.23842215e-01 2.06533184e-02 3.71925026e+02] [-2.23816017e-01 9.74624760e-01 -3.60108113e-03 -3.76897226e+01] [-2.09353095e-02 -1.11362647e-03 9.99780212e-01 -5.96025141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.95, Y:-37.70, Z:-5.96 [[ 9.74482620e-01 2.23548994e-01 2.02353934e-02 3.71952744e+02] [-2.23523818e-01 9.74692088e-01 -3.52653019e-03 -3.76952446e+01] [-2.05116301e-02 -1.08655000e-03 9.99789024e-01 -5.96102200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.945898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:371.98, Y:-37.70, Z:-5.96 [[ 9.74452841e-01 2.23862021e-01 1.80957509e-02 3.71980268e+02] [-2.23841960e-01 9.74620356e-01 -3.15256860e-03 -3.77012063e+01] [-1.83422275e-02 -9.78558919e-04 9.99831288e-01 -5.96266003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.01, Y:-37.71, Z:-5.96 [[ 9.74593475e-01 2.23330687e-01 1.70576494e-02 3.72007721e+02] [-2.23312799e-01 9.74742309e-01 -2.97066462e-03 -3.77060804e+01] [-1.72902531e-02 -9.14001080e-04 9.99850095e-01 -5.96403326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.03, Y:-37.71, Z:-5.96 [[ 9.74853593e-01 2.22207214e-01 1.68649319e-02 3.72034251e+02] [-2.22189580e-01 9.74999062e-01 -2.93598707e-03 -3.77108897e+01] [-1.70956902e-02 -8.85054575e-04 9.99853466e-01 -5.96488618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.06, Y:-37.72, Z:-5.96 [[ 9.75320528e-01 2.20081703e-01 1.77175583e-02 3.72061118e+02] [-2.20061921e-01 9.75481034e-01 -3.08272324e-03 -3.77163750e+01] [-1.79615931e-02 -8.92316658e-04 9.99838279e-01 -5.96480406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.065898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:372.09, Y:-37.72, Z:-5.96 [[ 9.76535805e-01 2.14385860e-01 2.04089523e-02 3.72088202e+02] [-2.14358411e-01 9.76748625e-01 -3.54894220e-03 -3.77245695e+01] [-2.06952592e-02 -9.09161465e-04 9.99785417e-01 -5.96410485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:372.11, Y:-37.73, Z:-5.96 [[ 9.77222946e-01 2.11204485e-01 2.06876720e-02 3.72114203e+02] [-2.11175596e-01 9.77441525e-01 -3.59618608e-03 -3.77306076e+01] [-2.09805203e-02 -8.54455896e-04 9.99779520e-01 -5.96410225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.14, Y:-37.74, Z:-5.96 [[ 9.77761040e-01 2.08702721e-01 2.06524598e-02 3.72141009e+02] [-2.08673426e-01 9.77978799e-01 -3.58748921e-03 -3.77370350e+01] [-2.09463866e-02 -8.01912353e-04 9.99780279e-01 -5.96491344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.17, Y:-37.75, Z:-5.97 [[ 9.78218334e-01 2.06469337e-01 2.14313591e-02 3.72166923e+02] [-2.06437289e-01 9.78452757e-01 -3.72123852e-03 -3.77456652e+01] [-2.17378940e-02 -7.84047916e-04 9.99763397e-01 -5.96547281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.19, Y:-37.75, Z:-5.97 [[ 9.78244839e-01 2.06247427e-01 2.23390651e-02 3.72194473e+02] [-2.06212594e-01 9.78499533e-01 -3.87684248e-03 -3.77527081e+01] [-2.26583536e-02 -8.14095412e-04 9.99742935e-01 -5.96616770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.22, Y:-37.76, Z:-5.97 [[ 9.78132855e-01 2.06733762e-01 2.27435457e-02 3.72220380e+02] [-2.06697825e-01 9.78396874e-01 -3.94541303e-03 -3.77599762e+01] [-2.30678641e-02 -8.41903308e-04 9.99733547e-01 -5.96655472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.25, Y:-37.77, Z:-5.97 [[ 9.78080242e-01 2.06992459e-01 2.26530755e-02 3.72247885e+02] [-2.06956920e-01 9.78342172e-01 -3.92779844e-03 -3.77677127e+01] [-2.29754837e-02 -8.46508693e-04 9.99735670e-01 -5.96733961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.28, Y:-37.78, Z:-5.97 [[ 9.78150070e-01 2.06685845e-01 2.24366425e-02 3.72275043e+02] [-2.06650941e-01 9.78407005e-01 -3.88857360e-03 -3.77794928e+01] [-2.27558813e-02 -8.32944746e-04 9.99740704e-01 -5.96866657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.30, Y:-37.79, Z:-5.97 [[ 9.78313936e-01 2.05916356e-01 2.23673198e-02 3.72303072e+02] [-2.05881491e-01 9.78569258e-01 -3.87550112e-03 -3.77881443e+01] [-2.26860006e-02 -8.13560392e-04 9.99742309e-01 -5.96970811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.33, Y:-37.80, Z:-5.97 [[ 9.78496465e-01 2.05046837e-01 2.23710038e-02 3.72330176e+02] [-2.05011756e-01 9.78751840e-01 -3.87509171e-03 -3.77969715e+01] [-2.26902364e-02 -7.94555234e-04 9.99742228e-01 -5.97049858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.36, Y:-37.81, Z:-5.97 [[ 9.78761931e-01 2.03714723e-01 2.29214790e-02 3.72358002e+02] [-2.03677568e-01 9.79029978e-01 -3.96879261e-03 -3.78059995e+01] [-2.32493165e-02 -7.84087979e-04 9.99729391e-01 -5.97125985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.395898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:372.38, Y:-37.81, Z:-5.97 [[ 9.79019549e-01 2.02366183e-01 2.38463894e-02 3.72384746e+02] [-2.02325598e-01 9.79309611e-01 -4.12775961e-03 -3.78148683e+01] [-2.41883173e-02 -7.83577635e-04 9.99707113e-01 -5.97154021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.41, Y:-37.83, Z:-5.97 [[ 9.79746443e-01 1.98696243e-01 2.48336627e-02 3.72412755e+02] [-1.98651090e-01 9.80060855e-01 -4.29702470e-03 -3.78283419e+01] [-2.51923034e-02 -7.23239500e-04 9.99682362e-01 -5.97273869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.455898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:372.44, Y:-37.84, Z:-5.97 [[ 9.80227758e-01 1.96348070e-01 2.45148431e-02 3.72441711e+02] [-1.96303350e-01 9.80534041e-01 -4.24128472e-03 -3.78375329e+01] [-2.48704063e-02 -6.54920813e-04 9.99690469e-01 -5.97395793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.47, Y:-37.85, Z:-5.98 [[ 9.80712317e-01 1.93970027e-01 2.40619941e-02 3.72471454e+02] [-1.93926243e-01 9.81007282e-01 -4.16231940e-03 -3.78466492e+01] [-2.44123566e-02 -5.84214199e-04 9.99701803e-01 -5.97543351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.50, Y:-37.86, Z:-5.98 [[ 9.81148307e-01 1.91778557e-01 2.38534077e-02 3.72500520e+02] [-1.91734883e-01 9.81438082e-01 -4.12620502e-03 -3.78551166e+01] [-2.42019604e-02 -5.25111266e-04 9.99706952e-01 -5.97627294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.54589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:372.53, Y:-37.86, Z:-5.98 [[ 9.81504844e-01 1.89938656e-01 2.39070644e-02 3.72530238e+02] [-1.89894232e-01 9.81795842e-01 -4.13577394e-03 -3.78634271e+01] [-2.42573998e-02 -4.80531475e-04 9.99705630e-01 -5.97676712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.56, Y:-37.87, Z:-5.98 [[ 9.82039174e-01 1.87208625e-01 2.34944791e-02 3.72561310e+02] [-1.87164945e-01 9.82320093e-01 -4.06419224e-03 -3.78741723e+01] [-2.38399507e-02 -4.06146896e-04 9.99715705e-01 -5.97741614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.59, Y:-37.88, Z:-5.98 [[ 9.82176454e-01 1.86536225e-01 2.31008744e-02 3.72592797e+02] [-1.86493721e-01 9.82448010e-01 -3.99989707e-03 -3.78816332e+01] [-2.34415338e-02 -3.79563305e-04 9.99725137e-01 -5.97847203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.62, Y:-37.89, Z:-5.98 [[ 9.82312758e-01 1.85796649e-01 2.32647882e-02 3.72623284e+02] [-1.85753236e-01 9.82588151e-01 -4.03235109e-03 -3.78891978e+01] [-2.36089026e-02 -3.60479783e-04 9.99721206e-01 -5.97971326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.65, Y:-37.90, Z:-5.98 [[ 9.82345242e-01 1.85529885e-01 2.40101626e-02 3.72653683e+02] [-1.85483469e-01 9.82638556e-01 -4.16551118e-03 -3.78953483e+01] [-2.43661383e-02 -3.61518172e-04 9.99703036e-01 -5.98028665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.68, Y:-37.90, Z:-5.98 [[ 9.82406478e-01 1.85112840e-01 2.47133254e-02 3.72684843e+02] [-1.85063435e-01 9.82717207e-01 -4.29143945e-03 -3.79014728e+01] [-2.50806107e-02 -3.57594981e-04 9.99685368e-01 -5.98121732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.72, Y:-37.91, Z:-5.98 [[ 9.82565588e-01 1.84211524e-01 2.51193061e-02 3.72715136e+02] [-1.84160066e-01 9.82886566e-01 -4.36668114e-03 -3.79069134e+01] [-2.54938215e-02 -3.35422447e-04 9.99674923e-01 -5.98257413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.75, Y:-37.91, Z:-5.98 [[ 9.83228350e-01 1.80802733e-01 2.39245247e-02 3.72747651e+02] [-1.80755025e-01 9.83519353e-01 -4.15982674e-03 -3.79134847e+01] [-2.42823411e-02 -2.34418477e-04 9.99705113e-01 -5.98418565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.78, Y:-37.92, Z:-5.99 [[ 9.83671506e-01 1.78410611e-01 2.36647907e-02 3.72779586e+02] [-1.78363135e-01 9.83956109e-01 -4.11906335e-03 -3.79198334e+01] [-2.40200000e-02 -1.69121015e-04 9.99711464e-01 -5.98518828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.81, Y:-37.93, Z:-5.99 [[ 9.84132494e-01 1.75842244e-01 2.37221202e-02 3.72811882e+02] [-1.75793681e-01 9.84418354e-01 -4.13365685e-03 -3.79254921e+01] [-2.40793620e-02 -1.02132788e-04 9.99710045e-01 -5.98572371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.84, Y:-37.93, Z:-5.99 [[ 9.84517598e-01 1.73588606e-01 2.43330024e-02 3.72843104e+02] [-1.73536698e-01 9.84818254e-01 -4.24501436e-03 -3.79306372e+01] [-2.47004711e-02 -4.33775580e-05 9.99694896e-01 -5.98670337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.87, Y:-37.94, Z:-5.99 [[ 9.85243011e-01 1.69379253e-01 2.46348750e-02 3.72874927e+02] [-1.69324619e-01 9.85550944e-01 -4.30222520e-03 -3.79357493e+01] [-2.50076320e-02 6.74464804e-05 9.99687258e-01 -5.98796727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.91, Y:-37.94, Z:-5.99 [[ 9.85566168e-01 1.67549583e-01 2.42170717e-02 3.72907476e+02] [-1.67496130e-01 9.85863644e-01 -4.23349030e-03 -3.79409744e+01] [-2.45840501e-02 1.16119022e-04 9.99697760e-01 -5.98816084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.94, Y:-37.95, Z:-5.99 [[ 9.85840582e-01 1.65937411e-01 2.41479193e-02 3.72939338e+02] [-1.65883660e-01 9.86136273e-01 -4.22628201e-03 -3.79456182e+01] [-2.45144375e-02 1.60695068e-04 9.99699463e-01 -5.98899005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.97, Y:-37.95, Z:-5.99 [[ 9.86082050e-01 1.64480106e-01 2.42587311e-02 3.72970682e+02] [-1.64425306e-01 9.86380380e-01 -4.25027613e-03 -3.79497948e+01] [-2.46274222e-02 2.02371724e-04 9.99696679e-01 -5.99006255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.00, Y:-37.95, Z:-5.99 [[ 9.86517891e-01 1.61791633e-01 2.46154026e-02 3.73003091e+02] [-1.61734259e-01 9.86824904e-01 -4.31733154e-03 -3.79520810e+01] [-2.49896004e-02 2.77970924e-04 9.99687673e-01 -5.99075061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.03, Y:-37.96, Z:-5.99 [[ 9.86809224e-01 1.59977406e-01 2.47948575e-02 3.73034466e+02] [-1.59918503e-01 9.87120621e-01 -4.35342412e-03 -3.79560524e+01] [-2.51719646e-02 3.30842569e-04 9.99683081e-01 -5.99167845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.07, Y:-37.96, Z:-5.99 [[ 9.87198726e-01 1.57486617e-01 2.52317373e-02 3.73066877e+02] [-1.57424730e-01 9.87521039e-01 -4.43311930e-03 -3.79604292e+01] [-2.56150284e-02 4.04270311e-04 9.99671800e-01 -5.99295387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.10, Y:-37.96, Z:-5.99 [[ 9.87691534e-01 1.54312190e-01 2.55574260e-02 3.73098422e+02] [-1.54247497e-01 9.88022014e-01 -4.49550513e-03 -3.79644949e+01] [-2.59450107e-02 4.98003371e-04 9.99663248e-01 -5.99388396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.13, Y:-37.97, Z:-6.00 [[ 9.88203566e-01 1.51005966e-01 2.55129354e-02 3.73131255e+02] [-1.50940274e-01 9.88532676e-01 -4.49241576e-03 -3.79694701e+01] [-2.58987519e-02 5.88491807e-04 9.99664398e-01 -5.99506198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.16, Y:-37.98, Z:-6.00 [[ 9.88184027e-01 1.51133920e-01 2.55120825e-02 3.73164210e+02] [-1.51068146e-01 9.88513121e-01 -4.49725383e-03 -3.79754404e+01] [-2.58987159e-02 5.90051388e-04 9.99664398e-01 -5.99596553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.20, Y:-37.98, Z:-6.00 [[ 9.89149582e-01 1.44592452e-01 2.60024442e-02 3.73195710e+02] [-1.44521770e-01 9.89490988e-01 -4.58723949e-03 -3.79808196e+01] [-2.63924644e-02 7.79546751e-04 9.99651354e-01 -5.99709653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.23, Y:-37.99, Z:-6.00 [[ 9.89465320e-01 1.42334753e-01 2.64423533e-02 3.73227734e+02] [-1.42260767e-01 9.89818207e-01 -4.66805596e-03 -3.79864708e+01] [-2.68375494e-02 8.57170003e-04 9.99639441e-01 -5.99769567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.26, Y:-37.99, Z:-6.00 [[ 9.89716922e-01 1.40548582e-01 2.65802470e-02 3.73259605e+02] [-1.40473044e-01 9.90073360e-01 -4.69741720e-03 -3.79909361e+01] [-2.69766098e-02 9.15305100e-04 9.99635646e-01 -5.99881003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.29, Y:-38.00, Z:-6.00 [[ 9.89823188e-01 1.39879418e-01 2.61496693e-02 3.73292315e+02] [-1.39805955e-01 9.90168115e-01 -4.62579628e-03 -3.79950906e+01] [-2.65396224e-02 9.22840927e-04 9.99647336e-01 -5.99925979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.32, Y:-38.00, Z:-6.00 [[ 9.89716037e-01 1.40804743e-01 2.52228091e-02 3.73324164e+02] [-1.40736575e-01 9.90037002e-01 -4.46662000e-03 -3.79972955e+01] [-2.56004356e-02 8.70913686e-04 9.99671876e-01 -6.00033601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.36, Y:-38.00, Z:-6.00 [[ 9.89543941e-01 1.42087177e-01 2.47794749e-02 3.73356404e+02] [-1.42021674e-01 9.89853802e-01 -4.39255671e-03 -3.80015640e+01] [-2.51521835e-02 8.27405376e-04 9.99683291e-01 -6.00149323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.39, Y:-38.01, Z:-6.00 [[ 9.89368193e-01 1.43344913e-01 2.45522822e-02 3.73389463e+02] [-1.43280877e-01 9.89672475e-01 -4.35690683e-03 -3.80058916e+01] [-2.49232583e-02 7.92712519e-04 9.99689053e-01 -6.00271236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.42, Y:-38.01, Z:-6.00 [[ 9.89114889e-01 1.45034162e-01 2.48360472e-02 3.73421516e+02] [-1.44969045e-01 9.89426353e-01 -4.41217527e-03 -3.80085309e+01] [-2.52133557e-02 7.63690211e-04 9.99681801e-01 -6.00370364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.45, Y:-38.01, Z:-6.00 [[ 9.89009402e-01 1.45819867e-01 2.44329397e-02 3.73454124e+02] [-1.45757020e-01 9.89310885e-01 -4.34326175e-03 -3.80128710e+01] [-2.48051070e-02 7.34254230e-04 9.99692036e-01 -6.00486056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.49, Y:-38.02, Z:-6.01 [[ 9.88952141e-01 1.46317269e-01 2.37680331e-02 3.73486655e+02] [-1.46257834e-01 9.89237463e-01 -4.22944364e-03 -3.80178936e+01] [-2.41310694e-02 7.06456305e-04 9.99708554e-01 -6.00580300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.52, Y:-38.02, Z:-6.01 [[ 9.88965123e-01 1.46345630e-01 2.30421801e-02 3.73518899e+02] [-1.46289680e-01 9.89233280e-01 -4.10448332e-03 -3.80221774e+01] [-2.33947646e-02 6.88357700e-04 9.99726068e-01 -6.00689255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.55, Y:-38.02, Z:-6.01 [[ 9.88966288e-01 1.46764951e-01 2.01427315e-02 3.73550801e+02] [-1.46722206e-01 9.89171215e-01 -3.59182287e-03 -3.80232728e+01] [-2.04517639e-02 5.96805722e-04 9.99790663e-01 -6.00855382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.58, Y:-38.03, Z:-6.01 [[ 9.88920998e-01 1.47055262e-01 2.02486961e-02 3.73581718e+02] [-1.47012062e-01 9.89128098e-01 -3.61388575e-03 -3.80256786e+01] [-2.05599952e-02 5.97044933e-04 9.99788443e-01 -6.00966233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.61, Y:-38.03, Z:-6.01 [[ 9.88895291e-01 1.47080846e-01 2.12914813e-02 3.73612594e+02] [-1.47033074e-01 9.89124275e-01 -3.80059852e-03 -3.80279636e+01] [-2.16189163e-02 6.27842021e-04 9.99766087e-01 -6.01012419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.64, Y:-38.03, Z:-6.01 [[ 9.88879259e-01 1.46949265e-01 2.28850346e-02 3.73644939e+02] [-1.46894045e-01 9.89143799e-01 -4.08475416e-03 -3.80307794e+01] [-2.32368416e-02 6.77653384e-04 9.99729758e-01 -6.01084505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.68, Y:-38.03, Z:-6.01 [[ 9.89134418e-01 1.45049866e-01 2.39507937e-02 3.73676218e+02] [-1.44988718e-01 9.89424054e-01 -4.27939123e-03 -3.80305925e+01] [-2.43182165e-02 7.60298279e-04 9.99703979e-01 -6.01223675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.71, Y:-38.03, Z:-6.01 [[ 9.89408999e-01 1.43206800e-01 2.36990655e-02 3.73707593e+02] [-1.43146303e-01 9.89692462e-01 -4.23857857e-03 -3.80330169e+01] [-2.40617797e-02 8.01254167e-04 9.99710152e-01 -6.01375636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.74, Y:-38.04, Z:-6.02 [[ 9.89614334e-01 1.41762390e-01 2.38095443e-02 3.73739548e+02] [-1.41700906e-01 9.89900358e-01 -4.25847708e-03 -3.80355620e+01] [-2.41727683e-02 8.40415958e-04 9.99707443e-01 -6.01508655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.77, Y:-38.04, Z:-6.02 [[ 9.89789568e-01 1.40494127e-01 2.40418756e-02 3.73770382e+02] [-1.40430960e-01 9.90081117e-01 -4.30426847e-03 -3.80374166e+01] [-2.44081315e-02 8.84096370e-04 9.99701686e-01 -6.01560139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.80, Y:-38.03, Z:-6.01 [[ 9.90213812e-01 1.37362418e-01 2.46611707e-02 3.73802256e+02] [-1.37294876e-01 9.90520361e-01 -4.41946928e-03 -3.80341722e+01] [-2.50344607e-02 9.90367134e-04 9.99686098e-01 -6.01478735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.83, Y:-38.04, Z:-6.02 [[ 9.90546117e-01 1.34773149e-01 2.55849305e-02 3.73832992e+02] [-1.34699580e-01 9.90875874e-01 -4.58534847e-03 -3.80353973e+01] [-2.59694722e-02 1.09571974e-03 9.99662136e-01 -6.01558215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.86, Y:-38.04, Z:-6.02 [[ 9.90951960e-01 1.31511230e-01 2.68143520e-02 3.73863127e+02] [-1.31429227e-01 9.91313908e-01 -4.80568953e-03 -3.80370456e+01] [-2.72134422e-02 1.23801791e-03 9.99628879e-01 -6.01632938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.90, Y:-38.04, Z:-6.02 [[ 9.91368387e-01 1.28173147e-01 2.75747402e-02 3.73895641e+02] [-1.28085123e-01 9.91750863e-01 -4.94246270e-03 -3.80401140e+01] [-2.79807634e-02 1.36788727e-03 9.99607526e-01 -6.01744778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:373.93, Y:-38.04, Z:-6.02 [[ 9.92405395e-01 1.19939505e-01 2.73138790e-02 3.73926711e+02] [-1.19849904e-01 9.92779930e-01 -4.90018122e-03 -3.80416439e+01] [-2.77043961e-02 1.58940052e-03 9.99614896e-01 -6.01823892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.96, Y:-38.05, Z:-6.02 [[ 9.92802909e-01 1.16616111e-01 2.72592632e-02 3.73958596e+02] [-1.16525504e-01 9.93175639e-01 -4.89455559e-03 -3.80463594e+01] [-2.76440202e-02 1.68292965e-03 9.99616414e-01 -6.01911321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.99, Y:-38.05, Z:-6.02 [[ 9.93151764e-01 1.13732684e-01 2.67292046e-02 3.73991346e+02] [-1.13644410e-01 9.93509876e-01 -4.80366839e-03 -3.80501866e+01] [-2.71020628e-02 1.73314705e-03 9.99631169e-01 -6.02011923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.02, Y:-38.05, Z:-6.02 [[ 9.93434465e-01 1.11444675e-01 2.58466204e-02 3.74024012e+02] [-1.11361243e-01 9.93769115e-01 -4.64972000e-03 -3.80544878e+01] [-2.62037596e-02 1.74088034e-03 9.99655107e-01 -6.02123310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.06, Y:-38.06, Z:-6.02 [[ 9.93817072e-01 1.08445707e-01 2.38150267e-02 3.74056303e+02] [-1.08373918e-01 9.94100952e-01 -4.28848947e-03 -3.80569056e+01] [-2.41396090e-02 1.68104629e-03 9.99707184e-01 -6.02202538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.09, Y:-38.06, Z:-6.02 [[ 9.93820395e-01 1.08637472e-01 2.27798623e-02 3.74087848e+02] [-1.08571749e-01 9.94080136e-01 -4.10603823e-03 -3.80615800e+01] [-2.30910783e-02 1.60741504e-03 9.99732073e-01 -6.02278571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.12, Y:-38.07, Z:-6.02 [[ 9.93700648e-01 1.09792157e-01 2.24656325e-02 3.74118797e+02] [-1.09728433e-01 9.93953339e-01 -4.05357708e-03 -3.80665603e+01] [-2.27748414e-02 1.56292351e-03 9.99739398e-01 -6.02418975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.15, Y:-38.07, Z:-6.03 [[ 9.93529818e-01 1.11343221e-01 2.23872345e-02 3.74149784e+02] [-1.11280321e-01 9.93780846e-01 -4.03994745e-03 -3.80718563e+01] [-2.26978256e-02 1.52254962e-03 9.99741212e-01 -6.02547988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.18, Y:-38.08, Z:-6.03 [[ 9.93190978e-01 1.14344043e-01 2.22961971e-02 3.74179496e+02] [-1.14282393e-01 9.93440155e-01 -4.02409241e-03 -3.80763362e+01] [-2.26100685e-02 1.44862950e-03 9.99743310e-01 -6.02711374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.21, Y:-38.08, Z:-6.03 [[ 9.93070631e-01 1.15418223e-01 2.21213699e-02 3.74208948e+02] [-1.15357793e-01 9.93315980e-01 -3.99289737e-03 -3.80798459e+01] [-2.24343633e-02 1.41335670e-03 9.99747319e-01 -6.02807857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.24, Y:-38.08, Z:-6.03 [[ 9.92922844e-01 1.16752316e-01 2.17513649e-02 3.74239400e+02] [-1.16694216e-01 9.93160132e-01 -3.92581984e-03 -3.80831489e+01] [-2.20609370e-02 1.35977772e-03 9.99755703e-01 -6.02892569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.27, Y:-38.09, Z:-6.03 [[ 9.92793510e-01 1.17936489e-01 2.12610134e-02 3.74268901e+02] [-1.17881249e-01 9.93020285e-01 -3.83737988e-03 -3.80862706e+01] [-2.15651847e-02 1.30345101e-03 9.99766595e-01 -6.02996793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.30, Y:-38.09, Z:-6.03 [[ 9.92692316e-01 1.19058921e-01 1.96707412e-02 3.74297585e+02] [-1.19011858e-01 9.92886485e-01 -3.55030304e-03 -3.80881926e+01] [-1.99535083e-02 1.18330710e-03 9.99800209e-01 -6.03196971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.33, Y:-38.09, Z:-6.03 [[ 9.92821906e-01 1.18045219e-01 1.92351080e-02 3.74326926e+02] [-1.18000043e-01 9.93007524e-01 -3.47086377e-03 -3.80927561e+01] [-1.95103258e-02 1.17620601e-03 9.99808964e-01 -6.03347561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.36, Y:-38.10, Z:-6.03 [[ 9.93055058e-01 1.16022900e-01 1.95022688e-02 3.74356179e+02] [-1.15976076e-01 9.93245774e-01 -3.51892350e-03 -3.80975386e+01] [-1.97788218e-02 1.23268817e-03 9.99803620e-01 -6.03432521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.39, Y:-38.10, Z:-6.03 [[ 9.93724396e-01 1.09950750e-01 2.05586547e-02 3.74385162e+02] [-1.09897432e-01 9.93936013e-01 -3.70896270e-03 -3.81031498e+01] [-2.08417906e-02 1.42634337e-03 9.99781769e-01 -6.03475604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.41, Y:-38.11, Z:-6.04 [[ 9.94043920e-01 1.06998115e-01 2.06902934e-02 3.74414814e+02] [-1.06943482e-01 9.94258096e-01 -3.73240874e-03 -3.81090686e+01] [-2.09708524e-02 1.49748620e-03 9.99778966e-01 -6.03524684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.45, Y:-38.12, Z:-6.04 [[ 9.94274403e-01 1.04757034e-01 2.10802062e-02 3.74445088e+02] [-1.04699821e-01 9.94496600e-01 -3.80274675e-03 -3.81151526e+01] [-2.13625579e-02 1.57387994e-03 9.99770556e-01 -6.03592140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.47, Y:-38.12, Z:-6.04 [[ 9.94395252e-01 1.03473847e-01 2.17082183e-02 3.74474428e+02] [-1.03412870e-01 9.94630808e-01 -3.91598291e-03 -3.81209727e+01] [-2.19968645e-02 1.64912565e-03 9.99756680e-01 -6.03615533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.50, Y:-38.13, Z:-6.04 [[ 9.94419407e-01 1.02773264e-01 2.38264462e-02 3.74504122e+02] [-1.02699597e-01 9.94703130e-01 -4.29838748e-03 -3.81268365e+01] [-2.41420000e-02 1.82743350e-03 9.99706869e-01 -6.03560011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.54, Y:-38.13, Z:-6.04 [[ 9.94372089e-01 1.03076532e-01 2.44821879e-02 3.74535428e+02] [-1.02998839e-01 9.94671669e-01 -4.41694014e-03 -3.81317015e+01] [-2.48070216e-02 1.87044507e-03 9.99690509e-01 -6.03579969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.57, Y:-38.14, Z:-6.04 [[ 9.94288127e-01 1.03859519e-01 2.45829514e-02 3.74566230e+02] [-1.03781409e-01 9.94590239e-01 -4.43566018e-03 -3.81357829e+01] [-2.49106490e-02 1.85907094e-03 9.99687953e-01 -6.03615258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.60, Y:-38.14, Z:-6.04 [[ 9.94189479e-01 1.04839340e-01 2.44129591e-02 3.74596714e+02] [-1.04762586e-01 9.94487502e-01 -4.40554598e-03 -3.81389209e+01] [-2.47402573e-02 1.82238273e-03 9.99692252e-01 -6.03712156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.63, Y:-38.14, Z:-6.04 [[ 9.93784748e-01 1.08514763e-01 2.48278425e-02 3.74627353e+02] [-1.08436510e-01 9.94093279e-01 -4.48073052e-03 -3.81387958e+01] [-2.51674167e-02 1.76063707e-03 9.99681700e-01 -6.03874855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.66, Y:-38.14, Z:-6.04 [[ 9.93561840e-01 1.10414504e-01 2.53674552e-02 3.74657936e+02] [-1.10333435e-01 9.93884086e-01 -4.57782214e-03 -3.81411335e+01] [-2.57177680e-02 1.74947092e-03 9.99667713e-01 -6.03954078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61589822699995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:374.69, Y:-38.14, Z:-6.04 [[ 9.93415923e-01 1.11752022e-01 2.52247611e-02 3.74687991e+02] [-1.11672292e-01 9.93734662e-01 -4.55208674e-03 -3.81427565e+01] [-2.55754244e-02 1.70520857e-03 9.99671441e-01 -6.04079982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.72, Y:-38.14, Z:-6.04 [[ 9.93430667e-01 1.12029462e-01 2.33433030e-02 3.74718230e+02] [-1.11961266e-01 9.93703644e-01 -4.21230493e-03 -3.81418828e+01] [-2.36682275e-02 1.57108713e-03 9.99718634e-01 -6.04214449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.75, Y:-38.14, Z:-6.04 [[ 9.93651295e-01 1.10207437e-01 2.26146846e-02 3.74747345e+02] [-1.10142967e-01 9.93907378e-01 -4.08063729e-03 -3.81445220e+01] [-2.29266185e-02 1.56388206e-03 9.99735927e-01 -6.04418446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.78, Y:-38.15, Z:-6.05 [[ 9.93952865e-01 1.07527431e-01 2.22610150e-02 3.74775910e+02] [-1.07464304e-01 9.94200831e-01 -4.01637408e-03 -3.81475153e+01] [-2.25637900e-02 1.59982204e-03 9.99744125e-01 -6.04540401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.80, Y:-38.15, Z:-6.05 [[ 9.94255622e-01 1.04664631e-01 2.23846640e-02 3.74804107e+02] [-1.04600097e-01 9.94506166e-01 -4.03791436e-03 -3.81506441e+01] [-2.26843132e-02 1.67328104e-03 9.99741278e-01 -6.04622594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.83, Y:-38.15, Z:-6.05 [[ 9.94509156e-01 1.02068100e-01 2.31006853e-02 3.74833575e+02] [-1.01998692e-01 9.94775808e-01 -4.16628465e-03 -3.81535543e+01] [-2.34052476e-02 1.78716855e-03 9.99724462e-01 -6.04708742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.86, Y:-38.15, Z:-6.05 [[ 9.94775728e-01 9.91191636e-02 2.44262467e-02 3.74863841e+02] [-9.90406896e-02 9.95073635e-01 -4.40478375e-03 -3.81531612e+01] [-2.47425126e-02 1.96257964e-03 9.99691931e-01 -6.04688173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.89, Y:-38.16, Z:-6.05 [[ 9.94819614e-01 9.87746098e-02 2.40314928e-02 3.74894165e+02] [-9.86985664e-02 9.95107943e-01 -4.33302453e-03 -3.81551562e+01] [-2.43419222e-02 1.93870390e-03 9.99701812e-01 -6.04735404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.92, Y:-38.16, Z:-6.05 [[ 9.94830701e-01 9.89892822e-02 2.26494786e-02 3.74922793e+02] [-9.89217875e-02 9.95086831e-01 -4.08397397e-03 -3.81564532e+01] [-2.29424676e-02 1.82233578e-03 9.99735126e-01 -6.04800421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.95, Y:-38.16, Z:-6.05 [[ 9.94793586e-01 9.96154566e-02 2.15053993e-02 3.74952761e+02] [-9.95547717e-02 9.95024531e-01 -3.87691547e-03 -3.81575251e+01] [-2.17846005e-02 1.71576553e-03 9.99761215e-01 -6.04873059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.98, Y:-38.15, Z:-6.05 [[ 9.94672817e-01 1.00969875e-01 2.07622777e-02 3.74982549e+02] [-1.00913611e-01 9.94888152e-01 -3.74265117e-03 -3.81542770e+01] [-2.10340391e-02 1.62751696e-03 9.99777435e-01 -6.05006212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.01, Y:-38.16, Z:-6.05 [[ 9.94613690e-01 1.01391069e-01 2.15281171e-02 3.75011810e+02] [-1.01330697e-01 9.94845233e-01 -3.87970079e-03 -3.81559018e+01] [-2.18105117e-02 1.67734440e-03 9.99760715e-01 -6.05083278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.04, Y:-38.16, Z:-6.05 [[ 9.94615376e-01 1.01126206e-01 2.26659426e-02 3.75040486e+02] [-1.01059240e-01 9.94872029e-01 -4.08364538e-03 -3.81580309e+01] [-2.29626759e-02 1.77105356e-03 9.99734754e-01 -6.05151798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.07, Y:-38.16, Z:-6.05 [[ 9.94678229e-01 1.00348187e-01 2.33551099e-02 3.75069221e+02] [-1.00276900e-01 9.94950676e-01 -4.20669008e-03 -3.81605682e+01] [-2.36593161e-02 1.84232503e-03 9.99718382e-01 -6.05180949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.10, Y:-38.17, Z:-6.05 [[ 9.94681773e-01 1.00313006e-01 2.33553147e-02 3.75098086e+02] [-1.00241735e-01 9.94954224e-01 -4.20555278e-03 -3.81656903e+01] [-2.36593407e-02 1.84200944e-03 9.99718382e-01 -6.05260025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.13, Y:-38.17, Z:-6.05 [[ 9.94821481e-01 9.88569465e-02 2.36119895e-02 3.75125709e+02] [-9.87837119e-02 9.95099848e-01 -4.25096955e-03 -3.81668496e+01] [-2.39165250e-02 1.89647585e-03 9.99712160e-01 -6.05385610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.15, Y:-38.17, Z:-6.06 [[ 9.94906244e-01 9.81143724e-02 2.31329805e-02 3.75153405e+02] [-9.80439127e-02 9.95173381e-01 -4.16335055e-03 -3.81706349e+01] [-2.34298109e-02 1.87409554e-03 9.99723728e-01 -6.05500684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.18, Y:-38.17, Z:-6.06 [[ 9.94964541e-01 9.76389312e-02 2.26318741e-02 3.75182063e+02] [-9.75713991e-02 9.95220198e-01 -4.07187640e-03 -3.81743669e+01] [-2.29212719e-02 1.84314901e-03 9.99735574e-01 -6.05601621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.21, Y:-38.18, Z:-6.06 [[ 9.95036000e-01 9.70777012e-02 2.18924493e-02 3.75210642e+02] [-9.70143974e-02 9.95275188e-01 -3.93786158e-03 -3.81775244e+01] [-2.21712901e-02 1.79443126e-03 9.99752576e-01 -6.05658879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.24, Y:-38.18, Z:-6.06 [[ 9.95121576e-01 9.63738167e-02 2.10982634e-02 3.75240168e+02] [-9.63148862e-02 9.95343683e-01 -3.79407399e-03 -3.81787317e+01] [-2.13656726e-02 1.74348805e-03 9.99770208e-01 -6.05758771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.27, Y:-38.18, Z:-6.06 [[ 9.95109656e-01 9.65497451e-02 2.08546998e-02 3.75268125e+02] [-9.64922249e-02 9.95326676e-01 -3.74937859e-03 -3.81817060e+01] [-2.11192406e-02 1.71872646e-03 9.99775487e-01 -6.05828289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.30, Y:-38.18, Z:-6.06 [[ 9.94912158e-01 9.87028527e-02 2.01877377e-02 3.75296896e+02] [-9.86494181e-02 9.95115635e-01 -3.62826660e-03 -3.81829707e+01] [-2.04472537e-02 1.61829797e-03 9.99789623e-01 -6.05938811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.33, Y:-38.19, Z:-6.06 [[ 9.94717498e-01 1.00590421e-01 2.04613188e-02 3.75326092e+02] [-1.00535944e-01 9.94926634e-01 -3.67647696e-03 -3.81861139e+01] [-2.07273294e-02 1.59995795e-03 9.99783886e-01 -6.06038463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.35, Y:-38.19, Z:-6.06 [[ 9.94489379e-01 1.02769033e-01 2.07219821e-02 3.75354186e+02] [-1.02713649e-01 9.94704001e-01 -3.72241923e-03 -3.81885434e+01] [-2.09947879e-02 1.57347600e-03 9.99778347e-01 -6.06108812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.38, Y:-38.19, Z:-6.06 [[ 9.94254691e-01 1.04941771e-01 2.10911118e-02 3.75382737e+02] [-1.04884909e-01 9.94477155e-01 -3.78741244e-03 -3.81905899e+01] [-2.13720866e-02 1.55351323e-03 9.99770384e-01 -6.06177836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.41, Y:-38.19, Z:-6.06 [[ 9.93832673e-01 1.08694594e-01 2.19568378e-02 3.75411571e+02] [-1.08633913e-01 9.94074011e-01 -3.94129921e-03 -3.81901863e+01] [-2.22551198e-02 1.53173472e-03 9.99751151e-01 -6.06240660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.44, Y:-38.19, Z:-6.06 [[ 9.93709330e-01 1.09658355e-01 2.27335361e-02 3.75439648e+02] [-1.09593592e-01 9.93968111e-01 -4.07911537e-03 -3.81930205e+01] [-2.30437190e-02 1.56200512e-03 9.99733238e-01 -6.06289404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.47, Y:-38.20, Z:-6.06 [[ 9.93715579e-01 1.09448148e-01 2.34617025e-02 3.75467010e+02] [-1.09379151e-01 9.93991194e-01 -4.20805578e-03 -3.81957753e+01] [-2.37812896e-02 1.61538947e-03 9.99715880e-01 -6.06355090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.49, Y:-38.20, Z:-6.06 [[ 9.93776481e-01 1.08770383e-01 2.40272749e-02 3.75494705e+02] [-1.08697858e-01 9.94065499e-01 -4.30802272e-03 -3.81984785e+01] [-2.43532703e-02 1.66949833e-03 9.99702021e-01 -6.06370312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.52, Y:-38.20, Z:-6.06 [[ 9.93989142e-01 1.06796789e-01 2.40838555e-02 3.75522927e+02] [-1.06723387e-01 9.94279381e-01 -4.31648620e-03 -3.81990738e+01] [-2.44070678e-02 1.72022977e-03 9.99700623e-01 -6.06346335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.55, Y:-38.20, Z:-6.06 [[ 9.94125301e-01 1.05454010e-01 2.43790281e-02 3.75550854e+02] [-1.05378430e-01 9.94422600e-01 -4.36798931e-03 -3.82019502e+01] [-2.47036785e-02 1.77330498e-03 9.99693245e-01 -6.06386690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.58, Y:-38.21, Z:-6.06 [[ 9.94297442e-01 1.03753098e-01 2.46554518e-02 3.75579225e+02] [-1.03675309e-01 9.94601392e-01 -4.41610702e-03 -3.82052927e+01] [-2.49805315e-02 1.83476231e-03 9.99686254e-01 -6.06442557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.61, Y:-38.21, Z:-6.06 [[ 9.94766051e-01 9.90601322e-02 2.50518253e-02 3.75607374e+02] [-9.89783705e-02 9.95079473e-01 -4.48595760e-03 -3.82070819e+01] [-2.53729367e-02 1.98288949e-03 9.99676089e-01 -6.06481445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.60589822699995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:375.64, Y:-38.21, Z:-6.07 [[ 9.95064339e-01 9.59964923e-02 2.51323313e-02 3.75636421e+02] [-9.59132700e-02 9.95379528e-01 -4.49892758e-03 -3.82105785e+01] [-2.54480893e-02 2.06619832e-03 9.99674010e-01 -6.06552970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.66, Y:-38.22, Z:-6.07 [[ 9.95292171e-01 9.35477333e-02 2.53439682e-02 3.75663639e+02] [-9.34623440e-02 9.95612484e-01 -4.53567071e-03 -3.82150227e+01] [-2.56570728e-02 2.14561087e-03 9.99668501e-01 -6.06655016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.69, Y:-38.22, Z:-6.07 [[ 9.95551994e-01 9.08453407e-02 2.49669893e-02 3.75691738e+02] [-9.07616649e-02 9.95862625e-01 -4.46681403e-03 -3.82192947e+01] [-2.52694807e-02 2.18090010e-03 9.99678297e-01 -6.06736603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.72, Y:-38.22, Z:-6.07 [[ 9.95745645e-01 8.88468751e-02 2.44303886e-02 3.75718732e+02] [-8.87661881e-02 9.96042905e-01 -4.36974028e-03 -3.82236526e+01] [-2.47219530e-02 2.18255739e-03 9.99691983e-01 -6.06869068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.75, Y:-38.23, Z:-6.07 [[ 9.95995457e-01 8.65155628e-02 2.25412164e-02 3.75746393e+02] [-8.64463095e-02 9.96248357e-01 -4.03064976e-03 -3.82263413e+01] [-2.28053637e-02 2.06590389e-03 9.99737789e-01 -6.06971780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.77, Y:-38.23, Z:-6.07 [[ 9.96021752e-01 8.64007329e-02 2.18078513e-02 3.75774889e+02] [-8.63359130e-02 9.96258457e-01 -3.89829958e-03 -3.82296091e+01] [-2.20630723e-02 1.99999042e-03 9.99754580e-01 -6.07091591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.80, Y:-38.23, Z:-6.07 [[ 9.95997845e-01 8.68278413e-02 2.11947904e-02 3.75802306e+02] [-8.67667293e-02 9.96221455e-01 -3.78786642e-03 -3.82328039e+01] [-2.14435972e-02 1.93370415e-03 9.99768190e-01 -6.07160201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.83, Y:-38.23, Z:-6.07 [[ 9.95907957e-01 8.80430061e-02 2.03904420e-02 3.75830812e+02] [-8.79867211e-02 9.96114986e-01 -3.64299188e-03 -3.82345004e+01] [-2.06319648e-02 1.83399647e-03 9.99785456e-01 -6.07298684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.86, Y:-38.24, Z:-6.07 [[ 9.95839567e-01 8.86114403e-02 2.12501591e-02 3.75859383e+02] [-8.85504571e-02 9.96064461e-01 -3.79562428e-03 -3.82382502e+01] [-2.15028640e-02 1.89812153e-03 9.99766985e-01 -6.07433643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.89, Y:-38.24, Z:-6.08 [[ 9.95790596e-01 8.89431732e-02 2.21404977e-02 3.75886860e+02] [-8.88770757e-02 9.96034755e-01 -3.95364485e-03 -3.82417108e+01] [-2.24043549e-02 1.96921968e-03 9.99747052e-01 -6.07517509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.91, Y:-38.25, Z:-6.08 [[ 9.95793605e-01 8.88273423e-02 2.24677374e-02 3.75914511e+02] [-8.87592761e-02 9.96045031e-01 -4.01079103e-03 -3.82456239e+01] [-2.27351461e-02 1.99969995e-03 9.99739523e-01 -6.07596577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.94, Y:-38.25, Z:-6.08 [[ 9.95971528e-01 8.69262678e-02 2.20122755e-02 3.75943211e+02] [-8.68605023e-02 9.96212740e-01 -3.92817975e-03 -3.82508622e+01] [-2.22703713e-02 2.00035788e-03 9.99749983e-01 -6.07818864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.97, Y:-38.26, Z:-6.08 [[ 9.96141604e-01 8.51131412e-02 2.13929252e-02 3.75970024e+02] [-8.50506291e-02 9.96369320e-01 -3.81679932e-03 -3.82565040e+01] [-2.16401142e-02 1.98259085e-03 9.99763860e-01 -6.07969971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.00, Y:-38.26, Z:-6.08 [[ 9.96313041e-01 8.32186469e-02 2.08561830e-02 3.75996773e+02] [-8.31588464e-02 9.96529362e-01 -3.71985481e-03 -3.82626951e+01] [-2.10933601e-02 1.97176374e-03 9.99775566e-01 -6.08066823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.02, Y:-38.27, Z:-6.08 [[ 9.96407897e-01 8.21307551e-02 2.06359551e-02 3.76024922e+02] [-8.20720066e-02 9.96619611e-01 -3.67929114e-03 -3.82696839e+01] [-2.08683805e-02 1.97244051e-03 9.99780286e-01 -6.08111788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.05, Y:-38.28, Z:-6.08 [[ 9.96407999e-01 8.20611929e-02 2.09059707e-02 3.76052727e+02] [-8.20009005e-02 9.96625288e-01 -3.72653557e-03 -3.82761667e+01] [-2.11412230e-02 1.99884143e-03 9.99774501e-01 -6.08141613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.08, Y:-38.28, Z:-6.08 [[ 9.96159596e-01 8.47890178e-02 2.18376090e-02 3.76081127e+02] [-8.47239016e-02 9.96396867e-01 -3.89163956e-03 -3.82832403e+01] [-2.20888935e-02 2.02652666e-03 9.99753957e-01 -6.08165653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.11, Y:-38.29, Z:-6.08 [[ 9.95917468e-01 8.75271231e-02 2.20771341e-02 3.76109028e+02] [-8.74612591e-02 9.96160156e-01 -3.93334262e-03 -3.82884508e+01] [-2.23366355e-02 1.98639068e-03 9.99748533e-01 -6.08169948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.14, Y:-38.29, Z:-6.08 [[ 9.95632469e-01 9.06677317e-02 2.22564559e-02 3.76137696e+02] [-9.06015937e-02 9.95879328e-01 -3.96430344e-03 -3.82930095e+01] [-2.25241787e-02 1.93051885e-03 9.99744435e-01 -6.08158749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.17, Y:-38.30, Z:-6.08 [[ 9.95314515e-01 9.40800104e-02 2.23152068e-02 3.76165885e+02] [-9.40143967e-02 9.95562907e-01 -3.97374951e-03 -3.82969714e+01] [-2.25900425e-02 1.85717986e-03 9.99743087e-01 -6.08142843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.19, Y:-38.30, Z:-6.08 [[ 9.94604920e-01 1.01377024e-01 2.19943489e-02 3.76192576e+02] [-1.01315074e-01 9.94846683e-01 -3.91577348e-03 -3.82983645e+01] [-2.22779745e-02 1.66628848e-03 9.99750427e-01 -6.08219634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.22, Y:-38.30, Z:-6.08 [[ 9.94303413e-01 1.04297601e-01 2.19711833e-02 3.76220354e+02] [-1.04236531e-01 9.94544850e-01 -3.90982437e-03 -3.83015137e+01] [-2.22591125e-02 1.59735179e-03 9.99750959e-01 -6.08347187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.25, Y:-38.30, Z:-6.08 [[ 9.94089027e-01 1.06296408e-01 2.20925392e-02 3.76246889e+02] [-1.06235184e-01 9.94333264e-01 -3.93001187e-03 -3.83042083e+01] [-2.23850928e-02 1.55977671e-03 9.99748206e-01 -6.08497134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.27, Y:-38.31, Z:-6.09 [[ 9.93984498e-01 1.07344445e-01 2.17253021e-02 3.76274568e+02] [-1.07285525e-01 9.94220747e-01 -3.86302089e-03 -3.83054623e+01] [-2.20144199e-02 1.50897244e-03 9.99756515e-01 -6.08629869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.30, Y:-38.31, Z:-6.09 [[ 9.94098352e-01 1.06245629e-01 2.19164971e-02 3.76301108e+02] [-1.06185434e-01 9.94338714e-01 -3.89557244e-03 -3.83086433e+01] [-2.22063090e-02 1.54536940e-03 9.99752215e-01 -6.08724939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.33, Y:-38.31, Z:-6.09 [[ 9.94274808e-01 1.04642103e-01 2.16249115e-02 3.76329038e+02] [-1.04583160e-01 9.94508724e-01 -3.84201418e-03 -3.83131483e+01] [-2.19081996e-02 1.55841633e-03 9.99758772e-01 -6.08827643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.36, Y:-38.32, Z:-6.09 [[ 9.94595924e-01 1.01521570e-01 2.17328994e-02 3.76356769e+02] [-1.01461328e-01 9.94831997e-01 -3.85972518e-03 -3.83175362e+01] [-2.20124290e-02 1.63381810e-03 9.99756362e-01 -6.08933514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.38, Y:-38.32, Z:-6.09 [[ 9.94722371e-01 1.00313488e-01 2.15547927e-02 3.76383487e+02] [-1.00253976e-01 9.94954520e-01 -3.82676353e-03 -3.83214942e+01] [-2.18299144e-02 1.64561362e-03 9.99760345e-01 -6.08925808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.41, Y:-38.33, Z:-6.09 [[ 9.94759209e-01 9.99094881e-02 2.17304131e-02 3.76411450e+02] [-9.98489584e-02 9.94995136e-01 -3.85560118e-03 -3.83258154e+01] [-2.20068664e-02 1.66563567e-03 9.99756432e-01 -6.08945557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.44, Y:-38.33, Z:-6.09 [[ 9.94706815e-01 1.00293426e-01 2.23512994e-02 3.76438849e+02] [-1.00229521e-01 9.94956446e-01 -3.96410641e-03 -3.83298551e+01] [-2.26361433e-02 1.70286362e-03 9.99742319e-01 -6.08961271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.47, Y:-38.33, Z:-6.09 [[ 9.94332422e-01 1.03561134e-01 2.40442664e-02 3.76466788e+02] [-1.03488164e-01 9.94621550e-01 -4.26288820e-03 -3.83341479e+01] [-2.43564150e-02 1.75043095e-03 9.99701806e-01 -6.08897785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.49, Y:-38.34, Z:-6.09 [[ 9.94117738e-01 1.05415336e-01 2.48501485e-02 3.76494591e+02] [-1.05338014e-01 9.94426723e-01 -4.40397612e-03 -3.83383541e+01] [-2.51758984e-02 1.76040548e-03 9.99681487e-01 -6.08994031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.52, Y:-38.34, Z:-6.09 [[ 9.93907745e-01 1.07356041e-01 2.49414471e-02 3.76522328e+02] [-1.07278793e-01 9.94219159e-01 -4.41874094e-03 -3.83424190e+01] [-2.52716431e-02 1.71613251e-03 9.99679148e-01 -6.09020450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.55, Y:-38.35, Z:-6.09 [[ 9.93700507e-01 1.09168598e-01 2.53282494e-02 3.76548938e+02] [-1.09089565e-01 9.94021804e-01 -4.48555285e-03 -3.83462770e+01] [-2.56665137e-02 1.69424843e-03 9.99669125e-01 -6.09162976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.58, Y:-38.35, Z:-6.09 [[ 9.93236776e-01 1.13507214e-01 2.44298667e-02 3.76576957e+02] [-1.13435055e-01 9.93536004e-01 -4.32402273e-03 -3.83511727e+01] [-2.47627599e-02 1.52357513e-03 9.99692195e-01 -6.09220143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.60, Y:-38.36, Z:-6.09 [[ 9.92979440e-01 1.15838479e-01 2.39432499e-02 3.76604101e+02] [-1.15769880e-01 9.93267028e-01 -4.23632077e-03 -3.83559057e+01] [-2.42727696e-02 1.43467225e-03 9.99704343e-01 -6.09246284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.63, Y:-38.36, Z:-6.09 [[ 9.92683736e-01 1.18285888e-01 2.42373402e-02 3.76630669e+02] [-1.18216362e-01 9.92978608e-01 -4.28663159e-03 -3.83601079e+01] [-2.45742083e-02 1.39001928e-03 9.99697042e-01 -6.09297729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.66, Y:-38.36, Z:-6.09 [[ 9.92370558e-01 1.20829460e-01 2.45135943e-02 3.76657824e+02] [-1.20759162e-01 9.92672376e-01 -4.33349105e-03 -3.83638194e+01] [-2.48575812e-02 1.34018782e-03 9.99690104e-01 -6.09369567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.69, Y:-38.37, Z:-6.10 [[ 9.91792061e-01 1.25707438e-01 2.33698159e-02 3.76685452e+02] [-1.25644962e-01 9.92066680e-01 -4.12862359e-03 -3.83670061e+01] [-2.37034144e-02 1.15843646e-03 9.99718363e-01 -6.09517605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.71, Y:-38.37, Z:-6.10 [[ 9.91551592e-01 1.27772748e-01 2.23509743e-02 3.76712674e+02] [-1.27716151e-01 9.91802905e-01 -3.94749207e-03 -3.83715638e+01] [-2.26721431e-02 1.05956165e-03 9.99742392e-01 -6.09627916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.74, Y:-38.38, Z:-6.10 [[ 9.91348294e-01 1.29404951e-01 2.19754147e-02 3.76739352e+02] [-1.29350672e-01 9.91591323e-01 -3.87972030e-03 -3.83761400e+01] [-2.22926855e-02 1.00361943e-03 9.99750983e-01 -6.09678876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.77, Y:-38.38, Z:-6.10 [[ 9.91202198e-01 1.30514710e-01 2.20025683e-02 3.76766673e+02] [-1.30460610e-01 9.91445891e-01 -3.88269868e-03 -3.83810430e+01] [-2.23211052e-02 9.78070987e-04 9.99750375e-01 -6.09732672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.79, Y:-38.39, Z:-6.10 [[ 9.90990867e-01 1.32020879e-01 2.25297504e-02 3.76793271e+02] [-1.31964580e-01 9.91246466e-01 -3.97413843e-03 -3.83875452e+01] [-2.28572047e-02 9.65205833e-04 9.99738274e-01 -6.09813977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.82, Y:-38.39, Z:-6.10 [[ 9.90912815e-01 1.32497666e-01 2.31551409e-02 3.76820486e+02] [-1.32438374e-01 9.91182834e-01 -4.08246354e-03 -3.83936003e+01] [-2.34918951e-02 9.78736212e-04 9.99723548e-01 -6.09876552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.85, Y:-38.40, Z:-6.10 [[ 9.90820506e-01 1.33169005e-01 2.32538290e-02 3.76847763e+02] [-1.33109430e-01 9.91092874e-01 -4.09822577e-03 -3.83995405e+01] [-2.35924609e-02 9.65302212e-04 9.99721193e-01 -6.09916519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.88, Y:-38.40, Z:-6.10 [[ 9.90828095e-01 1.33112481e-01 2.32541151e-02 3.76875827e+02] [-1.33052928e-01 9.91100467e-01 -4.09660203e-03 -3.84043623e+01] [-2.35924732e-02 9.65000286e-04 9.99721193e-01 -6.09993346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.90, Y:-38.41, Z:-6.10 [[ 9.90513230e-01 1.35437881e-01 2.32405332e-02 3.76901442e+02] [-1.35379067e-01 9.90785424e-01 -4.09292043e-03 -3.84122253e+01] [-2.35807180e-02 9.07810138e-04 9.99721524e-01 -6.09972083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.93, Y:-38.42, Z:-6.10 [[ 9.90292558e-01 1.37060094e-01 2.31339593e-02 3.76928667e+02] [-1.37002306e-01 9.90562358e-01 -4.07222783e-03 -3.84187165e+01] [-2.34737693e-02 8.63291143e-04 9.99724080e-01 -6.10002388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.96, Y:-38.43, Z:-6.10 [[ 9.90006806e-01 1.39120724e-01 2.30639828e-02 3.76956417e+02] [-1.39063880e-01 9.90275097e-01 -4.05828928e-03 -3.84251701e+01] [-2.34042799e-02 8.10367062e-04 9.99725754e-01 -6.10098095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.98, Y:-38.43, Z:-6.10 [[ 9.89688480e-01 1.41407259e-01 2.28188543e-02 3.76982740e+02] [-1.41352260e-01 9.89951226e-01 -4.01360414e-03 -3.84312840e+01] [-2.31571056e-02 7.46721146e-04 9.99731559e-01 -6.10140345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.01, Y:-38.44, Z:-6.10 [[ 9.89086809e-01 1.45676137e-01 2.20396854e-02 3.77008155e+02] [-1.45625927e-01 9.89332136e-01 -3.87482142e-03 -3.84407580e+01] [-2.23690380e-02 6.22985131e-04 9.99749588e-01 -6.10327719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.04, Y:-38.45, Z:-6.10 [[ 9.88798674e-01 1.47623248e-01 2.20126750e-02 3.77035205e+02] [-1.47573685e-01 9.89043500e-01 -3.86823645e-03 -3.84479057e+01] [-2.23425347e-02 5.76415520e-04 9.99750208e-01 -6.10376677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.06, Y:-38.45, Z:-6.10 [[ 9.88469903e-01 1.49685157e-01 2.28386711e-02 3.77062854e+02] [-1.49632392e-01 9.88733560e-01 -4.01173409e-03 -3.84547333e+01] [-2.31818576e-02 5.48073430e-04 9.99731114e-01 -6.10459199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.09, Y:-38.46, Z:-6.11 [[ 9.88148228e-01 1.51664827e-01 2.36824824e-02 3.77090468e+02] [-1.51608700e-01 9.88431845e-01 -4.15820166e-03 -3.84609626e+01] [-2.40391727e-02 5.18449227e-04 9.99710883e-01 -6.10508852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.12, Y:-38.47, Z:-6.11 [[ 9.87417936e-01 1.56206571e-01 2.46034036e-02 3.77116946e+02] [-1.56147446e-01 9.87724318e-01 -4.31810306e-03 -3.84684148e+01] [-2.49758961e-02 4.22013761e-04 9.99687965e-01 -6.10698609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.14, Y:-38.47, Z:-6.11 [[ 9.87011179e-01 1.58811071e-01 2.42482421e-02 3.77143466e+02] [-1.58754475e-01 9.87308929e-01 -4.25379358e-03 -3.84742121e+01] [-2.46160554e-02 3.49024874e-04 9.99696918e-01 -6.10841474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.17, Y:-38.48, Z:-6.11 [[ 9.86640154e-01 1.61167825e-01 2.37936878e-02 3.77169459e+02] [-1.61114061e-01 9.86926974e-01 -4.17218256e-03 -3.84794432e+01] [-2.41550539e-02 2.82945175e-04 9.99708184e-01 -6.10975670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.20, Y:-38.49, Z:-6.11 [[ 9.86213277e-01 1.63814152e-01 2.34157338e-02 3.77196404e+02] [-1.63762873e-01 9.86491195e-01 -4.10404889e-03 -3.84854863e+01] [-2.37717165e-02 2.12839680e-04 9.99717390e-01 -6.11107373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.22, Y:-38.49, Z:-6.11 [[ 9.85341876e-01 1.69016825e-01 2.31235977e-02 3.77223391e+02] [-1.68968287e-01 9.85613162e-01 -4.05121098e-03 -3.84937979e+01] [-2.34756451e-02 8.46731204e-05 9.99724405e-01 -6.11201064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.25, Y:-38.50, Z:-6.11 [[ 9.84953405e-01 1.71177785e-01 2.37687951e-02 3.77249142e+02] [-1.71127171e-01 9.85240156e-01 -4.16249823e-03 -3.85003341e+01] [-2.41304986e-02 3.23801468e-05 9.99708817e-01 -6.11292515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:377.28, Y:-38.51, Z:-6.11 [[ 9.84666676e-01 1.72748479e-01 2.42796408e-02 3.77276697e+02] [-1.72696196e-01 9.84965970e-01 -4.24982762e-03 -3.85074489e+01] [-2.46487712e-02 -8.33796139e-06 9.99696173e-01 -6.11400460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.30, Y:-38.51, Z:-6.11 [[ 9.84462315e-01 1.73926416e-01 2.41568364e-02 3.77303149e+02] [-1.73875058e-01 9.84758651e-01 -4.22659493e-03 -3.85148504e+01] [-2.45237701e-02 -3.93479014e-05 9.99699246e-01 -6.11484411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.33, Y:-38.53, Z:-6.12 [[ 9.84168411e-01 1.75669168e-01 2.35134398e-02 3.77329949e+02] [-1.75621046e-01 9.84449255e-01 -4.11239099e-03 -3.85261751e+01] [-2.38702086e-02 -8.21695685e-05 9.99715063e-01 -6.11573602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.36, Y:-38.53, Z:-6.12 [[ 9.83901211e-01 1.77185933e-01 2.33141991e-02 3.77355655e+02] [-1.77139159e-01 9.84177388e-01 -4.07283040e-03 -3.85342737e+01] [-2.36669558e-02 -1.22594856e-04 9.99719891e-01 -6.11615378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.38, Y:-38.54, Z:-6.12 [[ 9.83622098e-01 1.78779001e-01 2.29267767e-02 3.77382249e+02] [-1.78734235e-01 9.83889243e-01 -4.00371054e-03 -3.85426921e+01] [-2.32731883e-02 -1.59661734e-04 9.99729130e-01 -6.11607700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.41, Y:-38.55, Z:-6.12 [[ 9.83083421e-01 1.81753635e-01 2.26407506e-02 3.77408095e+02] [-1.81710877e-01 9.83344071e-01 -3.94902086e-03 -3.85533179e+01] [-2.29813967e-02 -2.31853703e-04 9.99735866e-01 -6.11708630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.43, Y:-38.56, Z:-6.12 [[ 9.82862179e-01 1.82936294e-01 2.27211056e-02 3.77434063e+02] [-1.82893592e-01 9.83124735e-01 -3.96111020e-03 -3.85601020e+01] [-2.30623117e-02 -2.62319216e-04 9.99733995e-01 -6.11753853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.46, Y:-38.57, Z:-6.12 [[ 9.82605749e-01 1.84302288e-01 2.27729728e-02 3.77461384e+02] [-1.84259792e-01 9.82869563e-01 -3.96866131e-03 -3.85672975e+01] [-2.31142952e-02 -2.96513809e-04 9.99732785e-01 -6.11804823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.49, Y:-38.57, Z:-6.12 [[ 9.82303938e-01 1.85935437e-01 2.25163653e-02 3.77488705e+02] [-1.85894420e-01 9.82561907e-01 -3.91966847e-03 -3.85749553e+01] [-2.28525281e-02 -3.35360903e-04 9.99738791e-01 -6.11853807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.51, Y:-38.59, Z:-6.12 [[ 9.81672831e-01 1.89303306e-01 2.19707060e-02 3.77514281e+02] [-1.89265198e-01 9.81918577e-01 -3.82011200e-03 -3.85865507e+01] [-2.22966042e-02 -4.08189859e-04 9.99751316e-01 -6.11971857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.54, Y:-38.59, Z:-6.12 [[ 9.81397359e-01 1.90755744e-01 2.17133515e-02 3.77541203e+02] [-1.90718907e-01 9.81637436e-01 -3.77409029e-03 -3.85942834e+01] [-2.20345681e-02 -4.37264413e-04 9.99757114e-01 -6.11975676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.57, Y:-38.60, Z:-6.12 [[ 9.81053372e-01 1.92441973e-01 2.23689210e-02 3.77566990e+02] [-1.92403425e-01 9.81308230e-01 -3.88321845e-03 -3.86013642e+01] [-2.26981005e-02 -4.94212471e-04 9.99742243e-01 -6.12052725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.59, Y:-38.61, Z:-6.12 [[ 9.80236110e-01 1.96334127e-01 2.42915328e-02 3.77593827e+02] [-1.96289907e-01 9.80536846e-01 -4.21505302e-03 -3.86111809e+01] [-2.46463017e-02 -6.36435544e-04 9.99696031e-01 -6.12087081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.62, Y:-38.62, Z:-6.12 [[ 9.79732336e-01 1.98708991e-01 2.52841268e-02 3.77620939e+02] [-1.98662010e-01 9.80058266e-01 -4.38194718e-03 -3.86183510e+01] [-2.56506498e-02 -7.29860115e-04 9.99670702e-01 -6.12177035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.65, Y:-38.63, Z:-6.12 [[ 9.79220619e-01 2.01126234e-01 2.59849298e-02 3.77647187e+02] [-2.01077515e-01 9.79564990e-01 -4.50139892e-03 -3.86254940e+01] [-2.63592769e-02 -8.17122475e-04 9.99652200e-01 -6.12257737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.67, Y:-38.63, Z:-6.12 [[ 9.78797091e-01 2.03124499e-01 2.63949193e-02 3.77674752e+02] [-2.03075019e-01 9.79152517e-01 -4.57008234e-03 -3.86328939e+01] [-2.67729473e-02 -8.86965424e-04 9.99641147e-01 -6.12286899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.70, Y:-38.64, Z:-6.12 [[ 9.78267549e-01 2.05437379e-01 2.80728681e-02 3.77699963e+02] [-2.05382421e-01 9.78669739e-01 -4.85836484e-03 -3.86435617e+01] [-2.84721562e-02 -1.01289296e-03 9.99594073e-01 -6.12330904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.73, Y:-38.65, Z:-6.12 [[ 9.78147887e-01 2.05910279e-01 2.87692145e-02 3.77726751e+02] [-2.05852838e-01 9.78570307e-01 -4.97636071e-03 -3.86515742e+01] [-2.91773829e-02 -1.05460773e-03 9.99573693e-01 -6.12411956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.75, Y:-38.66, Z:-6.12 [[ 9.78074555e-01 2.06224411e-01 2.90113410e-02 3.77752983e+02] [-2.06166203e-01 9.78504132e-01 -5.01603156e-03 -3.86592516e+01] [-2.94221452e-02 -1.07510517e-03 9.99566497e-01 -6.12462578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.78, Y:-38.67, Z:-6.13 [[ 9.77953529e-01 2.06964345e-01 2.77966822e-02 3.77779831e+02] [-2.06911272e-01 9.78347919e-01 -4.80372835e-03 -3.86695858e+01] [-2.81890267e-02 -1.05362379e-03 9.99602055e-01 -6.12550853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.81, Y:-38.68, Z:-6.13 [[ 9.77858288e-01 2.07548328e-01 2.67742461e-02 3.77806735e+02] [-2.07499357e-01 9.78224220e-01 -4.62516830e-03 -3.86772285e+01] [-2.71511619e-02 -1.03287969e-03 9.99630806e-01 -6.12658636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.83, Y:-38.68, Z:-6.13 [[ 9.77689304e-01 2.08486456e-01 2.56324365e-02 3.77833080e+02] [-2.08441942e-01 9.78024727e-01 -4.42611436e-03 -3.86847534e+01] [-2.59919416e-02 -1.01551017e-03 9.99661637e-01 -6.12727708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.86, Y:-38.69, Z:-6.13 [[ 9.77400195e-01 2.09949153e-01 2.47024517e-02 3.77859999e+02] [-2.09908329e-01 9.77711776e-01 -4.26344910e-03 -3.86927463e+01] [-2.50469854e-02 -1.01815436e-03 9.99685757e-01 -6.12814570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.89, Y:-38.70, Z:-6.13 [[ 9.76864821e-01 2.12463684e-01 2.43783560e-02 3.77886208e+02] [-2.12424748e-01 9.77168377e-01 -4.20579370e-03 -3.87030117e+01] [-2.47153370e-02 -1.07007420e-03 9.99693957e-01 -6.12926323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.91, Y:-38.71, Z:-6.13 [[ 9.76668034e-01 2.13365413e-01 2.43875297e-02 3.77913830e+02] [-2.13326771e-01 9.76971853e-01 -4.20563529e-03 -3.87093254e+01] [-2.47232672e-02 -1.09500341e-03 9.99693734e-01 -6.13051899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.94, Y:-38.71, Z:-6.13 [[ 9.76457439e-01 2.14344309e-01 2.42360738e-02 3.77940873e+02] [-2.14306488e-01 9.76757531e-01 -4.17779287e-03 -3.87148235e+01] [-2.45682537e-02 -1.11451094e-03 9.99697534e-01 -6.13198376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.97, Y:-38.72, Z:-6.13 [[ 9.76147325e-01 2.15894653e-01 2.29324951e-02 3.77966832e+02] [-2.15861249e-01 9.76416051e-01 -3.95176246e-03 -3.87207145e+01] [-2.32448207e-02 -1.09273469e-03 9.99729205e-01 -6.13397106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.99, Y:-38.73, Z:-6.14 [[ 9.76084867e-01 2.16267961e-01 2.20567813e-02 3.77994176e+02] [-2.16237222e-01 9.76333468e-01 -3.79785446e-03 -3.87261433e+01] [-2.23561280e-02 -1.06246885e-03 9.99749506e-01 -6.13502791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.02, Y:-38.73, Z:-6.14 [[ 9.76142042e-01 2.16045462e-01 2.17041890e-02 3.78022139e+02] [-2.16015676e-01 9.76382749e-01 -3.73564829e-03 -3.87311684e+01] [-2.19986656e-02 -1.04192171e-03 9.99757457e-01 -6.13569553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.05, Y:-38.74, Z:-6.14 [[ 9.76269243e-01 2.15453291e-01 2.18687983e-02 3.78049559e+02] [-2.15422938e-01 9.76513595e-01 -3.76241334e-03 -3.87361720e+01] [-2.21658031e-02 -1.03791235e-03 9.99753770e-01 -6.13597461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.08, Y:-38.74, Z:-6.14 [[ 9.76961884e-01 2.12130843e-01 2.33662678e-02 3.78076616e+02] [-2.12095283e-01 9.77240730e-01 -4.01826778e-03 -3.87426131e+01] [-2.36868671e-02 -1.03018072e-03 9.99718896e-01 -6.13626786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.10, Y:-38.75, Z:-6.14 [[ 9.77483300e-01 2.09651308e-01 2.39317301e-02 3.78104360e+02] [-2.09613307e-01 9.77775710e-01 -4.11376174e-03 -3.87488196e+01] [-2.42623199e-02 -9.95275686e-04 9.99705131e-01 -6.13684222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.13, Y:-38.76, Z:-6.14 [[ 9.77999679e-01 2.07172149e-01 2.44198458e-02 3.78131786e+02] [-2.07131854e-01 9.78304037e-01 -4.19588858e-03 -3.87553783e+01] [-2.47593050e-02 -9.54550243e-04 9.99692986e-01 -6.13750339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.16, Y:-38.76, Z:-6.14 [[ 9.78392876e-01 2.05211098e-01 2.52147709e-02 3.78158909e+02] [-2.05167534e-01 9.78717287e-01 -4.33063626e-03 -3.87622365e+01] [-2.55668268e-02 -9.36188696e-04 9.99672677e-01 -6.13843790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.18, Y:-38.77, Z:-6.14 [[ 9.78786291e-01 2.03213183e-01 2.61112760e-02 3.78184698e+02] [-2.03165808e-01 9.79134087e-01 -4.48260171e-03 -3.87725527e+01] [-2.64773641e-02 -9.17409371e-04 9.99648992e-01 -6.13881663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.21, Y:-38.78, Z:-6.14 [[ 9.78880254e-01 2.02764075e-01 2.60802332e-02 3.78211680e+02] [-2.02716714e-01 9.79227200e-01 -4.47500525e-03 -3.87803538e+01] [-2.64458440e-02 -9.06404902e-04 9.99649837e-01 -6.14033980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.24, Y:-38.79, Z:-6.14 [[ 9.78964423e-01 2.02464396e-01 2.52354410e-02 3.78238395e+02] [-2.02419999e-01 9.79289237e-01 -4.32831082e-03 -3.87884433e+01] [-2.55891246e-02 -8.70895627e-04 9.99672165e-01 -6.14144284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.27, Y:-38.80, Z:-6.14 [[ 9.79091412e-01 2.02041726e-01 2.36462940e-02 3.78265022e+02] [-2.02002659e-01 9.79376582e-01 -4.05417343e-03 -3.88011595e+01] [-2.39777388e-02 -8.07207876e-04 9.99712167e-01 -6.14372971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.54589822699995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:378.29, Y:-38.81, Z:-6.14 [[ 9.79329213e-01 2.00947451e-01 2.31174101e-02 3.78290957e+02] [-2.00909846e-01 9.79601724e-01 -3.96188041e-03 -3.88100439e+01] [-2.34419846e-02 -7.64530078e-04 9.99724907e-01 -6.14443374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.32, Y:-38.82, Z:-6.15 [[ 9.79383231e-01 2.00640577e-01 2.34913840e-02 3.78317358e+02] [-2.00601706e-01 9.79664618e-01 -4.02388781e-03 -3.88205623e+01] [-2.38210329e-02 -7.71483480e-04 9.99715941e-01 -6.14593169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.34, Y:-38.83, Z:-6.15 [[ 9.79455852e-01 2.00233851e-01 2.39298860e-02 3.78344247e+02] [-2.00193439e-01 9.79747825e-01 -4.09718259e-03 -3.88306109e+01] [-2.42656484e-02 -7.77596714e-04 9.99705243e-01 -6.14646612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.37, Y:-38.85, Z:-6.15 [[ 9.79395043e-01 2.00372584e-01 2.52225484e-02 3.78369838e+02] [-2.00327774e-01 9.79719423e-01 -4.31689646e-03 -3.88462330e+01] [-2.55760083e-02 -8.24829986e-04 9.99672540e-01 -6.14815564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.40, Y:-38.86, Z:-6.15 [[ 9.79212197e-01 2.01186582e-01 2.58347061e-02 3.78396922e+02] [-2.01139895e-01 9.79552554e-01 -4.42007355e-03 -3.88563208e+01] [-2.61957118e-02 -8.68200150e-04 9.99656456e-01 -6.14908062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.42, Y:-38.87, Z:-6.15 [[ 9.78853122e-01 2.02958859e-01 2.55786348e-02 3.78424552e+02] [-2.02913729e-01 9.79186845e-01 -4.37505841e-03 -3.88662171e+01] [-2.59342196e-02 -9.07716579e-04 9.99663239e-01 -6.14991710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.45, Y:-38.88, Z:-6.15 [[ 9.78436979e-01 2.05043440e-01 2.48649414e-02 3.78451540e+02] [-2.05001494e-01 9.78752425e-01 -4.25185953e-03 -3.88755561e+01] [-2.52084375e-02 -9.37173524e-04 9.99681778e-01 -6.15098004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.48, Y:-38.89, Z:-6.15 [[ 9.77298643e-01 2.10627464e-01 2.28786706e-02 3.78478843e+02] [-2.10593510e-01 9.77565895e-01 -3.91082676e-03 -3.88878216e+01] [-2.31891356e-02 -9.96053840e-04 9.99730600e-01 -6.15170844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.51, Y:-38.90, Z:-6.15 [[ 9.76624738e-01 2.13720195e-01 2.29738731e-02 3.78506303e+02] [-2.13686835e-01 9.76894325e-01 -3.92601589e-03 -3.88964298e+01] [-2.32821151e-02 -1.07496999e-03 9.99728357e-01 -6.15313250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.53, Y:-38.90, Z:-6.15 [[ 9.76057766e-01 2.16238823e-01 2.34948509e-02 3.78533923e+02] [-2.16204688e-01 9.76339808e-01 -4.01392034e-03 -3.89047506e+01] [-2.38069236e-02 -1.16187878e-03 9.99715900e-01 -6.15358698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.56, Y:-38.91, Z:-6.15 [[ 9.76065060e-01 2.16205880e-01 2.34950373e-02 3.78562840e+02] [-2.16171761e-01 9.76347104e-01 -4.01282861e-03 -3.89096063e+01] [-2.38069088e-02 -1.16218180e-03 9.99715900e-01 -6.15437769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.59, Y:-38.92, Z:-6.15 [[ 9.75565504e-01 2.18402936e-01 2.39187329e-02 3.78590945e+02] [-2.18368253e-01 9.75857891e-01 -4.08437701e-03 -3.89174816e+01] [-2.42333242e-02 -1.23851462e-03 9.99705563e-01 -6.15425250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.62, Y:-38.93, Z:-6.16 [[ 9.74769300e-01 2.21939270e-01 2.38279522e-02 3.78617076e+02] [-2.21905929e-01 9.75059594e-01 -4.06780988e-03 -3.89267202e+01] [-2.41364802e-02 -1.32238767e-03 9.99707798e-01 -6.15610505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.65, Y:-38.93, Z:-6.16 [[ 9.74436670e-01 2.23484986e-01 2.29703658e-02 3.78646411e+02] [-2.23454461e-01 9.74706488e-01 -3.92002794e-03 -3.89338558e+01] [-2.32654320e-02 -1.31301174e-03 9.99728461e-01 -6.15723391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.67, Y:-38.94, Z:-6.16 [[ 9.74099841e-01 2.24989320e-01 2.25678184e-02 3.78673800e+02] [-2.24960269e-01 9.74360328e-01 -3.85083629e-03 -3.89410443e+01] [-2.28555840e-02 -1.32576348e-03 9.99737898e-01 -6.15838321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.70, Y:-38.95, Z:-6.16 [[ 9.73381555e-01 2.28060186e-01 2.27354477e-02 3.78701038e+02] [-2.28031555e-01 9.73646017e-01 -3.87863110e-03 -3.89500767e+01] [-2.30208394e-02 -1.40901152e-03 9.99733992e-01 -6.15858776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.73, Y:-38.96, Z:-6.16 [[ 9.72866313e-01 2.30189735e-01 2.33200153e-02 3.78728675e+02] [-2.30160247e-01 9.73144615e-01 -3.97730769e-03 -3.89556614e+01] [-2.36092827e-02 -1.49795179e-03 9.99720140e-01 -6.15946178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.76, Y:-38.96, Z:-6.16 [[ 9.72319597e-01 2.32485269e-01 2.33495529e-02 3.78756942e+02] [-2.32456396e-01 9.72598671e-01 -3.98100598e-03 -3.89609106e+01] [-2.36352694e-02 -1.55694280e-03 9.99719436e-01 -6.15993942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.79, Y:-38.97, Z:-6.16 [[ 9.71589955e-01 2.35623167e-01 2.22414724e-02 3.78785338e+02] [-2.35597809e-01 9.71843249e-01 -3.79109335e-03 -3.89664977e+01] [-2.25084942e-02 -1.55665395e-03 9.99745440e-01 -6.16199356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11589822699995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:378.81, Y:-38.97, Z:-6.16 [[ 9.71565304e-01 2.35811904e-01 2.12980088e-02 3.78813591e+02] [-2.35788717e-01 9.71797566e-01 -3.62934088e-03 -3.89711349e+01] [-2.15531949e-02 -1.49568850e-03 9.99766584e-01 -6.16228234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.84, Y:-38.98, Z:-6.16 [[ 9.71403878e-01 2.36509610e-01 2.09215371e-02 3.78841275e+02] [-2.36487416e-01 9.71628014e-01 -3.56426205e-03 -3.89766661e+01] [-2.11709338e-02 -1.48534228e-03 9.99774767e-01 -6.16323398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.87, Y:-38.98, Z:-6.16 [[ 9.71277810e-01 2.37015480e-01 2.10494232e-02 3.78868478e+02] [-2.36993158e-01 9.71504705e-01 -3.58478106e-03 -3.89817893e+01] [-2.12992622e-02 -1.50675099e-03 9.99772010e-01 -6.16358585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.90, Y:-38.99, Z:-6.16 [[ 9.70997637e-01 2.38017348e-01 2.26126397e-02 3.78896575e+02] [-2.37991896e-01 9.71259512e-01 -3.84940890e-03 -3.89864313e+01] [-2.28789675e-02 -1.64385805e-03 9.99736891e-01 -6.16271854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.92, Y:-38.99, Z:-6.16 [[ 9.70804994e-01 2.38713956e-01 2.35225574e-02 3.78924265e+02] [-2.38686643e-01 9.71088390e-01 -4.00322829e-03 -3.89905118e+01] [-2.37981088e-02 -1.72816624e-03 9.99715291e-01 -6.16309910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.95, Y:-38.99, Z:-6.16 [[ 9.70634209e-01 2.39316034e-01 2.44349642e-02 3.78952587e+02] [-2.39286787e-01 9.70940036e-01 -4.15705547e-03 -3.89944073e+01] [-2.47197351e-02 -1.81198383e-03 9.99692779e-01 -6.16367606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.98, Y:-39.00, Z:-6.17 [[ 9.70556660e-01 2.39580021e-01 2.49235591e-02 3.78981400e+02] [-2.39549707e-01 9.70874847e-01 -4.23904259e-03 -3.89981533e+01] [-2.52132465e-02 -1.85620027e-03 9.99680372e-01 -6.16511001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.01, Y:-39.00, Z:-6.17 [[ 9.70767264e-01 2.38727926e-01 2.48977252e-02 3.79009465e+02] [-2.38697425e-01 9.71084763e-01 -4.23353745e-03 -3.90025277e+01] [-2.51884652e-02 -1.83324332e-03 9.99681039e-01 -6.16574222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.04, Y:-39.01, Z:-6.17 [[ 9.71148649e-01 2.37172503e-01 2.48898746e-02 3.79037679e+02] [-2.37141542e-01 9.71465896e-01 -4.23106887e-03 -3.90075599e+01] [-2.51831575e-02 -1.79342642e-03 9.99681245e-01 -6.16667743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.07, Y:-39.01, Z:-6.17 [[ 9.72215639e-01 2.32754353e-01 2.49431940e-02 3.79065027e+02] [-2.32721839e-01 9.72534101e-01 -4.23898959e-03 -3.90129547e+01] [-2.52447500e-02 -1.68361400e-03 9.99679883e-01 -6.16780161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.09, Y:-39.02, Z:-6.17 [[ 9.72677506e-01 2.30814962e-01 2.49584123e-02 3.79092656e+02] [-2.30781810e-01 9.72996289e-01 -4.24008652e-03 -3.90188845e+01] [-2.52631180e-02 -1.63571079e-03 9.99679498e-01 -6.16924891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.12, Y:-39.02, Z:-6.17 [[ 9.73029814e-01 2.29319825e-01 2.50079912e-02 3.79120465e+02] [-2.29286086e-01 9.73349810e-01 -4.24705352e-03 -3.90249030e+01] [-2.53154570e-02 -1.60147473e-03 9.99678230e-01 -6.16947525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.15, Y:-39.03, Z:-6.17 [[ 9.73182899e-01 2.28596373e-01 2.56660190e-02 3.79148157e+02] [-2.28560616e-01 9.73519931e-01 -4.35758399e-03 -3.90309923e+01] [-2.59825089e-02 -1.62551489e-03 9.99661076e-01 -6.17004795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.18, Y:-39.04, Z:-6.17 [[ 9.72939866e-01 2.29417038e-01 2.74925391e-02 3.79176684e+02] [-2.29376365e-01 9.73326618e-01 -4.66669337e-03 -3.90375479e+01] [-2.78298391e-02 -1.76572667e-03 9.99611116e-01 -6.17025850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.20, Y:-39.04, Z:-6.17 [[ 9.72654752e-01 2.30599164e-01 2.76904015e-02 3.79204508e+02] [-2.30558399e-01 9.73047141e-01 -4.69963321e-03 -3.90424513e+01] [-2.80277974e-02 -1.81313404e-03 9.99605500e-01 -6.17100024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.23, Y:-39.05, Z:-6.17 [[ 9.72277378e-01 2.32240685e-01 2.72206692e-02 3.79232638e+02] [-2.32201957e-01 9.72656628e-01 -4.61899454e-03 -3.90472340e+01] [-2.75490827e-02 -1.82974875e-03 9.99618777e-01 -6.17220730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.26, Y:-39.05, Z:-6.17 [[ 9.71357950e-01 2.36260322e-01 2.53928010e-02 3.79260425e+02] [-2.36228012e-01 9.71688103e-01 -4.30777867e-03 -3.90523190e+01] [-2.56916398e-02 -1.81409583e-03 9.99668269e-01 -6.17366958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.29, Y:-39.06, Z:-6.17 [[ 9.70879706e-01 2.38260748e-01 2.49882526e-02 3.79289297e+02] [-2.38230154e-01 9.71199483e-01 -4.23775051e-03 -3.90570953e+01] [-2.52782676e-02 -1.83860928e-03 9.99678763e-01 -6.17456515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.32, Y:-39.06, Z:-6.18 [[ 9.70466892e-01 2.39961084e-01 2.47525575e-02 3.79317809e+02] [-2.39931641e-01 9.70780715e-01 -4.19668672e-03 -3.90615434e+01] [-2.50363470e-02 -1.86617621e-03 9.99684800e-01 -6.17537993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.35, Y:-39.07, Z:-6.18 [[ 9.70208028e-01 2.41024180e-01 2.45708682e-02 3.79346260e+02] [-2.40995534e-01 9.70517288e-01 -4.16480131e-03 -3.90655991e+01] [-2.48502702e-02 -1.88074583e-03 9.99689415e-01 -6.17625803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.37, Y:-39.07, Z:-6.18 [[ 9.70157076e-01 2.41239942e-01 2.44650305e-02 3.79373415e+02] [-2.41211636e-01 9.70463682e-01 -4.14581045e-03 -3.90694953e+01] [-2.47425587e-02 -1.87916268e-03 9.99692090e-01 -6.17679534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.40, Y:-39.07, Z:-6.18 [[ 9.70153690e-01 2.41210175e-01 2.48891252e-02 3.79401870e+02] [-2.41180905e-01 9.70471017e-01 -4.21622822e-03 -3.90739605e+01] [-2.51711718e-02 -1.91239237e-03 9.99681327e-01 -6.17804167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.43, Y:-39.08, Z:-6.18 [[ 9.70158886e-01 2.41250330e-01 2.42902209e-02 3.79429222e+02] [-2.41222489e-01 9.70461121e-01 -4.11376351e-03 -3.90779215e+01] [-2.45651618e-02 -1.86834334e-03 9.99696485e-01 -6.17864627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.46, Y:-39.08, Z:-6.18 [[ 9.70118084e-01 2.41507956e-01 2.33411638e-02 3.79458256e+02] [-2.41482352e-01 9.70397165e-01 -3.95178310e-03 -3.90817186e+01] [-2.36045862e-02 -1.80278289e-03 9.99719747e-01 -6.17945549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.49, Y:-39.08, Z:-6.18 [[ 9.69980740e-01 2.42236762e-01 2.14176142e-02 3.79486161e+02] [-2.42215397e-01 9.70215728e-01 -3.62533838e-03 -3.90842040e+01] [-2.16578964e-02 -1.67116752e-03 9.99764044e-01 -6.18093738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.51, Y:-39.09, Z:-6.18 [[ 9.69800527e-01 2.42964984e-01 2.13296528e-02 3.79512788e+02] [-2.42943992e-01 9.70033602e-01 -3.60941620e-03 -3.90875369e+01] [-2.15674417e-02 -1.68149726e-03 9.99765982e-01 -6.18190161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.54, Y:-39.09, Z:-6.18 [[ 9.69584542e-01 2.43791097e-01 2.17190249e-02 3.79540268e+02] [-2.43769575e-01 9.69826221e-01 -3.67358320e-03 -3.90907184e+01] [-2.19592667e-02 -1.73258799e-03 9.99757365e-01 -6.18221140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.57, Y:-39.09, Z:-6.18 [[ 9.69367375e-01 2.44634150e-01 2.19322786e-02 3.79567270e+02] [-2.44612448e-01 9.69613840e-01 -3.70828251e-03 -3.90932095e+01] [-2.21730135e-02 -1.77022029e-03 9.99752581e-01 -6.18247524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.60, Y:-39.09, Z:-6.18 [[ 9.69088732e-01 2.45724235e-01 2.20596796e-02 3.79596809e+02] [-2.45702600e-01 9.69338091e-01 -3.72804072e-03 -3.90942711e+01] [-2.22993577e-02 -1.80731839e-03 9.99749705e-01 -6.18317901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.62, Y:-39.10, Z:-6.18 [[ 9.69004292e-01 2.46037474e-01 2.22765022e-02 3.79624102e+02] [-2.46015517e-01 9.69258583e-01 -3.76368365e-03 -3.90967183e+01] [-2.25176982e-02 -1.83333959e-03 9.99744763e-01 -6.18409606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.65, Y:-39.10, Z:-6.19 [[ 9.68838507e-01 2.46602699e-01 2.32175975e-02 3.79653328e+02] [-2.46579043e-01 9.69114750e-01 -3.92123547e-03 -3.90995874e+01] [-2.34675034e-02 -1.92592905e-03 9.99722745e-01 -6.18507960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.68, Y:-39.10, Z:-6.19 [[ 9.68610391e-01 2.47426495e-01 2.39591363e-02 3.79681052e+02] [-2.47401581e-01 9.68904584e-01 -4.04534138e-03 -3.91021979e+01] [-2.42150416e-02 -2.00916851e-03 9.99704754e-01 -6.18534170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.71, Y:-39.10, Z:-6.19 [[ 9.68379492e-01 2.48277220e-01 2.44863482e-02 3.79709555e+02] [-2.48251504e-01 9.68686797e-01 -4.13292748e-03 -3.91018293e+01] [-2.47457139e-02 -2.07653054e-03 9.99691621e-01 -6.18636238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.74, Y:-39.10, Z:-6.19 [[ 9.68469229e-01 2.47960757e-01 2.41415833e-02 3.79736995e+02] [-2.47935702e-01 9.68767928e-01 -4.07308931e-03 -3.91046363e+01] [-2.43975579e-02 -2.04089874e-03 9.99700252e-01 -6.18718101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.76, Y:-39.11, Z:-6.19 [[ 9.68541480e-01 2.47698642e-01 2.39329119e-02 3.79764977e+02] [-2.47673980e-01 9.68835027e-01 -4.03619480e-03 -3.91081730e+01] [-2.41868033e-02 -2.01833745e-03 9.99705419e-01 -6.18816058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.79, Y:-39.11, Z:-6.19 [[ 9.68655560e-01 2.47251520e-01 2.39393245e-02 3.79792872e+02] [-2.47226742e-01 9.68949250e-01 -4.03588657e-03 -3.91101604e+01] [-2.41938697e-02 -2.00905724e-03 9.99705267e-01 -6.18910181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.82, Y:-39.11, Z:-6.19 [[ 9.68662079e-01 2.47223579e-01 2.39641217e-02 3.79819581e+02] [-2.47198773e-01 9.68956374e-01 -4.03874250e-03 -3.91126798e+01] [-2.42186608e-02 -2.01172477e-03 9.99704661e-01 -6.19032225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.85, Y:-39.12, Z:-6.19 [[ 9.68655078e-01 2.47212523e-01 2.43579202e-02 3.79847603e+02] [-2.47186940e-01 9.68959122e-01 -4.10316323e-03 -3.91160081e+01] [-2.46161823e-02 -2.04640987e-03 9.99694881e-01 -6.19154847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.87, Y:-39.12, Z:-6.19 [[ 9.68869163e-01 2.46361374e-01 2.44666837e-02 3.79874650e+02] [-2.46335334e-01 9.69175903e-01 -4.11981249e-03 -3.91188688e+01] [-2.47274829e-02 -2.03544943e-03 9.99692157e-01 -6.19244626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.90, Y:-39.12, Z:-6.19 [[ 9.69089823e-01 2.45527178e-01 2.41105700e-02 3.79902640e+02] [-2.45501681e-01 9.69387672e-01 -4.05792584e-03 -3.91236703e+01] [-2.43688204e-02 -1.98669083e-03 9.99701062e-01 -6.19348130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.93, Y:-39.13, Z:-6.19 [[ 9.69342299e-01 2.44579413e-01 2.35885351e-02 3.79929882e+02] [-2.44554767e-01 9.69627360e-01 -3.96845656e-03 -3.91287058e+01] [-2.38426918e-02 -1.92189590e-03 9.99713875e-01 -6.19387752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.96, Y:-39.13, Z:-6.19 [[ 9.69679457e-01 2.43216902e-01 2.38178261e-02 3.79957112e+02] [-2.43191408e-01 9.69970049e-01 -4.00531774e-03 -3.91342773e+01] [-2.40767390e-02 -1.90841634e-03 9.99708292e-01 -6.19485089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.98, Y:-39.14, Z:-6.20 [[ 9.70566601e-01 2.39646906e-01 2.38711944e-02 3.79983747e+02] [-2.39620256e-01 9.70858398e-01 -4.01293747e-03 -3.91435683e+01] [-2.41372376e-02 -1.82519865e-03 9.99706988e-01 -6.19592921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.01, Y:-39.15, Z:-6.20 [[ 9.71119894e-01 2.37466340e-01 2.31492877e-02 3.80011878e+02] [-2.37440700e-01 9.71394247e-01 -3.88995420e-03 -3.91513379e+01] [-2.34108181e-02 -1.71897116e-03 9.99724451e-01 -6.19721918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.04, Y:-39.16, Z:-6.20 [[ 9.71563025e-01 2.35714337e-01 2.24508262e-02 3.80038373e+02] [-2.35689777e-01 9.71821025e-01 -3.77162496e-03 -3.91592693e+01] [-2.27072110e-02 -1.62705886e-03 9.99740834e-01 -6.19822538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.07, Y:-39.17, Z:-6.20 [[ 9.71937914e-01 2.34216051e-01 2.18982220e-02 3.80065863e+02] [-2.34192337e-01 9.72183329e-01 -3.67739003e-03 -3.91696759e+01] [-2.21503902e-02 -1.55420099e-03 9.99753442e-01 -6.19890188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.09, Y:-39.18, Z:-6.20 [[ 9.71747861e-01 2.35036748e-01 2.15365206e-02 3.80093226e+02] [-2.35014032e-01 9.71985253e-01 -3.61571732e-03 -3.91766661e+01] [-2.17830069e-02 -1.54781896e-03 9.99761524e-01 -6.19904914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.12, Y:-39.18, Z:-6.20 [[ 9.71404634e-01 2.36480497e-01 2.12134771e-02 3.80121460e+02] [-2.36458827e-01 9.71634987e-01 -3.56020577e-03 -3.91829612e+01] [-2.14536758e-02 -1.55771353e-03 9.99768630e-01 -6.19930868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.15, Y:-39.19, Z:-6.20 [[ 9.69992378e-01 2.42173468e-01 2.16055082e-02 3.80149466e+02] [-2.42152414e-01 9.70231451e-01 -3.62497190e-03 -3.91886674e+01] [-2.18402156e-02 -1.71563086e-03 9.99760002e-01 -6.19947459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.18, Y:-39.19, Z:-6.20 [[ 9.69070505e-01 2.45838102e-01 2.15866404e-02 3.80177681e+02] [-2.45818009e-01 9.69309237e-01 -3.62080434e-03 -3.91929373e+01] [-2.18142616e-02 -1.79757028e-03 9.99760425e-01 -6.19971331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.21, Y:-39.20, Z:-6.20 [[ 9.68130440e-01 2.49531297e-01 2.13911713e-02 3.80205159e+02] [-2.49512480e-01 9.68364939e-01 -3.58710611e-03 -3.91969225e+01] [-2.16095555e-02 -1.86457758e-03 9.99764748e-01 -6.20076630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.23, Y:-39.20, Z:-6.20 [[ 9.67346619e-01 2.52593536e-01 2.09051223e-02 3.80232563e+02] [-2.52576296e-01 9.67570635e-01 -3.50450155e-03 -3.91998221e+01] [-2.11123969e-02 -1.89007063e-03 9.99775322e-01 -6.20174951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.26, Y:-39.20, Z:-6.20 [[ 9.66552557e-01 2.55718087e-01 1.96065158e-02 3.80259975e+02] [-2.55703581e-01 9.66749649e-01 -3.28566106e-03 -3.91996926e+01] [-1.97947952e-02 -1.83769221e-03 9.99802375e-01 -6.20401936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.29, Y:-39.20, Z:-6.20 [[ 9.66562942e-01 2.55650331e-01 1.99746755e-02 3.80287929e+02] [-2.55635296e-01 9.66767502e-01 -3.34566948e-03 -3.92023397e+01] [-2.01661887e-02 -1.87243194e-03 9.99794888e-01 -6.20466155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.31, Y:-39.20, Z:-6.21 [[ 9.66894552e-01 2.54320055e-01 2.08862321e-02 3.80314791e+02] [-2.54303338e-01 9.67118185e-01 -3.49692617e-03 -3.92049974e+01] [-2.10887933e-02 -1.93027968e-03 9.99775743e-01 -6.20553087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.34, Y:-39.21, Z:-6.21 [[ 9.66908240e-01 2.54267987e-01 2.08865193e-02 3.80342908e+02] [-2.54251295e-01 9.67131874e-01 -3.49520954e-03 -3.92095773e+01] [-2.10887385e-02 -1.93087768e-03 9.99775743e-01 -6.20629904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.37, Y:-39.21, Z:-6.21 [[ 9.67414511e-01 2.52238789e-01 2.20172198e-02 3.80370610e+02] [-2.52219747e-01 9.67662975e-01 -3.68317993e-03 -3.92125830e+01] [-2.22342893e-02 -1.99001591e-03 9.99750807e-01 -6.20661742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.40, Y:-39.21, Z:-6.21 [[ 9.68654603e-01 2.47294404e-01 2.35316515e-02 3.80398008e+02] [-2.47271244e-01 9.68938310e-01 -3.93485591e-03 -3.92121754e+01] [-2.37737865e-02 -2.00718444e-03 9.99715349e-01 -6.20765230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.43, Y:-39.21, Z:-6.21 [[ 9.69049292e-01 2.45747111e-01 2.34910117e-02 3.80426281e+02] [-2.45723623e-01 9.69331979e-01 -3.92621658e-03 -3.92139304e+01] [-2.37354452e-02 -1.96759910e-03 9.99716338e-01 -6.20870974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.45, Y:-39.22, Z:-6.21 [[ 9.69244974e-01 2.45077964e-01 2.23823912e-02 3.80453931e+02] [-2.45056496e-01 9.69501589e-01 -3.73945610e-03 -3.92156921e+01] [-2.26162221e-02 -1.86050132e-03 9.99742489e-01 -6.20893690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.48, Y:-39.21, Z:-6.21 [[ 9.69225661e-01 2.45294066e-01 2.07951623e-02 3.80481457e+02] [-2.45275611e-01 9.69447169e-01 -3.47299870e-03 -3.92149912e+01] [-2.10117172e-02 -1.73442669e-03 9.99777725e-01 -6.20892735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.51, Y:-39.22, Z:-6.21 [[ 9.69088965e-01 2.45839234e-01 2.07279591e-02 3.80508534e+02] [-2.45821058e-01 9.69309051e-01 -3.46007228e-03 -3.92162836e+01] [-2.09424199e-02 -1.74225097e-03 9.99779165e-01 -6.20953960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.54, Y:-39.22, Z:-6.21 [[ 9.68927661e-01 2.46460159e-01 2.08944633e-02 3.80536821e+02] [-2.46441871e-01 9.69151305e-01 -3.48604805e-03 -3.92176354e+01] [-2.11090684e-02 -1.77154225e-03 9.99775609e-01 -6.20987544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.56, Y:-39.22, Z:-6.21 [[ 9.68849277e-01 2.46731231e-01 2.13255535e-02 3.80564994e+02] [-2.46712277e-01 9.69082248e-01 -3.55651883e-03 -3.92190703e+01] [-2.15437196e-02 -1.81554516e-03 9.99766259e-01 -6.21075948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.59, Y:-39.22, Z:-6.21 [[ 9.68555786e-01 2.47791062e-01 2.23445348e-02 3.80593482e+02] [-2.47770570e-01 9.68811576e-01 -3.72482642e-03 -3.92182325e+01] [-2.25706227e-02 -1.92861595e-03 9.99743391e-01 -6.21104939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.62, Y:-39.22, Z:-6.21 [[ 9.68468483e-01 2.48100689e-01 2.26902107e-02 3.80620586e+02] [-2.48079675e-01 9.68732253e-01 -3.78105517e-03 -3.92201831e+01] [-2.29188214e-02 -1.96714733e-03 9.99735394e-01 -6.21188153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.65, Y:-39.22, Z:-6.21 [[ 9.68378145e-01 2.48470245e-01 2.25012379e-02 3.80648418e+02] [-2.48449746e-01 9.68637542e-01 -3.74660548e-03 -3.92221969e+01] [-2.27264638e-02 -1.96229598e-03 9.99739795e-01 -6.21254344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.125898227 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:380.68, Y:-39.22, Z:-6.21 [[ 9.68322752e-01 2.48690079e-01 2.24564661e-02 3.80675471e+02] [-2.48669754e-01 9.68581119e-01 -3.73766106e-03 -3.92234677e+01] [-2.26804283e-02 -1.96498165e-03 9.99740835e-01 -6.21312041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.70, Y:-39.22, Z:-6.21 [[ 9.68306462e-01 2.48810275e-01 2.18184022e-02 3.80703862e+02] [-2.48791156e-01 9.68550353e-01 -3.62973238e-03 -3.92219158e+01] [-2.20353359e-02 -1.91353221e-03 9.99755361e-01 -6.21450771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.73, Y:-39.22, Z:-6.22 [[ 9.68496407e-01 2.48134923e-01 2.10658285e-02 3.80732322e+02] [-2.48116971e-01 9.68723746e-01 -3.50315793e-03 -3.92232677e+01] [-2.12762241e-02 -1.83399368e-03 9.99771953e-01 -6.21515474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.76, Y:-39.22, Z:-6.22 [[ 9.68988448e-01 2.46211095e-01 2.10115500e-02 3.80760061e+02] [-2.46192816e-01 9.69214578e-01 -3.49273380e-03 -3.92227543e+01] [-2.12246504e-02 -1.78847397e-03 9.99773132e-01 -6.21632791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.79, Y:-39.23, Z:-6.22 [[ 9.69331662e-01 2.44825908e-01 2.13636161e-02 3.80787689e+02] [-2.44806717e-01 9.69565404e-01 -3.54942877e-03 -3.92251648e+01] [-2.15824152e-02 -1.78938303e-03 9.99765471e-01 -6.21722820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.82, Y:-39.23, Z:-6.22 [[ 9.69743499e-01 2.43181127e-01 2.14589052e-02 3.80815433e+02] [-2.43161397e-01 9.69979296e-01 -3.56376453e-03 -3.92278949e+01] [-2.16813340e-02 -1.76203987e-03 9.99763379e-01 -6.21795662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.84, Y:-39.23, Z:-6.22 [[ 9.70153765e-01 2.41573206e-01 2.10726949e-02 3.80843121e+02] [-2.41553833e-01 9.70381115e-01 -3.49818784e-03 -3.92303256e+01] [-2.12936136e-02 -1.69641012e-03 9.99771826e-01 -6.21881724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.335898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.87, Y:-39.23, Z:-6.22 [[ 9.70487534e-01 2.40298631e-01 2.02611692e-02 3.80871479e+02] [-2.40280473e-01 9.70697682e-01 -3.36213509e-03 -3.92325365e+01] [-2.04753864e-02 -1.60545313e-03 9.99789068e-01 -6.21922829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36589822699995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.90, Y:-39.23, Z:-6.22 [[ 9.71178351e-01 2.37564738e-01 1.93805316e-02 3.80898601e+02] [-2.37547606e-01 9.71370578e-01 -3.21479590e-03 -3.92326141e+01] [-1.95894004e-02 -1.48165871e-03 9.99807011e-01 -6.22004413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.93, Y:-39.24, Z:-6.22 [[ 9.71573146e-01 2.35889536e-01 2.00436481e-02 3.80925638e+02] [-2.35870893e-01 9.71778719e-01 -3.32305391e-03 -3.92363780e+01] [-2.02618643e-02 -1.49912324e-03 9.99793583e-01 -6.22027190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.95, Y:-39.24, Z:-6.22 [[ 9.71999886e-01 2.34041786e-01 2.09919891e-02 3.80953006e+02] [-2.34020946e-01 9.72225332e-01 -3.47849419e-03 -3.92406773e+01] [-2.12230566e-02 -1.53146919e-03 9.99773593e-01 -6.22110511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.98, Y:-39.25, Z:-6.22 [[ 9.72971664e-01 2.29985003e-01 2.08095940e-02 3.80979613e+02] [-2.29963624e-01 9.73193120e-01 -3.44709733e-03 -3.92463420e+01] [-2.10445344e-02 -1.43152161e-03 9.99777514e-01 -6.22198440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.01, Y:-39.25, Z:-6.22 [[ 9.73376893e-01 2.28355950e-01 1.97733292e-02 3.81005547e+02] [-2.28336367e-01 9.73576804e-01 -3.27271110e-03 -3.92518315e+01] [-1.99981977e-02 -1.32938879e-03 9.99799132e-01 -6.22333171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.03, Y:-39.26, Z:-6.22 [[ 9.73681127e-01 2.27124537e-01 1.89606667e-02 3.81032718e+02] [-2.27106327e-01 9.73864917e-01 -3.13670863e-03 -3.92579210e+01] [-1.91775516e-02 -1.25193338e-03 9.99815310e-01 -6.22385600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.06, Y:-39.26, Z:-6.22 [[ 9.73843789e-01 2.26312634e-01 2.02698114e-02 3.81059540e+02] [-2.26291680e-01 9.74053819e-01 -3.35173262e-03 -3.92635457e+01] [-2.05024267e-02 -1.32282568e-03 9.99788928e-01 -6.22423836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.575898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:381.09, Y:-39.27, Z:-6.22 [[ 9.73860298e-01 2.26180023e-01 2.09455558e-02 3.81086310e+02] [-2.26157657e-01 9.74084561e-01 -3.46158347e-03 -3.92675972e+01] [-2.11856836e-02 -1.36589912e-03 9.99774625e-01 -6.22354587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.11, Y:-39.27, Z:-6.22 [[ 9.73750268e-01 2.26570641e-01 2.18210933e-02 3.81113047e+02] [-2.26546506e-01 9.73993680e-01 -3.60437790e-03 -3.92722368e+01] [-2.20702532e-02 -1.43372850e-03 9.99755394e-01 -6.22404464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.14, Y:-39.28, Z:-6.22 [[ 9.73700105e-01 2.26763417e-01 2.20557796e-02 3.81141072e+02] [-2.26738851e-01 9.73948784e-01 -3.64128826e-03 -3.92769481e+01] [-2.23069107e-02 -1.45537936e-03 9.99750111e-01 -6.22494175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.17, Y:-39.28, Z:-6.23 [[ 9.73659841e-01 2.26926431e-01 2.21564512e-02 3.81167900e+02] [-2.26901717e-01 9.73910798e-01 -3.65633069e-03 -3.92814443e+01] [-2.24081252e-02 -1.46731447e-03 9.99747830e-01 -6.22569845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.20, Y:-39.29, Z:-6.23 [[ 9.73614342e-01 2.27147016e-01 2.18939630e-02 3.81195485e+02] [-2.27122982e-01 9.73859390e-01 -3.61111200e-03 -3.92871264e+01] [-2.21418948e-02 -1.45679174e-03 9.99753777e-01 -6.22658673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.22, Y:-39.29, Z:-6.23 [[ 9.73715649e-01 2.26732801e-01 2.16811314e-02 3.81222741e+02] [-2.26709162e-01 9.73955943e-01 -3.57451805e-03 -3.92930255e+01] [-2.19269273e-02 -1.43474698e-03 9.99758547e-01 -6.22739758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.25, Y:-39.30, Z:-6.23 [[ 9.73951929e-01 2.25747280e-01 2.13495973e-02 3.81249996e+02] [-2.25724155e-01 9.74184904e-01 -3.51838847e-03 -3.92992250e+01] [-2.15927220e-02 -1.39237857e-03 9.99765880e-01 -6.22746118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.28, Y:-39.31, Z:-6.23 [[ 9.74737462e-01 2.22262624e-01 2.20500848e-02 3.81275985e+02] [-2.22237100e-01 9.74985886e-01 -3.63239498e-03 -3.93082526e+01] [-2.23058671e-02 -1.35971545e-03 9.99750269e-01 -6.22775544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.30, Y:-39.32, Z:-6.23 [[ 9.75055845e-01 2.20808784e-01 2.25738838e-02 3.81303510e+02] [-2.20781710e-01 9.75316169e-01 -3.71584259e-03 -3.93159033e+01] [-2.28371646e-02 -1.36074663e-03 9.99738272e-01 -6.22809843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.33, Y:-39.32, Z:-6.23 [[ 9.75305979e-01 2.19666465e-01 2.29105058e-02 3.81329705e+02] [-2.19638301e-01 9.75574091e-01 -3.76959584e-03 -3.93232149e+01] [-2.31789497e-02 -1.35551521e-03 9.99730413e-01 -6.22907690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.36, Y:-39.33, Z:-6.23 [[ 9.75380719e-01 2.19392870e-01 2.23432791e-02 3.81356682e+02] [-2.19366055e-01 9.75635707e-01 -3.67436805e-03 -3.93310443e+01] [-2.26050310e-02 -1.31744923e-03 9.99743606e-01 -6.22958075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.38, Y:-39.34, Z:-6.23 [[ 9.75046240e-01 2.21062294e-01 2.04032283e-02 3.81382206e+02] [-2.21040320e-01 9.75258902e-01 -3.35426397e-03 -3.93413521e+01] [-2.06399313e-02 -1.23937362e-03 9.99786206e-01 -6.23040791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.41, Y:-39.35, Z:-6.23 [[ 9.74603021e-01 2.23051738e-01 1.99216886e-02 3.81408620e+02] [-2.23031246e-01 9.74805802e-01 -3.27291556e-03 -3.93481231e+01] [-2.01498071e-02 -1.25336564e-03 9.99796186e-01 -6.23014966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.44, Y:-39.35, Z:-6.23 [[ 9.74021234e-01 2.25575894e-01 1.99537619e-02 3.81435692e+02] [-2.25555896e-01 9.74224718e-01 -3.27655548e-03 -3.93547956e+01] [-2.01785600e-02 -1.30925403e-03 9.99795535e-01 -6.23069790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.46, Y:-39.36, Z:-6.23 [[ 9.73383405e-01 2.28272746e-01 2.04034600e-02 3.81462312e+02] [-2.28252453e-01 9.73596221e-01 -3.34912057e-03 -3.93607224e+01] [-2.06292445e-02 -1.39716140e-03 9.99786218e-01 -6.23089713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.49, Y:-39.37, Z:-6.23 [[ 9.72036521e-01 2.33787376e-01 2.21012369e-02 3.81489131e+02] [-2.33765042e-01 9.72286359e-01 -3.62507619e-03 -3.93679618e+01] [-2.23362282e-02 -1.64279011e-03 9.99749166e-01 -6.23154801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.52, Y:-39.37, Z:-6.23 [[ 9.71274546e-01 2.36882031e-01 2.26419942e-02 3.81516144e+02] [-2.36859464e-01 9.71536831e-01 -3.71208673e-03 -3.93736815e+01] [-2.28768579e-02 -1.75751526e-03 9.99736746e-01 -6.23216335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.085898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.54, Y:-39.38, Z:-6.23 [[ 9.70420714e-01 2.40298420e-01 2.32445281e-02 3.81543054e+02] [-2.40275649e-01 9.70697225e-01 -3.80916828e-03 -3.93789518e+01] [-2.34787360e-02 -1.88859826e-03 9.99722553e-01 -6.23301412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.57, Y:-39.38, Z:-6.23 [[ 9.69534061e-01 2.43833543e-01 2.34287856e-02 3.81569890e+02] [-2.43811482e-01 9.69815053e-01 -3.83736127e-03 -3.93832554e+01] [-2.36572664e-02 -1.99175449e-03 9.99718144e-01 -6.23388497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.60, Y:-39.38, Z:-6.23 [[ 9.67710516e-01 2.50977349e-01 2.33822089e-02 3.81597836e+02] [-2.50957485e-01 9.67990542e-01 -3.82782527e-03 -3.93848992e+01] [-2.35944545e-02 -2.16371356e-03 9.99719271e-01 -6.23480811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.63, Y:-39.39, Z:-6.24 [[ 9.67042204e-01 2.53584856e-01 2.28931546e-02 3.81626131e+02] [-2.53566572e-01 9.67310684e-01 -3.74623060e-03 -3.93872431e+01] [-2.30947804e-02 -2.18217565e-03 9.99730898e-01 -6.23603870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.65, Y:-39.39, Z:-6.24 [[ 9.66589475e-01 2.55366028e-01 2.22031089e-02 3.81653387e+02] [-2.55349328e-01 9.66842040e-01 -3.63186104e-03 -3.93894973e+01] [-2.23943531e-02 -2.15903029e-03 9.99746884e-01 -6.23762208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.68, Y:-39.39, Z:-6.24 [[ 9.66449591e-01 2.55947850e-01 2.15843943e-02 3.81680084e+02] [-2.55932248e-01 9.66688280e-01 -3.52896006e-03 -3.93921997e+01] [-2.17686107e-02 -2.11358055e-03 9.99760802e-01 -6.23877860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.71, Y:-39.39, Z:-6.24 [[ 9.67022083e-01 2.53652680e-01 2.29914812e-02 3.81707930e+02] [-2.53634382e-01 9.67292864e-01 -3.75697426e-03 -3.93946391e+01] [-2.31924623e-02 -2.19835305e-03 9.99728602e-01 -6.23940883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.73, Y:-39.40, Z:-6.24 [[ 9.67555634e-01 2.51517504e-01 2.39800120e-02 3.81734750e+02] [-2.51496991e-01 9.67850155e-01 -3.91679572e-03 -3.93984730e+01] [-2.41942010e-02 -2.24118309e-03 9.99704765e-01 -6.23955791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.76, Y:-39.40, Z:-6.24 [[ 9.68086083e-01 2.49437045e-01 2.43001223e-02 3.81761324e+02] [-2.49415379e-01 9.68388471e-01 -3.96709122e-03 -3.94027096e+01] [-2.45214978e-02 -2.22033841e-03 9.99696837e-01 -6.24058842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.79, Y:-39.41, Z:-6.24 [[ 9.68941034e-01 2.46207913e-01 2.31287034e-02 3.81788834e+02] [-2.46187415e-01 9.69214895e-01 -3.77402834e-03 -3.94070435e+01] [-2.33458795e-02 -2.03718479e-03 9.99725372e-01 -6.24120496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.82, Y:-39.41, Z:-6.24 [[ 9.69087732e-01 2.45656514e-01 2.28439422e-02 3.81816268e+02] [-2.45636394e-01 9.69354876e-01 -3.72633457e-03 -3.94119075e+01] [-2.30592852e-02 -2.00015847e-03 9.99732098e-01 -6.24241873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.84, Y:-39.42, Z:-6.24 [[ 9.69161091e-01 2.45392317e-01 2.25696904e-02 3.81843666e+02] [-2.45372641e-01 9.69421850e-01 -3.68005749e-03 -3.94168426e+01] [-2.27826089e-02 -1.97141602e-03 9.99738499e-01 -6.24370997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.87, Y:-39.42, Z:-6.25 [[ 9.69235010e-01 2.45102331e-01 2.25464509e-02 3.81870118e+02] [-2.45082652e-01 9.69495224e-01 -3.67476139e-03 -3.94218380e+01] [-2.27593691e-02 -1.96403659e-03 9.99739043e-01 -6.24527604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.90, Y:-39.43, Z:-6.25 [[ 9.69644672e-01 2.43588009e-01 2.13094097e-02 3.81897712e+02] [-2.43570102e-01 9.69877082e-01 -3.47148107e-03 -3.94285513e+01] [-2.15131193e-02 -1.82423199e-03 9.99766902e-01 -6.24770284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.92, Y:-39.43, Z:-6.25 [[ 9.69992746e-01 2.42355582e-01 1.94382237e-02 3.81923683e+02] [-2.42340457e-01 9.70186107e-01 -3.16556031e-03 -3.94342232e+01] [-1.96258858e-02 -1.64009749e-03 9.99806049e-01 -6.24795809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.95, Y:-39.44, Z:-6.25 [[ 9.70309905e-01 2.41166806e-01 1.83646140e-02 3.81951428e+02] [-2.41153121e-01 9.70482476e-01 -2.98930311e-03 -3.94393621e+01] [-1.85434568e-02 -1.52813356e-03 9.99826888e-01 -6.24957509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.98, Y:-39.44, Z:-6.25 [[ 9.70505992e-01 2.40418817e-01 1.78020361e-02 3.81977887e+02] [-2.40405847e-01 9.70668139e-01 -2.89691795e-03 -3.94436421e+01] [-1.79763428e-02 -1.46823734e-03 9.99837334e-01 -6.25078708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.01, Y:-39.45, Z:-6.25 [[ 9.70576714e-01 2.40008789e-01 1.94067668e-02 3.82005175e+02] [-2.39993348e-01 9.70769405e-01 -3.15530508e-03 -3.94480001e+01] [-1.95967964e-02 -1.59502929e-03 9.99806692e-01 -6.25149123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.03, Y:-39.45, Z:-6.25 [[ 9.70479970e-01 2.40285321e-01 2.07747892e-02 3.82032889e+02] [-2.40267721e-01 9.70700790e-01 -3.37623084e-03 -3.94523019e+01] [-2.09773630e-02 -1.71494685e-03 9.99778480e-01 -6.25188117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.06, Y:-39.46, Z:-6.25 [[ 9.70492891e-01 2.40233111e-01 2.07750176e-02 3.82061027e+02] [-2.40215529e-01 9.70713712e-01 -3.37482458e-03 -3.94567465e+01] [-2.09773391e-02 -1.71523859e-03 9.99778480e-01 -6.25264937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.09, Y:-39.46, Z:-6.25 [[ 9.70443296e-01 2.40325042e-01 2.19928235e-02 3.82087417e+02] [-2.40305388e-01 9.70690767e-01 -3.57145297e-03 -3.94604483e+01] [-2.22065403e-02 -1.81910140e-03 9.99751749e-01 -6.25297302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.12, Y:-39.46, Z:-6.25 [[ 9.70203660e-01 2.41097159e-01 2.40212165e-02 3.82115958e+02] [-2.41073999e-01 9.70498906e-01 -3.89878947e-03 -3.94625102e+01] [-2.42525514e-02 -2.00827090e-03 9.99703846e-01 -6.25270365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.14, Y:-39.47, Z:-6.25 [[ 9.70032007e-01 2.41757076e-01 2.43191803e-02 3.82143079e+02] [-2.41733582e-01 9.70334637e-01 -3.94555217e-03 -3.94662180e+01] [-2.45516082e-02 -2.05145069e-03 9.99696459e-01 -6.25366335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.17, Y:-39.47, Z:-6.25 [[ 9.69988293e-01 2.41932995e-01 2.43133116e-02 3.82171168e+02] [-2.41909636e-01 9.70290776e-01 -3.94182937e-03 -3.94701268e+01] [-2.45446406e-02 -2.05809601e-03 9.99696616e-01 -6.25482771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.20, Y:-39.47, Z:-6.26 [[ 9.70122851e-01 2.41447897e-01 2.37605991e-02 3.82199235e+02] [-2.41425481e-01 9.70411722e-01 -3.85065302e-03 -3.94742987e+01] [-2.39872960e-02 -2.00080758e-03 9.99710261e-01 -6.25584157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.23, Y:-39.48, Z:-6.26 [[ 9.70914889e-01 2.38302825e-01 2.31525862e-02 3.82226305e+02] [-2.38280689e-01 9.71189089e-01 -3.75056296e-03 -3.94790614e+01] [-2.33793088e-02 -1.87533678e-03 9.99724908e-01 -6.25681296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.25, Y:-39.48, Z:-6.26 [[ 9.71535533e-01 2.35720721e-01 2.35467347e-02 3.82252802e+02] [-2.35697110e-01 9.71819086e-01 -3.81277954e-03 -3.94845042e+01] [-2.37819174e-02 -1.84564652e-03 9.99715467e-01 -6.25760555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.28, Y:-39.49, Z:-6.26 [[ 9.72123026e-01 2.33203996e-01 2.43458090e-02 3.82279937e+02] [-2.33178021e-01 9.72426083e-01 -3.94010654e-03 -3.94905703e+01] [-2.45933482e-02 -1.84663926e-03 9.99695832e-01 -6.25776660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.31, Y:-39.50, Z:-6.26 [[ 9.72548703e-01 2.31374954e-01 2.47921775e-02 3.82307145e+02] [-2.31347472e-01 9.72862921e-01 -4.01052638e-03 -3.94963508e+01] [-2.50473256e-02 -1.83517536e-03 9.99684582e-01 -6.25752599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.33, Y:-39.50, Z:-6.26 [[ 9.72782447e-01 2.30244840e-01 2.61079520e-02 3.82334115e+02] [-2.30214002e-01 9.73130870e-01 -4.22174753e-03 -3.95024559e+01] [-2.63784896e-02 -1.90357421e-03 9.99650215e-01 -6.25736842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.36, Y:-39.51, Z:-6.26 [[ 9.72678383e-01 2.30621314e-01 2.66565670e-02 3.82361657e+02] [-2.30589351e-01 9.73041615e-01 -4.30886284e-03 -3.95079359e+01] [-2.69316646e-02 -1.95558273e-03 9.99635364e-01 -6.25835706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.39, Y:-39.51, Z:-6.26 [[ 9.72591005e-01 2.31063590e-01 2.60068295e-02 3.82388989e+02] [-2.31033362e-01 9.72936753e-01 -4.20236434e-03 -3.95147283e+01] [-2.62740136e-02 -1.92126348e-03 9.99652932e-01 -6.25950902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.42, Y:-39.52, Z:-6.26 [[ 9.72616064e-01 2.31109998e-01 2.46203430e-02 3.82416758e+02] [-2.31082961e-01 9.72925923e-01 -3.97667953e-03 -3.95207905e+01] [-2.48728203e-02 -1.82155938e-03 9.99688964e-01 -6.26034108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.45, Y:-39.53, Z:-6.26 [[ 9.72781469e-01 2.30521037e-01 2.35852887e-02 3.82445461e+02] [-2.30496079e-01 9.73065801e-01 -3.80843628e-03 -3.95267428e+01] [-2.38279625e-02 -1.73154031e-03 9.99714574e-01 -6.26182805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.47, Y:-39.53, Z:-6.26 [[ 9.72981577e-01 2.29741866e-01 2.29243546e-02 3.82472822e+02] [-2.29718096e-01 9.73250174e-01 -3.70070922e-03 -3.95325421e+01] [-2.31613400e-02 -1.66541720e-03 9.99730353e-01 -6.26258123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.50, Y:-39.54, Z:-6.26 [[ 9.73272313e-01 2.28505235e-01 2.29425954e-02 3.82501046e+02] [-2.28481117e-01 9.73541305e-01 -3.70226326e-03 -3.95385790e+01] [-2.31815508e-02 -1.63863950e-03 9.99729929e-01 -6.26311300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.53, Y:-39.55, Z:-6.26 [[ 9.73870141e-01 2.25666738e-01 2.55239354e-02 3.82527744e+02] [-2.25635952e-01 9.74202989e-01 -4.11750276e-03 -3.95474727e+01] [-2.57946776e-02 -1.74920446e-03 9.99665732e-01 -6.26365675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.56, Y:-39.55, Z:-6.26 [[ 9.74297181e-01 2.23754461e-01 2.60565750e-02 3.82556140e+02] [-2.23721736e-01 9.74644001e-01 -4.20188394e-03 -3.95543235e+01] [-2.63360748e-02 -1.73553850e-03 9.99651639e-01 -6.26409546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.58, Y:-39.56, Z:-6.26 [[ 9.74820701e-01 2.21498008e-01 2.57533073e-02 3.82583312e+02] [-2.21465287e-01 9.75159417e-01 -4.15176864e-03 -3.95607336e+01] [-2.60331886e-02 -1.65623358e-03 9.99659707e-01 -6.26474790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.61, Y:-39.57, Z:-6.27 [[ 9.75878818e-01 2.16922835e-01 2.45970741e-02 3.82612193e+02] [-2.16891574e-01 9.76187652e-01 -3.96389141e-03 -3.95697427e+01] [-2.48712186e-02 -1.46662046e-03 9.99689588e-01 -6.26613795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.64, Y:-39.58, Z:-6.27 [[ 9.76417749e-01 2.14458741e-01 2.48158765e-02 3.82641318e+02] [-2.14426143e-01 9.76732021e-01 -3.99856678e-03 -3.95776796e+01] [-2.50959889e-02 -1.41690111e-03 9.99684042e-01 -6.26734441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.67, Y:-39.59, Z:-6.27 [[ 9.77030216e-01 2.11571110e-01 2.54876946e-02 3.82668734e+02] [-2.11535758e-01 9.77361633e-01 -4.10621279e-03 -3.95862235e+01] [-2.57794508e-02 -1.37966482e-03 9.99666703e-01 -6.26768142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34589822699996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:382.70, Y:-39.60, Z:-6.27 [[ 9.78657772e-01 2.03662853e-01 2.73935698e-02 3.82698330e+02] [-2.03618949e-01 9.79040273e-01 -4.41227336e-03 -3.95983176e+01] [-2.77180242e-02 -1.25974428e-03 9.99614988e-01 -6.26770254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.375898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:382.73, Y:-39.61, Z:-6.27 [[ 9.79319520e-01 2.00459531e-01 2.73725111e-02 3.82730198e+02] [-2.00414424e-01 9.79701288e-01 -4.40965002e-03 -3.96074765e+01] [-2.77008407e-02 -1.16738969e-03 9.99615576e-01 -6.26824789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.76, Y:-39.62, Z:-6.27 [[ 9.79803946e-01 1.98094507e-01 2.72542269e-02 3.82761187e+02] [-1.98048734e-01 9.80182318e-01 -4.39572393e-03 -3.96164916e+01] [-2.75848800e-02 -1.09071748e-03 9.99618870e-01 -6.26879254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.79, Y:-39.62, Z:-6.27 [[ 9.80093315e-01 1.96712356e-01 2.68578377e-02 3.82792355e+02] [-1.96667300e-01 9.80460698e-01 -4.33495677e-03 -3.96244183e+01] [-2.71857939e-02 -1.03339629e-03 9.99629864e-01 -6.26986462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.82, Y:-39.63, Z:-6.27 [[ 9.80178792e-01 1.96198322e-01 2.74909817e-02 3.82823620e+02] [-1.96150777e-01 9.80563685e-01 -4.44211833e-03 -3.96337038e+01] [-2.78281944e-02 -1.03830722e-03 9.99612182e-01 -6.27013924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.86, Y:-39.64, Z:-6.27 [[ 9.80067727e-01 1.96587134e-01 2.86487223e-02 3.82855786e+02] [-1.96535513e-01 9.80485754e-01 -4.63443825e-03 -3.96406580e+01] [-2.90007350e-02 -1.08842797e-03 9.99578798e-01 -6.27065106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.89, Y:-39.65, Z:-6.27 [[ 9.79915843e-01 1.97251274e-01 2.92724318e-02 3.82887393e+02] [-1.97197510e-01 9.80352317e-01 -4.74093472e-03 -3.96473678e+01] [-2.96324517e-02 -1.12673362e-03 9.99560227e-01 -6.27146817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.92, Y:-39.65, Z:-6.27 [[ 9.79806729e-01 1.98035404e-01 2.75817487e-02 3.82918414e+02] [-1.97987854e-01 9.80194273e-01 -4.47168979e-03 -3.96547412e+01] [-2.79210250e-02 -1.07945950e-03 9.99609549e-01 -6.27244495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.585898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.95, Y:-39.66, Z:-6.27 [[ 9.79805744e-01 1.98280240e-01 2.58002056e-02 3.82950400e+02] [-1.98238611e-01 9.80144847e-01 -4.18700255e-03 -3.96614810e+01] [-2.61181384e-02 -1.01214777e-03 9.99658351e-01 -6.27362462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.98, Y:-39.67, Z:-6.28 [[ 9.79930611e-01 1.97788889e-01 2.48103433e-02 3.82982613e+02] [-1.97750126e-01 9.80244174e-01 -4.03073947e-03 -3.96681993e+01] [-2.51174299e-02 -9.56403521e-04 9.99684050e-01 -6.27524027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.645898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.01, Y:-39.67, Z:-6.28 [[ 9.80163054e-01 1.96640961e-01 2.47531746e-02 3.83014256e+02] [-1.96601891e-01 9.80475133e-01 -4.02624872e-03 -3.96749529e+01] [-2.50615975e-02 -9.20140693e-04 9.99685485e-01 -6.27615089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.05, Y:-39.68, Z:-6.28 [[ 9.80654160e-01 1.93868052e-01 2.70665092e-02 3.83046816e+02] [-1.93820187e-01 9.81027177e-01 -4.40602530e-03 -3.96832127e+01] [-2.74071686e-02 -9.25248820e-04 9.99623925e-01 -6.27574721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.705898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.08, Y:-39.69, Z:-6.28 [[ 9.80835761e-01 1.92857794e-01 2.76962436e-02 3.83078366e+02] [-1.92807124e-01 9.81226293e-01 -4.51383314e-03 -3.96898667e+01] [-2.80468104e-02 -9.12704103e-04 9.99606194e-01 -6.27623834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.11, Y:-39.70, Z:-6.28 [[ 9.81111965e-01 1.91449109e-01 2.76866604e-02 3.83111091e+02] [-1.91397778e-01 9.81502158e-01 -4.51710728e-03 -3.96967516e+01] [-2.80393131e-02 -8.67377293e-04 9.99606445e-01 -6.27748796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.765898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.14, Y:-39.70, Z:-6.28 [[ 9.81696336e-01 1.88516327e-01 2.70905691e-02 3.83142345e+02] [-1.88465932e-01 9.82069760e-01 -4.42477543e-03 -3.97049299e+01] [-2.74389711e-02 -7.61863514e-04 9.99623190e-01 -6.27903217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.17, Y:-39.71, Z:-6.28 [[ 9.81940114e-01 1.87275180e-01 2.68629888e-02 3.83174393e+02] [-1.87225038e-01 9.82307230e-01 -4.39222990e-03 -3.97119445e+01] [-2.72102638e-02 -7.16517367e-04 9.99629475e-01 -6.28065545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.825898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.21, Y:-39.72, Z:-6.28 [[ 9.82249725e-01 1.85697646e-01 2.64926952e-02 3.83206426e+02] [-1.85648169e-01 9.82606712e-01 -4.33668971e-03 -3.97187470e+01] [-2.68372131e-02 -6.58608081e-04 9.99639600e-01 -6.28143600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.24, Y:-39.73, Z:-6.28 [[ 9.82637737e-01 1.83682675e-01 2.61486592e-02 3.83238741e+02] [-1.83633631e-01 9.82985415e-01 -4.28529176e-03 -3.97255278e+01] [-2.64908845e-02 -5.90883838e-04 9.99648880e-01 -6.28212579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.885898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.27, Y:-39.73, Z:-6.28 [[ 9.83819818e-01 1.77234918e-01 2.61982643e-02 3.83271354e+02] [-1.77183268e-01 9.84168488e-01 -4.29840818e-03 -3.97334385e+01] [-2.65453342e-02 -4.13034922e-04 9.99647525e-01 -6.28308914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.30, Y:-39.74, Z:-6.28 [[ 9.84331710e-01 1.74413164e-01 2.59062290e-02 3.83302888e+02] [-1.74361553e-01 9.84672504e-01 -4.25539677e-03 -3.97408352e+01] [-2.62513486e-02 -3.28328350e-04 9.99655320e-01 -6.28415530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.945898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.34, Y:-39.75, Z:-6.28 [[ 9.84754109e-01 1.72069582e-01 2.55226136e-02 3.83335012e+02] [-1.72018586e-01 9.85084764e-01 -4.19686586e-03 -3.97484703e+01] [-2.58640908e-02 -2.57482994e-04 9.99665435e-01 -6.28485229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.37, Y:-39.76, Z:-6.29 [[ 9.85081059e-01 1.70206240e-01 2.53996727e-02 3.83366069e+02] [-1.70154987e-01 9.85408441e-01 -4.18159838e-03 -3.97558669e+01] [-2.57407860e-02 -2.02667623e-04 9.99668631e-01 -6.28557104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.005898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.40, Y:-39.76, Z:-6.29 [[ 9.85394974e-01 1.68266768e-01 2.61350446e-02 3.83398294e+02] [-1.68211692e-01 9.85741483e-01 -4.30753221e-03 -3.97637904e+01] [-2.64872122e-02 -1.51599497e-04 9.99649141e-01 -6.28545646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.43, Y:-39.77, Z:-6.29 [[ 9.85432371e-01 1.67985195e-01 2.65333013e-02 3.83429899e+02] [-1.67928184e-01 9.85789508e-01 -4.37843654e-03 -3.97701799e+01] [-2.68917625e-02 -1.41036002e-04 9.99638341e-01 -6.28640360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.065898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.46, Y:-39.78, Z:-6.29 [[ 9.85480889e-01 1.67577330e-01 2.72993687e-02 3.83461828e+02] [-1.67516726e-01 9.85858926e-01 -4.50831766e-03 -3.97766806e+01] [-2.76688181e-02 -1.30239964e-04 9.99617136e-01 -6.28703015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.49, Y:-39.78, Z:-6.29 [[ 9.85474936e-01 1.67247596e-01 2.94515376e-02 3.83493303e+02] [-1.67176730e-01 9.85914918e-01 -4.86978037e-03 -3.97841022e+01] [-2.98511694e-02 -1.24565257e-04 9.99554347e-01 -6.28718363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.125898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.52, Y:-39.79, Z:-6.29 [[ 9.85368138e-01 1.67843724e-01 2.96330484e-02 3.83524640e+02] [-1.67772091e-01 9.85813606e-01 -4.90514294e-03 -3.97896137e+01] [-3.00359598e-02 -1.38226940e-04 9.99548809e-01 -6.28806203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.56, Y:-39.80, Z:-6.29 [[ 9.85147766e-01 1.69281407e-01 2.87695027e-02 3.83557604e+02] [-1.69214356e-01 9.85567743e-01 -4.76720349e-03 -3.97952532e+01] [-2.91612928e-02 -1.71812999e-04 9.99574704e-01 -6.28871618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.59, Y:-39.80, Z:-6.29 [[ 9.84845700e-01 1.71191017e-01 2.77953677e-02 3.83589820e+02] [-1.71129045e-01 9.85237834e-01 -4.61094242e-03 -3.98005223e+01] [-2.81743997e-02 -2.15527902e-04 9.99603000e-01 -6.29044077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.62, Y:-39.81, Z:-6.29 [[ 9.84300502e-01 1.74559738e-01 2.61040291e-02 3.83622283e+02] [-1.74506138e-01 9.84646543e-01 -4.33508176e-03 -3.98057574e+01] [-2.64599728e-02 -2.88290166e-04 9.99649832e-01 -6.29143259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.65, Y:-39.81, Z:-6.29 [[ 9.84099839e-01 1.75754713e-01 2.56473797e-02 3.83653932e+02] [-1.75703251e-01 9.84433941e-01 -4.26411680e-03 -3.98105458e+01] [-2.59975897e-02 -3.10011335e-04 9.99661957e-01 -6.29196170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.69, Y:-39.82, Z:-6.29 [[ 9.83968302e-01 1.76483563e-01 2.56891634e-02 3.83686256e+02] [-1.76432062e-01 9.84303534e-01 -4.27568004e-03 -3.98157081e+01] [-2.60405216e-02 -3.25258448e-04 9.99660835e-01 -6.29242938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.72, Y:-39.82, Z:-6.29 [[ 9.83919403e-01 1.76303119e-01 2.86324652e-02 3.83717533e+02] [-1.76394312e-01 9.84319357e-01 6.71062935e-04 -3.98224534e+01] [-2.80651793e-02 -5.71087586e-03 9.99589782e-01 -6.29249916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.335898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:383.75, Y:-39.82, Z:-6.29 [[ 9.84129496e-01 1.75618133e-01 2.54441719e-02 3.83750055e+02] [-1.75424685e-01 9.84445433e-01 -9.66282284e-03 -3.98229591e+01] [-2.67453657e-02 5.04593313e-03 9.99629543e-01 -6.29458641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.78, Y:-39.83, Z:-6.29 [[ 9.84299401e-01 1.74607982e-01 2.58213512e-02 3.83782447e+02] [-1.74555008e-01 9.84637995e-01 -4.30895834e-03 -3.98306937e+01] [-2.61770620e-02 -2.65941047e-04 9.99657287e-01 -6.29430605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.395898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.82, Y:-39.84, Z:-6.30 [[ 9.84472971e-01 1.73630556e-01 2.57953430e-02 3.83815425e+02] [-1.73577221e-01 9.84810832e-01 -4.30969235e-03 -3.98357489e+01] [-2.61518275e-02 -2.34708318e-04 9.99657955e-01 -6.29568766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.85, Y:-39.84, Z:-6.30 [[ 9.84734124e-01 1.72088934e-01 2.61553808e-02 3.83848785e+02] [-1.72033418e-01 9.85081399e-01 -4.37503955e-03 -3.98389264e+01] [-2.65180750e-02 -1.91348812e-04 9.99648316e-01 -6.29593428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.455898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.88, Y:-39.84, Z:-6.30 [[ 9.84808880e-01 1.71567872e-01 2.67569833e-02 3.83881393e+02] [-1.71509435e-01 9.85172287e-01 -4.48100398e-03 -3.98430686e+01] [-2.71290348e-02 -1.76142584e-04 9.99631924e-01 -6.29656031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.91, Y:-39.85, Z:-6.30 [[ 9.84890966e-01 1.71061126e-01 2.69791810e-02 3.83913423e+02] [-1.71001377e-01 9.85260405e-01 -4.52359856e-03 -3.98474786e+01] [-2.73553307e-02 -1.58225737e-04 9.99625760e-01 -6.29676669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.515898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.95, Y:-39.85, Z:-6.30 [[ 9.85095956e-01 1.70015739e-01 2.60884309e-02 3.83946010e+02] [-1.69959381e-01 9.85441340e-01 -4.37888584e-03 -3.98518896e+01] [-2.64530978e-02 -1.20350846e-04 9.99650048e-01 -6.29680582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.54589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.98, Y:-39.85, Z:-6.30 [[ 9.85920121e-01 1.65416456e-01 2.44726571e-02 3.83977779e+02] [-1.65365337e-01 9.86223806e-01 -4.11212162e-03 -3.98540335e+01] [-2.48157296e-02 7.29426535e-06 9.99692042e-01 -6.29775604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.575898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.01, Y:-39.86, Z:-6.30 [[ 9.85898431e-01 1.65545799e-01 2.44718623e-02 3.84010773e+02] [-1.65494602e-01 9.86202103e-01 -4.11684614e-03 -3.98597499e+01] [-2.48157286e-02 8.83104874e-06 9.99692042e-01 -6.29865981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.04, Y:-39.86, Z:-6.30 [[ 9.86361147e-01 1.62782816e-01 2.43606572e-02 3.84043904e+02] [-1.62731163e-01 9.86661922e-01 -4.10127099e-03 -3.98643625e+01] [-2.47033493e-02 8.10962755e-05 9.99694822e-01 -6.29986235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.08, Y:-39.87, Z:-6.30 [[ 9.87153268e-01 1.57681833e-01 2.57849763e-02 3.84076228e+02] [-1.57622080e-01 9.87489943e-01 -4.34641313e-03 -3.98695922e+01] [-2.61477551e-02 2.26294327e-04 9.99658063e-01 -6.29963538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.11, Y:-39.88, Z:-6.30 [[ 9.87432049e-01 1.55746341e-01 2.68519335e-02 3.84107811e+02] [-1.55680676e-01 9.87797039e-01 -4.53172055e-03 -3.98752001e+01] [-2.72300593e-02 2.94438945e-04 9.99629150e-01 -6.30006821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.14, Y:-39.88, Z:-6.30 [[ 9.87651057e-01 1.54351929e-01 2.68490723e-02 3.84139942e+02] [-1.54285629e-01 9.88015874e-01 -4.53614974e-03 -3.98805011e+01] [-2.72274731e-02 3.37707087e-04 9.99629207e-01 -6.30059552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.17, Y:-39.89, Z:-6.30 [[ 9.87795543e-01 1.53441506e-01 2.67520115e-02 3.84171968e+02] [-1.53375208e-01 9.88157664e-01 -4.52503051e-03 -3.98856423e+01] [-2.71295327e-02 3.66709646e-04 9.99631859e-01 -6.30108598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.755898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.21, Y:-39.89, Z:-6.30 [[ 9.87931037e-01 1.52762179e-01 2.56121684e-02 3.84205113e+02] [-1.52701066e-01 9.88262909e-01 -4.33674019e-03 -3.98903755e+01] [-2.59740459e-02 3.73394828e-04 9.99662548e-01 -6.30124782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.24, Y:-39.89, Z:-6.30 [[ 9.87889106e-01 1.52986510e-01 2.58890156e-02 3.84236560e+02] [-1.52924007e-01 9.88228205e-01 -4.38888478e-03 -3.98949949e+01] [-2.62556956e-02 3.76679451e-04 9.99655189e-01 -6.30202876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.815898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.27, Y:-39.90, Z:-6.30 [[ 9.87760231e-01 1.53822424e-01 2.58531861e-02 3.84268872e+02] [-1.53760297e-01 9.88098444e-01 -4.38597229e-03 -3.98993175e+01] [-2.62201538e-02 3.57095422e-04 9.99656129e-01 -6.30225211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.30, Y:-39.90, Z:-6.30 [[ 9.87592546e-01 1.54797996e-01 2.64299738e-02 3.84300993e+02] [-1.54733274e-01 9.87946083e-01 -4.48905309e-03 -3.99030119e+01] [-2.68062855e-02 3.43758998e-04 9.99640588e-01 -6.30278706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.33, Y:-39.90, Z:-6.30 [[ 9.87312903e-01 1.56385341e-01 2.75110316e-02 3.84334289e+02] [-1.56315685e-01 9.87696069e-01 -4.67787073e-03 -3.99047984e+01] [-2.79040882e-02 3.18116371e-04 9.99610554e-01 -6.30443581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.37, Y:-39.91, Z:-6.31 [[ 9.87177511e-01 1.57192958e-01 2.77657391e-02 3.84366504e+02] [-1.57122168e-01 9.87567862e-01 -4.72677398e-03 -3.99083936e+01] [-2.81635672e-02 3.03551833e-04 9.99603282e-01 -6.30533906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.40, Y:-39.91, Z:-6.31 [[ 9.87064337e-01 1.57924569e-01 2.76373777e-02 3.84399406e+02] [-1.57854575e-01 9.87451137e-01 -4.71005457e-03 -3.99111832e+01] [-2.80343934e-02 2.86440369e-04 9.99606918e-01 -6.30624353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.43, Y:-39.91, Z:-6.31 [[ 9.86923266e-01 1.58791242e-01 2.77093693e-02 3.84431467e+02] [-1.58721069e-01 9.87312144e-01 -4.72785231e-03 -3.99126913e+01] [-2.81085383e-02 2.67966730e-04 9.99604841e-01 -6.30742840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.46, Y:-39.91, Z:-6.31 [[ 9.86671016e-01 1.60654380e-01 2.58935607e-02 3.84464357e+02] [-1.60593627e-01 9.87010703e-01 -4.42255044e-03 -3.99105890e+01] [-2.62677236e-02 2.05261520e-04 9.99654923e-01 -6.30868440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.50, Y:-39.91, Z:-6.31 [[ 9.86572103e-01 1.61510380e-01 2.42875157e-02 3.84497667e+02] [-1.61457091e-01 9.86870998e-01 -4.15226434e-03 -3.99131533e+01] [-2.46392786e-02 1.75116546e-04 9.99696392e-01 -6.31000306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.53, Y:-39.92, Z:-6.31 [[ 9.86493729e-01 1.62188560e-01 2.29127225e-02 3.84530649e+02] [-1.62141220e-01 9.86759772e-01 -3.92136756e-03 -3.99159993e+01] [-2.32453538e-02 1.53307722e-04 9.99729779e-01 -6.31104525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.56, Y:-39.92, Z:-6.31 [[ 9.86428748e-01 1.62757057e-01 2.16440528e-02 3.84562909e+02] [-1.62714864e-01 9.86666165e-01 -3.70823532e-03 -3.99164422e+01] [-2.19589961e-02 1.36100801e-04 9.99758863e-01 -6.31180069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.59, Y:-39.92, Z:-6.31 [[ 9.86422052e-01 1.62731613e-01 2.21349788e-02 3.84594539e+02] [-1.62687385e-01 9.86670361e-01 -3.79649557e-03 -3.99198985e+01] [-2.24577374e-02 1.43865122e-04 9.99747783e-01 -6.31260017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.63, Y:-39.92, Z:-6.31 [[ 9.86384828e-01 1.62980715e-01 2.19603512e-02 3.84627186e+02] [-1.62937158e-01 9.86629245e-01 -3.77038325e-03 -3.99238563e+01] [-2.22812245e-02 1.40891610e-04 9.99751733e-01 -6.31222646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.66, Y:-39.93, Z:-6.31 [[ 9.86272588e-01 1.63558695e-01 2.26921912e-02 3.84659219e+02] [-1.63512223e-01 9.86533595e-01 -3.90106519e-03 -3.99275397e+01] [-2.30246621e-02 1.37063035e-04 9.99734888e-01 -6.31355845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.205898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.69, Y:-39.93, Z:-6.31 [[ 9.85729487e-01 1.66891889e-01 2.20107953e-02 3.84690174e+02] [-1.66848928e-01 9.85975199e-01 -3.78704057e-03 -3.99305790e+01] [-2.23341247e-02 6.05199556e-05 9.99750560e-01 -6.31454439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.72, Y:-39.94, Z:-6.32 [[ 9.85325113e-01 1.69289575e-01 2.18050929e-02 3.84720720e+02] [-1.69247988e-01 9.85566355e-01 -3.75216268e-03 -3.99356678e+01] [-2.21255680e-02 6.63200037e-06 9.99755200e-01 -6.31579312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.265898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:384.75, Y:-39.94, Z:-6.32 [[ 9.84802428e-01 1.72413126e-01 2.09258884e-02 3.84751728e+02] [-1.72375520e-01 9.85024726e-01 -3.60133883e-03 -3.99409382e+01] [-2.12334355e-02 -6.05036761e-05 9.99774543e-01 -6.31629962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.78, Y:-39.95, Z:-6.32 [[ 9.84114448e-01 1.76316948e-01 2.07626320e-02 3.84781986e+02] [-1.76280782e-01 9.84333436e-01 -3.57388812e-03 -3.99462374e+01] [-2.10674899e-02 -1.42938065e-04 9.99778046e-01 -6.31662544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.81, Y:-39.95, Z:-6.32 [[ 9.82342924e-01 1.85864441e-01 2.13726219e-02 3.84811114e+02] [-1.85828370e-01 9.82575331e-01 -3.67901256e-03 -3.99506170e+01] [-2.16840087e-02 -3.57587543e-04 9.99764810e-01 -6.31611373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.84, Y:-39.96, Z:-6.32 [[ 9.81326938e-01 1.91140337e-01 2.15130542e-02 3.84840315e+02] [-1.91105068e-01 9.81562603e-01 -3.70265883e-03 -3.99551987e+01] [-2.18241369e-02 -4.77734825e-04 9.99761711e-01 -6.31673887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.87, Y:-39.96, Z:-6.32 [[ 9.80372428e-01 1.95955783e-01 2.17079068e-02 3.84868370e+02] [-1.95921061e-01 9.80612555e-01 -3.73571968e-03 -3.99604127e+01] [-2.20190819e-02 -5.90639579e-04 9.99757376e-01 -6.31774856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:384.90, Y:-39.97, Z:-6.32 [[ 9.79535719e-01 2.00092025e-01 2.17475520e-02 3.84896481e+02] [-2.00058211e-01 9.79776868e-01 -3.74175439e-03 -3.99661849e+01] [-2.20564436e-02 -6.85594276e-04 9.99756492e-01 -6.31917071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.445898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.92, Y:-39.97, Z:-6.32 [[ 9.78513556e-01 2.05096814e-01 2.11309421e-02 3.84924100e+02] [-2.05066067e-01 9.78741383e-01 -3.63505972e-03 -3.99712163e+01] [-2.14272666e-02 -7.76283979e-04 9.99770108e-01 -6.31968613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:384.95, Y:-39.98, Z:-6.32 [[ 9.78244355e-01 2.06341770e-01 2.14722305e-02 3.84952810e+02] [-2.06310350e-01 9.78479640e-01 -3.69247242e-03 -3.99757785e+01] [-2.17720516e-02 -8.17803083e-04 9.99762626e-01 -6.32060213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.98, Y:-39.98, Z:-6.32 [[ 9.78210313e-01 2.06487909e-01 2.16177539e-02 3.84979991e+02] [-2.06456118e-01 9.78448802e-01 -3.71653292e-03 -3.99804285e+01] [-2.19192845e-02 -8.27566714e-04 9.99759401e-01 -6.32136205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.01, Y:-39.99, Z:-6.32 [[ 9.78371081e-01 2.05773829e-01 2.11461324e-02 3.85008784e+02] [-2.05743274e-01 9.78599253e-01 -3.63406791e-03 -3.99857160e+01] [-2.14413854e-02 -7.95207563e-04 9.99769791e-01 -6.32181512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.04, Y:-39.99, Z:-6.32 [[ 9.78983315e-01 2.02793483e-01 2.15979605e-02 3.85037258e+02] [-2.02760895e-01 9.79221245e-01 -3.71120257e-03 -3.99922769e+01] [-2.19017895e-02 -7.46016402e-04 9.99759849e-01 -6.32213717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.07, Y:-40.00, Z:-6.32 [[ 9.79296172e-01 2.01170544e-01 2.25703221e-02 3.85066637e+02] [-2.01134536e-01 9.79555951e-01 -3.87773579e-03 -3.99979568e+01] [-2.28889796e-02 -7.42219467e-04 9.99737737e-01 -6.32264791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.10, Y:-40.00, Z:-6.32 [[ 9.79604671e-01 1.99640643e-01 2.27662455e-02 3.85096056e+02] [-1.99603607e-01 9.79868922e-01 -3.91086063e-03 -4.00035140e+01] [-2.30887032e-02 -7.13127382e-04 9.99733166e-01 -6.32256314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.12, Y:-40.01, Z:-6.32 [[ 9.79835979e-01 1.98447581e-01 2.32381547e-02 3.85123989e+02] [-1.98408671e-01 9.80111253e-01 -3.99140731e-03 -4.00087521e+01] [-2.35680620e-02 -6.99726909e-04 9.99721990e-01 -6.32351007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.15, Y:-40.01, Z:-6.32 [[ 9.79717421e-01 1.98985208e-01 2.36360286e-02 3.85152474e+02] [-1.98945131e-01 9.80002225e-01 -4.05889896e-03 -4.00145977e+01] [-2.39710215e-02 -7.25698789e-04 9.99712390e-01 -6.32448785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.18, Y:-40.02, Z:-6.33 [[ 9.79548529e-01 1.99799014e-01 2.37704309e-02 3.85181702e+02] [-1.99758739e-01 9.79836614e-01 -4.08113297e-03 -4.00195226e+01] [-2.41065449e-02 -7.50683505e-04 9.99709113e-01 -6.32582422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.21, Y:-40.02, Z:-6.33 [[ 9.79405688e-01 2.00483333e-01 2.38941922e-02 3.85209703e+02] [-2.00442853e-01 9.79696809e-01 -4.10185902e-03 -4.00241408e+01] [-2.42314182e-02 -7.72036004e-04 9.99706078e-01 -6.32621813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.24, Y:-40.03, Z:-6.33 [[ 9.79292093e-01 2.01078370e-01 2.35475139e-02 3.85239571e+02] [-2.01039250e-01 9.79574850e-01 -4.04144738e-03 -4.00296777e+01] [-2.38792000e-02 -7.76217066e-04 9.99714550e-01 -6.32650824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.27, Y:-40.04, Z:-6.33 [[ 9.79027527e-01 2.02364175e-01 2.35338533e-02 3.85268282e+02] [-2.02325471e-01 9.79310007e-01 -4.03913968e-03 -4.00364734e+01] [-2.38643152e-02 -8.07069020e-04 9.99714881e-01 -6.32744467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.30, Y:-40.04, Z:-6.33 [[ 9.78850680e-01 2.03230475e-01 2.34247580e-02 3.85297138e+02] [-2.03192382e-01 9.79130581e-01 -4.02016693e-03 -4.00427333e+01] [-2.37529173e-02 -8.24589245e-04 9.99717520e-01 -6.32869355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:385.33, Y:-40.05, Z:-6.33 [[ 9.78627129e-01 2.04307506e-01 2.33962635e-02 3.85326829e+02] [-2.04269828e-01 9.78906390e-01 -4.01467068e-03 -4.00488977e+01] [-2.37229792e-02 -8.50285071e-04 9.99718209e-01 -6.32984312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.895898227 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:385.36, Y:-40.06, Z:-6.33 [[ 9.77764597e-01 2.08346238e-01 2.38377594e-02 3.85355488e+02] [-2.08308322e-01 9.78054657e-01 -4.09039430e-03 -4.00565815e+01] [-2.41668499e-02 -9.66160923e-04 9.99707472e-01 -6.33130244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92589822699995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:385.38, Y:-40.06, Z:-6.33 [[ 9.77109230e-01 2.11383638e-01 2.39689342e-02 3.85383842e+02] [-2.11346204e-01 9.77402610e-01 -4.11332893e-03 -4.00634662e+01] [-2.42967892e-02 -1.04657160e-03 9.99704242e-01 -6.33165401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.955898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:385.41, Y:-40.07, Z:-6.33 [[ 9.76493231e-01 2.14257305e-01 2.35537244e-02 3.85412634e+02] [-2.14222010e-01 9.76776637e-01 -4.04126749e-03 -4.00708586e+01] [-2.38725988e-02 -1.09945583e-03 9.99714404e-01 -6.33196642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.98589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:385.44, Y:-40.08, Z:-6.33 [[ 9.75880935e-01 2.17047131e-01 2.33868270e-02 3.85440819e+02] [-2.17013145e-01 9.76160436e-01 -4.01212652e-03 -4.00780391e+01] [-2.37001158e-02 -1.15989111e-03 9.99718440e-01 -6.33275503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.47, Y:-40.08, Z:-6.33 [[ 9.75293995e-01 2.19738496e-01 2.27292132e-02 3.85470343e+02] [-2.19707144e-01 9.75558083e-01 -3.89840848e-03 -4.00848033e+01] [-2.30302981e-02 -1.19167615e-03 9.99734057e-01 -6.33324771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.04589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:385.50, Y:-40.09, Z:-6.33 [[ 9.74705068e-01 2.22433634e-01 2.17556860e-02 3.85500077e+02] [-2.22405579e-01 9.74947093e-01 -3.73143364e-03 -4.00922414e+01] [-2.20406392e-02 -1.20153866e-03 9.99756354e-01 -6.33422512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.075898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:385.53, Y:-40.10, Z:-6.34 [[ 9.73856455e-01 2.26251627e-01 2.03422268e-02 3.85528157e+02] [-2.26227927e-01 9.74068145e-01 -3.48907805e-03 -4.01023660e+01] [-2.06041247e-02 -1.20411863e-03 9.99786987e-01 -6.33624220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.10589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:385.56, Y:-40.11, Z:-6.34 [[ 9.73623008e-01 2.27289372e-01 1.99444006e-02 3.85557376e+02] [-2.27266810e-01 9.73826523e-01 -3.42068811e-03 -4.01099595e+01] [-2.01998723e-02 -1.20223964e-03 9.99795239e-01 -6.33666841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.135898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:385.59, Y:-40.12, Z:-6.34 [[ 9.73371409e-01 2.28414863e-01 1.93584674e-02 3.85586981e+02] [-2.28393841e-01 9.73563164e-01 -3.31958908e-03 -4.01172930e+01] [-1.96049343e-02 -1.19016163e-03 9.99807096e-01 -6.33699874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16589822699996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:385.62, Y:-40.12, Z:-6.34 [[ 9.73203077e-01 2.29144326e-01 1.92002130e-02 3.85615546e+02] [-2.29123786e-01 9.73391725e-01 -3.29253950e-03 -4.01234212e+01] [-1.94437952e-02 -1.19491591e-03 9.99810237e-01 -6.33772183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.195898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:385.64, Y:-40.13, Z:-6.34 [[ 9.73011879e-01 2.30071252e-01 1.77511113e-02 3.85644551e+02] [-2.30053852e-01 9.73173140e-01 -3.04385181e-03 -4.01306427e+01] [-1.79752076e-02 -1.12200757e-03 9.99837803e-01 -6.34001091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:385.67, Y:-40.14, Z:-6.34 [[ 9.73005166e-01 2.30146097e-01 1.71383198e-02 3.85674059e+02] [-2.30129894e-01 9.73155485e-01 -2.93847274e-03 -4.01371616e+01] [-1.73545279e-02 -1.08489056e-03 9.99848810e-01 -6.34117944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.255898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:385.70, Y:-40.14, Z:-6.34 [[ 9.73104904e-01 2.29755713e-01 1.67080111e-02 3.85703896e+02] [-2.29740256e-01 9.73247763e-01 -2.86469361e-03 -4.01431428e+01] [-1.69192141e-02 -1.05085534e-03 9.99856308e-01 -6.34200560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.73, Y:-40.15, Z:-6.34 [[ 9.73181022e-01 2.29475502e-01 1.61149573e-02 3.85733230e+02] [-2.29461083e-01 9.73313915e-01 -2.76313316e-03 -4.01485372e+01] [-1.63189836e-02 -1.00872682e-03 9.99866328e-01 -6.34280203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.315898227 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:385.76, Y:-40.15, Z:-6.34 [[ 9.73256397e-01 2.29220471e-01 1.51644541e-02 3.85762051e+02] [-2.29207674e-01 9.73374071e-01 -2.59999618e-03 -4.01537173e+01] [-1.53566587e-02 -9.45346331e-04 9.99881633e-01 -6.34309614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34589822699996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:385.79, Y:-40.16, Z:-6.34 [[ 9.73612609e-01 2.27708175e-01 1.50822317e-02 3.85790668e+02] [-2.27695335e-01 9.73728991e-01 -2.58598967e-03 -4.01590114e+01] [-1.52748572e-02 -9.16401635e-04 9.99882913e-01 -6.34347157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.375898227 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:385.82, Y:-40.16, Z:-6.34 [[ 9.73884842e-01 2.26455131e-01 1.63214289e-02 3.85821102e+02] [-2.26439935e-01 9.74021114e-01 -2.79746640e-03 -4.01643003e+01] [-1.65309170e-02 -9.71413182e-04 9.99862883e-01 -6.34392046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40589822699997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:385.85, Y:-40.17, Z:-6.34 [[ 9.74112703e-01 2.25353435e-01 1.78961109e-02 3.85849919e+02] [-2.25334982e-01 9.74276520e-01 -3.06724994e-03 -4.01694868e+01] [-1.81269760e-02 -1.04477272e-03 9.99835147e-01 -6.34433654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:385.88, Y:-40.17, Z:-6.35 [[ 9.74362865e-01 2.24214348e-01 1.85724077e-02 3.85880397e+02] [-2.24194265e-01 9.74539275e-01 -3.18333444e-03 -4.01749932e+01] [-1.88132900e-02 -1.06210442e-03 9.99822450e-01 -6.34507669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46589822699997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:385.91, Y:-40.18, Z:-6.35 [[ 9.74355098e-01 2.24248102e-01 1.85723496e-02 3.85911753e+02] [-2.24228018e-01 9.74531508e-01 -3.18367287e-03 -4.01804155e+01] [-1.88132725e-02 -1.06241326e-03 9.99822450e-01 -6.34593508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49589822699994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:385.94, Y:-40.19, Z:-6.35 [[ 9.74647537e-01 2.23006944e-01 1.81681346e-02 3.85942498e+02] [-2.22987516e-01 9.74816327e-01 -3.11401574e-03 -4.01880894e+01] [-1.84050414e-02 -1.01619944e-03 9.99830096e-01 -6.34624327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.52589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.97, Y:-40.20, Z:-6.35 [[ 9.74616911e-01 2.23205481e-01 1.73548484e-02 3.85973058e+02] [-2.23187720e-01 9.74770933e-01 -2.97831095e-03 -4.01951706e+01] [-1.75817771e-02 -9.70676839e-04 9.99844957e-01 -6.34652140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55589822699994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:386.00, Y:-40.20, Z:-6.35 [[ 9.74283266e-01 2.24663567e-01 1.72742339e-02 3.86003831e+02] [-2.24646193e-01 9.74435887e-01 -2.96487119e-03 -4.02024502e+01] [-1.74987320e-02 -9.91966494e-04 9.99846393e-01 -6.34625176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.585898227 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:386.03, Y:-40.21, Z:-6.35 [[ 9.73335754e-01 2.28652102e-01 1.83228448e-02 3.86033541e+02] [-2.28633247e-01 9.73507547e-01 -3.14541837e-03 -4.02108036e+01] [-1.85566342e-02 -1.12766333e-03 9.99827175e-01 -6.34602879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61589822699995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:386.06, Y:-40.22, Z:-6.35 [[ 9.72874641e-01 2.30572927e-01 1.87365437e-02 3.86063043e+02] [-2.30553559e-01 9.73054320e-01 -3.21675555e-03 -4.02170172e+01] [-1.89733716e-02 -1.19027695e-03 9.99819281e-01 -6.34685601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.645898227 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:386.09, Y:-40.22, Z:-6.35 [[ 9.72371484e-01 2.32697427e-01 1.85904727e-02 3.86093731e+02] [-2.32678750e-01 9.72548412e-01 -3.19148731e-03 -4.02239302e+01] [-1.88227856e-02 -1.22229670e-03 9.99822089e-01 -6.34665864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67589822699995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:386.12, Y:-40.23, Z:-6.35 [[ 9.71789695e-01 2.35093423e-01 1.88645499e-02 3.86123858e+02] [-2.35074651e-01 9.71971925e-01 -3.23799362e-03 -4.02304712e+01] [-1.90970439e-02 -1.28792866e-03 9.99816805e-01 -6.34705334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.705898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:386.15, Y:-40.24, Z:-6.35 [[ 9.70488618e-01 2.40453084e-01 1.82799457e-02 3.86154052e+02] [-2.40436333e-01 9.70659828e-01 -3.14142361e-03 -4.02375587e+01] [-1.84989740e-02 -1.34644726e-03 9.99827973e-01 -6.34719530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73589822699995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:386.19, Y:-40.24, Z:-6.35 [[ 9.69701843e-01 2.43643346e-01 1.77836005e-02 3.86185128e+02] [-2.43628017e-01 9.69863932e-01 -3.05652507e-03 -4.02434309e+01] [-1.79923747e-02 -1.36866534e-03 9.99837187e-01 -6.34799582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.765898227 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:386.22, Y:-40.25, Z:-6.35 [[ 9.68793788e-01 2.47226743e-01 1.78194999e-02 3.86215911e+02] [-2.47211947e-01 9.68956589e-01 -3.06310973e-03 -4.02491846e+01] [-1.80236044e-02 -1.43767157e-03 9.99836528e-01 -6.34886024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79589822699995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:386.25, Y:-40.25, Z:-6.35 [[ 9.67884353e-01 2.50724602e-01 1.83590025e-02 3.86245598e+02] [-2.50709511e-01 9.68057219e-01 -3.15640648e-03 -4.02542887e+01] [-1.85639537e-02 -1.54774009e-03 9.99826477e-01 -6.34956127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.825898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:386.27, Y:-40.26, Z:-6.35 [[ 9.67094716e-01 2.53774513e-01 1.80639647e-02 3.86273767e+02] [-2.53760419e-01 9.67262116e-01 -3.10628429e-03 -4.02587043e+01] [-1.82608845e-02 -1.57984813e-03 9.99832008e-01 -6.34995659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85589822699995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:386.30, Y:-40.26, Z:-6.35 [[ 9.66179833e-01 2.57346768e-01 1.64064349e-02 3.86302712e+02] [-2.57335659e-01 9.66317961e-01 -2.82088309e-03 -4.02602858e+01] [-1.65797779e-02 -1.49648039e-03 9.99861426e-01 -6.35215291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.885898227 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:386.33, Y:-40.26, Z:-6.35 [[ 9.66257803e-01 2.57062593e-01 1.62690551e-02 3.86331719e+02] [-2.57051640e-01 9.66393622e-01 -2.79654604e-03 -4.02625614e+01] [-1.64411985e-02 -1.47980287e-03 9.99863739e-01 -6.35296415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91589822699996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:386.36, Y:-40.26, Z:-6.35 [[ 9.66434899e-01 2.56354963e-01 1.69032277e-02 3.86360184e+02] [-2.56343046e-01 9.66581505e-01 -2.90475999e-03 -4.02649802e+01] [-1.70829969e-02 -1.52576347e-03 9.99852911e-01 -6.35342935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.945898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:386.39, Y:-40.27, Z:-6.35 [[ 9.66806363e-01 2.54842967e-01 1.84531420e-02 3.86389682e+02] [-2.54828513e-01 9.66981065e-01 -3.16996025e-03 -4.02679012e+01] [-1.86516810e-02 -1.63764898e-03 9.99824701e-01 -6.35424470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97589822699996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:386.42, Y:-40.27, Z:-6.35 [[ 9.67297890e-01 2.52897352e-01 1.94350353e-02 3.86418158e+02] [-2.52880938e-01 9.67491647e-01 -3.33822841e-03 -4.02710943e+01] [-1.96474635e-02 -1.68568866e-03 9.99805549e-01 -6.35487484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.005898227 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:386.45, Y:-40.27, Z:-6.36 [[ 9.68726629e-01 2.47358661e-01 1.95553501e-02 3.86446925e+02] [-2.47340934e-01 9.68922693e-01 -3.35819966e-03 -4.02718948e+01] [-1.97783023e-02 -1.58366112e-03 9.99803136e-01 -6.35549276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.48, Y:-40.27, Z:-6.36 [[ 9.69435839e-01 2.44649945e-01 1.84542527e-02 3.86476658e+02] [-2.44633682e-01 9.69610397e-01 -3.16845421e-03 -4.02739799e+01] [-1.86685974e-02 -1.44291872e-03 9.99824685e-01 -6.35597201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.065898227 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:386.51, Y:-40.27, Z:-6.36 [[ 9.70558773e-01 2.40284279e-01 1.67072698e-02 3.86505922e+02] [-2.40270309e-01 9.70701783e-01 -2.86829134e-03 -4.02725879e+01] [-1.69069819e-02 -1.23041555e-03 9.99856310e-01 -6.35751093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09589822699996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:386.53, Y:-40.27, Z:-6.36 [[ 9.70974018e-01 2.38649400e-01 1.59974909e-02 3.86534924e+02] [-2.38636378e-01 9.71105112e-01 -2.74604427e-03 -4.02744841e+01] [-1.61905870e-02 -1.15124564e-03 9.99868261e-01 -6.35800263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.125898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:386.56, Y:-40.28, Z:-6.36 [[ 9.71390367e-01 2.36984451e-01 1.54636794e-02 3.86563157e+02] [-2.36972082e-01 9.71512835e-01 -2.65385977e-03 -4.02757386e+01] [-1.56520865e-02 -1.08652649e-03 9.99876908e-01 -6.35854329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15589822699997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:386.59, Y:-40.28, Z:-6.36 [[ 9.71683785e-01 2.35817765e-01 1.48527100e-02 3.86591776e+02] [-2.35806233e-01 9.71796752e-01 -2.54805121e-03 -4.02769781e+01] [-1.50346910e-02 -1.02646154e-03 9.99886446e-01 -6.35875705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18589822699994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:386.62, Y:-40.28, Z:-6.36 [[ 9.71817861e-01 2.35293007e-01 1.43960444e-02 3.86620536e+02] [-2.35282127e-01 9.71923981e-01 -2.46895733e-03 -4.02780745e+01] [-1.45727892e-02 -9.87755104e-04 9.99893323e-01 -6.35889924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21589822699997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:386.65, Y:-40.28, Z:-6.36 [[ 9.71910722e-01 2.34904353e-01 1.44739144e-02 3.86648347e+02] [-2.34893315e-01 9.72017989e-01 -2.48208280e-03 -4.02788502e+01] [-1.46519572e-02 -9.87462837e-04 9.99892167e-01 -6.35941166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24589822699994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:386.68, Y:-40.28, Z:-6.36 [[ 9.71923949e-01 2.34811895e-01 1.50735445e-02 3.86676806e+02] [-2.34799927e-01 9.72040286e-01 -2.58396085e-03 -4.02766340e+01] [-1.52588373e-02 -1.02785372e-03 9.99883049e-01 -6.35999503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27589822699997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:386.71, Y:-40.28, Z:-6.36 [[ 9.71857063e-01 2.35108002e-01 1.47674231e-02 3.86705881e+02] [-2.35096563e-01 9.71968725e-01 -2.53054934e-03 -4.02785375e+01] [-1.49484258e-02 -1.01243817e-03 9.99887753e-01 -6.36011106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30589822699994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:386.73, Y:-40.28, Z:-6.36 [[ 9.71721422e-01 2.35686615e-01 1.44671009e-02 3.86734040e+02] [-2.35675708e-01 9.71828595e-01 -2.47854688e-03 -4.02806637e+01] [-1.46437027e-02 -1.00108716e-03 9.99892274e-01 -6.36074462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.335898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:386.76, Y:-40.28, Z:-6.36 [[ 9.71502527e-01 2.36628662e-01 1.37737572e-02 3.86762530e+02] [-2.36618878e-01 9.71599681e-01 -2.35914584e-03 -4.02826340e+01] [-1.39408196e-02 -9.67214817e-04 9.99902354e-01 -6.36106667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36589822699995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:386.79, Y:-40.28, Z:-6.36 [[ 9.71189905e-01 2.37969433e-01 1.26774226e-02 3.86790816e+02] [-2.37961268e-01 9.71272219e-01 -2.17062479e-03 -4.02843953e+01] [-1.28297708e-02 -9.08646678e-04 9.99917282e-01 -6.36112308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.395898227 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:386.82, Y:-40.28, Z:-6.36 [[ 9.69952354e-01 2.42973054e-01 1.25110176e-02 3.86818494e+02] [-2.42965525e-01 9.70032560e-01 -2.14141971e-03 -4.02808573e+01] [-1.26564018e-02 -9.62670880e-04 9.99919441e-01 -6.36036538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.85, Y:-40.28, Z:-6.36 [[ 9.69077191e-01 2.46417161e-01 1.29607455e-02 3.86847389e+02] [-2.46409404e-01 9.69163294e-01 -2.21705744e-03 -4.02799419e+01] [-1.31073998e-02 -1.04514979e-03 9.99913548e-01 -6.36109776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.455898227 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:386.88, Y:-40.28, Z:-6.36 [[ 9.68124443e-01 2.50124067e-01 1.31534602e-02 3.86876298e+02] [-2.50116430e-01 9.68213155e-01 -2.24907042e-03 -4.02782857e+01] [-1.32978998e-02 -1.11251645e-03 9.99910960e-01 -6.36183579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.48589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.91, Y:-40.27, Z:-6.36 [[ 9.66109928e-01 2.57774616e-01 1.35593338e-02 3.86905810e+02] [-2.57767259e-01 9.66204259e-01 -2.31745635e-03 -4.02696257e+01] [-1.36984675e-02 -1.25623473e-03 9.99905382e-01 -6.36265080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.515898227 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:386.93, Y:-40.27, Z:-6.36 [[ 9.65309084e-01 2.60765346e-01 1.34092168e-02 3.86933907e+02] [-2.60758448e-01 9.65401359e-01 -2.29102399e-03 -4.02676229e+01] [-1.35426958e-02 -1.28502029e-03 9.99907468e-01 -6.36271168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.54589822699995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:386.96, Y:-40.27, Z:-6.36 [[ 9.64857080e-01 2.62419728e-01 1.36638857e-02 3.86962776e+02] [-2.62412748e-01 9.64952903e-01 -2.33321891e-03 -4.02657803e+01] [-1.37972889e-02 -1.33435503e-03 9.99903923e-01 -6.36344959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.575898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:386.99, Y:-40.26, Z:-6.36 [[ 9.64859695e-01 2.62397144e-01 1.39107453e-02 3.86991157e+02] [-2.62389900e-01 9.64959012e-01 -2.37583457e-03 -4.02641454e+01] [-1.40467112e-02 -1.35769205e-03 9.99900418e-01 -6.36350069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.60589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.02, Y:-40.26, Z:-6.36 [[ 9.65971165e-01 2.58098014e-01 1.68856192e-02 3.87020490e+02] [-2.58086779e-01 9.66117450e-01 -2.87865817e-03 -4.02564303e+01] [-1.70564673e-02 -1.57725429e-03 9.99853284e-01 -6.36426471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.635898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.05, Y:-40.25, Z:-6.36 [[ 9.67055295e-01 2.53918439e-01 1.81516368e-02 3.87048796e+02] [-2.53904753e-01 9.67224281e-01 -3.09307450e-03 -4.02546196e+01] [-1.83420925e-02 -1.61761277e-03 9.99830461e-01 -6.36466049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.08, Y:-40.25, Z:-6.37 [[ 9.68249012e-01 2.49252480e-01 1.91586086e-02 3.87076245e+02] [-2.49236345e-01 9.68437191e-01 -3.26361869e-03 -4.02528102e+01] [-1.93673741e-02 -1.61502602e-03 9.99811130e-01 -6.36548831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.695898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.10, Y:-40.25, Z:-6.37 [[ 9.69468678e-01 2.44499419e-01 1.87220741e-02 3.87104676e+02] [-2.44483168e-01 9.69648298e-01 -3.18722780e-03 -4.02515980e+01] [-1.89331026e-02 -1.48731447e-03 9.99819646e-01 -6.36607316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.13, Y:-40.25, Z:-6.37 [[ 9.70671104e-01 2.39794869e-01 1.72054843e-02 3.87133160e+02] [-2.39780454e-01 9.70822728e-01 -2.92645596e-03 -4.02505196e+01] [-1.74052244e-02 -1.28491261e-03 9.99847692e-01 -6.36589978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.755898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:387.16, Y:-40.24, Z:-6.37 [[ 9.72609726e-01 2.31950550e-01 1.51414687e-02 3.87161153e+02] [-2.31938489e-01 9.72727054e-01 -2.57204556e-03 -4.02440845e+01] [-1.53251036e-02 -1.01029285e-03 9.99882053e-01 -6.36678699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.19, Y:-40.24, Z:-6.37 [[ 9.73523310e-01 2.28152390e-01 1.41014751e-02 3.87188556e+02] [-2.28141548e-01 9.73625031e-01 -2.39429080e-03 -4.02435544e+01] [-1.42758123e-02 -8.86234443e-04 9.99897703e-01 -6.36726296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.815898227 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:387.22, Y:-40.24, Z:-6.37 [[ 9.74539663e-01 2.23812039e-01 1.34393667e-02 3.87216211e+02] [-2.23801794e-01 9.74632010e-01 -2.28082568e-03 -4.02437088e+01] [-1.36089132e-02 -7.84999287e-04 9.99907086e-01 -6.36793139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.24, Y:-40.24, Z:-6.37 [[ 9.75587854e-01 2.19211481e-01 1.32160917e-02 3.87244682e+02] [-2.19201147e-01 9.75677111e-01 -2.24334697e-03 -4.02447345e+01] [-1.33864056e-02 -7.08400411e-04 9.99910147e-01 -6.36877977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.875898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.27, Y:-40.24, Z:-6.37 [[ 9.77578674e-01 2.10250785e-01 1.15992947e-02 3.87273293e+02] [-2.10242213e-01 9.77647350e-01 -1.96730806e-03 -4.02442950e+01] [-1.17536478e-02 -5.15462993e-04 9.99930791e-01 -6.36890713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.30, Y:-40.25, Z:-6.37 [[ 9.78330419e-01 2.06704993e-01 1.19430805e-02 3.87300608e+02] [-2.06695689e-01 9.78403191e-01 -2.02170443e-03 -4.02466025e+01] [-1.21030445e-02 -4.90688321e-04 9.99926635e-01 -6.37025995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93589822699994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:387.33, Y:-40.25, Z:-6.37 [[ 9.78912431e-01 2.03953014e-01 1.15594358e-02 3.87328810e+02] [-2.03944099e-01 9.78980579e-01 -1.95738155e-03 -4.02493245e+01] [-1.17156770e-02 -4.41373574e-04 9.99931272e-01 -6.37066528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.36, Y:-40.25, Z:-6.37 [[ 9.79252313e-01 2.02306292e-01 1.17077302e-02 3.87356930e+02] [-2.02297056e-01 9.79322204e-01 -1.98018717e-03 -4.02522038e+01] [-1.18662445e-02 -4.29336493e-04 9.99929501e-01 -6.37075042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99589822699994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.39, Y:-40.25, Z:-6.37 [[ 9.78983694e-01 2.03602105e-01 1.17093632e-02 3.87385362e+02] [-2.03592987e-01 9.79053616e-01 -1.97818156e-03 -4.02529298e+01] [-1.18668563e-02 -4.47336730e-04 9.99929486e-01 -6.36990471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.02589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.41, Y:-40.25, Z:-6.37 [[ 9.78414207e-01 2.06341065e-01 1.13579979e-02 3.87412193e+02] [-2.06332712e-01 9.78480017e-01 -1.91508662e-03 -4.02546842e+01] [-1.15087350e-02 -4.69778558e-04 9.99933662e-01 -6.37022253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.44, Y:-40.26, Z:-6.37 [[ 9.77750413e-01 2.09500116e-01 1.06691711e-02 3.87440664e+02] [-2.09492924e-01 9.77808507e-01 -1.79983057e-03 -4.02562707e+01] [-1.08094710e-02 -4.75330763e-04 9.99941463e-01 -6.37071859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.085898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.47, Y:-40.26, Z:-6.37 [[ 9.76961366e-01 2.13177787e-01 1.00857053e-02 3.87468865e+02] [-2.13171571e-01 9.77013302e-01 -1.69985222e-03 -4.02586197e+01] [-1.02162389e-02 -4.89295697e-04 9.99947693e-01 -6.37117826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.50, Y:-40.26, Z:-6.37 [[ 9.76174633e-01 2.16741673e-01 1.03020979e-02 3.87495770e+02] [-2.16735426e-01 9.76228843e-01 -1.73244784e-03 -4.02611305e+01] [-1.04326988e-02 -5.41657953e-04 9.99945431e-01 -6.37196898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.145898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.52, Y:-40.26, Z:-6.37 [[ 9.75091932e-01 2.21544098e-01 1.06741564e-02 3.87523675e+02] [-2.21537669e-01 9.75150161e-01 -1.79584003e-03 -4.02621720e+01] [-1.08067631e-02 -6.13618622e-04 9.99941417e-01 -6.37168259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.55, Y:-40.26, Z:-6.37 [[ 9.74881834e-01 2.22475687e-01 1.04870741e-02 3.87550594e+02] [-2.22469575e-01 9.74938043e-01 -1.76060270e-03 -4.02649362e+01] [-1.06159388e-02 -6.16675331e-04 9.99943459e-01 -6.37279821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.205898227 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.58, Y:-40.27, Z:-6.37 [[ 9.74895362e-01 2.22396198e-01 1.09070686e-02 3.87577855e+02] [-2.22389593e-01 9.74956163e-01 -1.83006791e-03 -4.02681377e+01] [-1.10409139e-02 -6.41493839e-04 9.99938841e-01 -6.37355315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.61, Y:-40.27, Z:-6.37 [[ 9.75091611e-01 2.21499542e-01 1.15889271e-02 3.87605529e+02] [-2.21492017e-01 9.75160245e-01 -1.94495211e-03 -4.02718797e+01] [-1.17318670e-02 -6.70348352e-04 9.99930955e-01 -6.37385078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.265898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.63, Y:-40.28, Z:-6.37 [[ 9.75847010e-01 2.17970129e-01 1.45476837e-02 3.87632717e+02] [-2.17957939e-01 9.75955120e-01 -2.43750246e-03 -4.02762229e+01] [-1.47291891e-02 -7.92153664e-04 9.99891206e-01 -6.37365662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.66, Y:-40.28, Z:-6.37 [[ 9.76200375e-01 2.16259522e-01 1.62679958e-02 3.87659940e+02] [-2.16244103e-01 9.76335536e-01 -2.72204862e-03 -4.02810981e+01] [-1.64716914e-02 -8.60593274e-04 9.99863962e-01 -6.37377174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.325898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.69, Y:-40.29, Z:-6.37 [[ 9.76479093e-01 2.14915371e-01 1.73194494e-02 3.87687041e+02] [-2.14897747e-01 9.76632265e-01 -2.89435110e-03 -4.02856301e+01] [-1.75367736e-02 -8.95637320e-04 9.99845818e-01 -6.37401192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.71, Y:-40.29, Z:-6.37 [[ 9.76629110e-01 2.14215547e-01 1.75294359e-02 3.87714211e+02] [-2.14197440e-01 9.76786002e-01 -2.92607304e-03 -4.02903195e+01] [-1.77493179e-02 -8.97072182e-04 9.99842066e-01 -6.37497611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.385898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.74, Y:-40.29, Z:-6.38 [[ 9.76666392e-01 2.14045458e-01 1.75299941e-02 3.87742313e+02] [-2.14027383e-01 9.76823288e-01 -2.92272402e-03 -4.02948137e+01] [-1.77493022e-02 -8.97372438e-04 9.99842066e-01 -6.37574418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.77, Y:-40.30, Z:-6.38 [[ 9.76758878e-01 2.13690447e-01 1.66879269e-02 3.87769844e+02] [-2.13674060e-01 9.76901054e-01 -2.77970819e-03 -4.02988891e+01] [-1.68964504e-02 -8.50672431e-04 9.99856883e-01 -6.37623349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.445898227 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:387.80, Y:-40.30, Z:-6.38 [[ 9.76839833e-01 2.13397790e-01 1.56628390e-02 3.87797534e+02] [-2.13383360e-01 9.76965071e-01 -2.60626409e-03 -4.03030409e+01] [-1.58582176e-02 -7.96286645e-04 9.99873933e-01 -6.37771930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.83, Y:-40.31, Z:-6.38 [[ 9.77124700e-01 2.12083026e-01 1.57515215e-02 3.87825019e+02] [-2.12068310e-01 9.77251338e-01 -2.61798498e-03 -4.03077566e+01] [-1.59484256e-02 -7.82300748e-04 9.99872510e-01 -6.37778882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.505898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.85, Y:-40.31, Z:-6.38 [[ 9.78027481e-01 2.07769277e-01 1.71514841e-02 3.87851343e+02] [-2.07751244e-01 9.78177550e-01 -2.84621668e-03 -4.03136153e+01] [-1.73685531e-02 -7.79564031e-04 9.99848851e-01 -6.37846875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.88, Y:-40.32, Z:-6.38 [[ 9.78559502e-01 2.05148279e-01 1.83162586e-02 3.87877529e+02] [-2.05127313e-01 9.78730589e-01 -3.03635540e-03 -4.03193335e+01] [-1.85495856e-02 -7.85910472e-04 9.99827633e-01 -6.37918814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.565898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.91, Y:-40.33, Z:-6.38 [[ 9.79028130e-01 2.02840717e-01 1.89621639e-02 3.87905322e+02] [-2.02817829e-01 9.79211444e-01 -3.14261441e-03 -4.03254801e+01] [-1.92054181e-02 -7.69157017e-04 9.99815263e-01 -6.37926115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.93, Y:-40.33, Z:-6.38 [[ 9.79318321e-01 2.01385884e-01 1.94769872e-02 3.87932015e+02] [-2.01361540e-01 9.79511685e-01 -3.22332077e-03 -4.03314152e+01] [-1.97270679e-02 -7.65259071e-04 9.99805110e-01 -6.38029582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.625898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.96, Y:-40.34, Z:-6.38 [[ 9.79376720e-01 2.01126189e-01 1.92222827e-02 3.87959572e+02] [-2.01102444e-01 9.79565053e-01 -3.18039177e-03 -4.03369461e+01] [-1.94691364e-02 -7.50846368e-04 9.99810176e-01 -6.38116510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.99, Y:-40.34, Z:-6.38 [[ 9.78743178e-01 2.04313525e-01 1.78262226e-02 3.87987020e+02] [-2.04293685e-01 9.78905209e-01 -2.94640578e-03 -4.03418300e+01] [-1.80521728e-02 -7.58010162e-04 9.99836759e-01 -6.38187542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.01, Y:-40.35, Z:-6.38 [[ 9.78136815e-01 2.07287827e-01 1.67370501e-02 3.88013249e+02] [-2.07270839e-01 9.78279698e-01 -2.76241730e-03 -4.03455215e+01] [-1.69461318e-02 -7.67080353e-04 9.99856110e-01 -6.38325660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.04, Y:-40.35, Z:-6.38 [[ 9.77543281e-01 2.10142848e-01 1.57834720e-02 3.88040731e+02] [-2.10128112e-01 9.77670390e-01 -2.60499366e-03 -4.03485505e+01] [-1.59784540e-02 -7.70057128e-04 9.99872040e-01 -6.38379140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.07, Y:-40.35, Z:-6.38 [[ 9.76884229e-01 2.13212284e-01 1.54183560e-02 3.88068028e+02] [-2.13198646e-01 9.77005566e-01 -2.54197987e-03 -4.03518370e+01] [-1.56058010e-02 -8.03952589e-04 9.99877899e-01 -6.38448133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77589822699997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.10, Y:-40.35, Z:-6.39 [[ 9.75805674e-01 2.18195995e-01 1.39210312e-02 3.88095180e+02] [-2.18185433e-01 9.75904640e-01 -2.29154317e-03 -4.03544549e+01] [-1.40856045e-02 -8.01265392e-04 9.99900472e-01 -6.38616626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80589822699994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.12, Y:-40.36, Z:-6.39 [[ 9.75495396e-01 2.19692573e-01 1.19960673e-02 3.88122921e+02] [-2.19684832e-01 9.75568896e-01 -1.97553015e-03 -4.03581437e+01] [-1.21369994e-02 -7.08233470e-04 9.99926093e-01 -6.38779020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.835898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.15, Y:-40.36, Z:-6.39 [[ 9.75467119e-01 2.19894375e-01 1.05054543e-02 3.88150541e+02] [-2.19888464e-01 9.75523488e-01 -1.72869197e-03 -4.03613850e+01] [-1.06284471e-02 -6.23746034e-04 9.99943322e-01 -6.38883347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.18, Y:-40.36, Z:-6.39 [[ 9.75639053e-01 2.19109486e-01 1.09302804e-02 3.88177710e+02] [-2.19103074e-01 9.75700066e-01 -1.79533833e-03 -4.03645960e+01] [-1.10580510e-02 -6.43255855e-04 9.99938651e-01 -6.38981940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.895898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.21, Y:-40.37, Z:-6.39 [[ 9.76335759e-01 2.15688520e-01 1.57145962e-02 3.88205819e+02] [-2.15674873e-01 9.76461828e-01 -2.57828003e-03 -4.03679313e+01] [-1.59008087e-02 -8.71976539e-04 9.99873194e-01 -6.38976597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.92589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.23, Y:-40.37, Z:-6.39 [[ 9.76838578e-01 2.13191254e-01 1.83270482e-02 3.88233636e+02] [-2.13172334e-01 9.77010000e-01 -3.00254047e-03 -4.03726636e+01] [-1.85458247e-02 -9.73822276e-04 9.99827537e-01 -6.39030133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.955898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.26, Y:-40.38, Z:-6.39 [[ 9.77402200e-01 2.10482247e-01 1.95490065e-02 3.88260423e+02] [-2.10460278e-01 9.77597180e-01 -3.19772782e-03 -4.03781609e+01] [-1.97841186e-02 -9.88823143e-04 9.99803786e-01 -6.39077479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.98589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.29, Y:-40.38, Z:-6.39 [[ 9.77990769e-01 2.07734879e-01 1.95006655e-02 3.88287259e+02] [-2.07712492e-01 9.78184723e-01 -3.18888703e-03 -4.03847610e+01] [-1.97376961e-02 -9.31829744e-04 9.99804758e-01 -6.39148656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.015898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.31, Y:-40.40, Z:-6.39 [[ 9.78744720e-01 2.04246037e-01 1.85021319e-02 3.88313216e+02] [-2.04225331e-01 9.78919242e-01 -3.02185959e-03 -4.03950357e+01] [-1.87292958e-02 -8.20974910e-04 9.99824254e-01 -6.39153722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.04589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.34, Y:-40.40, Z:-6.39 [[ 9.78817735e-01 2.03811428e-01 1.94098904e-02 3.88340292e+02] [-2.03788599e-01 9.79009791e-01 -3.16792938e-03 -4.04034448e+01] [-1.96481329e-02 -8.54688900e-04 9.99806591e-01 -6.39189743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.075898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.37, Y:-40.41, Z:-6.39 [[ 9.78730878e-01 2.04082138e-01 2.08889767e-02 3.88367488e+02] [-2.04055853e-01 9.78953327e-01 -3.40483390e-03 -4.04120808e+01] [-2.11441990e-02 -9.30101879e-04 9.99776004e-01 -6.39212948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.10589822699995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.39, Y:-40.42, Z:-6.39 [[ 9.78468391e-01 2.05191851e-01 2.22690970e-02 3.88394263e+02] [-2.05162371e-01 9.78721237e-01 -3.62509403e-03 -4.04206447e+01] [-2.25390779e-02 -1.02174081e-03 9.99745441e-01 -6.39178113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.135898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.42, Y:-40.43, Z:-6.39 [[ 9.78042404e-01 2.07082977e-01 2.34456306e-02 3.88420292e+02] [-2.07050966e-01 9.78322734e-01 -3.81133643e-03 -4.04289969e+01] [-2.37266563e-02 -1.12679182e-03 9.99717848e-01 -6.39287981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.45, Y:-40.44, Z:-6.39 [[ 9.77125659e-01 2.11324239e-01 2.38225039e-02 3.88445281e+02] [-2.11292498e-01 9.77415214e-01 -3.87049923e-03 -4.04403493e+01] [-2.41024080e-02 -1.25155223e-03 9.99708711e-01 -6.39444255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.195898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.47, Y:-40.45, Z:-6.40 [[ 9.76743810e-01 2.13076884e-01 2.38698695e-02 3.88472658e+02] [-2.13045588e-01 9.77034571e-01 -3.87613276e-03 -4.04477791e+01] [-2.41476020e-02 -1.29938170e-03 9.99707560e-01 -6.39619240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.50, Y:-40.46, Z:-6.40 [[ 9.76414881e-01 2.14560012e-01 2.40412470e-02 3.88499131e+02] [-2.14528753e-01 9.76709878e-01 -3.90227834e-03 -4.04551308e+01] [-2.43185963e-02 -1.34729610e-03 9.99703351e-01 -6.39738023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.255898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.53, Y:-40.47, Z:-6.40 [[ 9.76078937e-01 2.16093170e-01 2.39510072e-02 3.88525409e+02] [-2.16062654e-01 9.76371769e-01 -3.88564786e-03 -4.04662623e+01] [-2.42247493e-02 -1.38221915e-03 9.99705582e-01 -6.39867197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.55, Y:-40.47, Z:-6.40 [[ 9.76114768e-01 2.16058229e-01 2.27772227e-02 3.88551915e+02] [-2.16030655e-01 9.76379594e-01 -3.69372320e-03 -4.04742883e+01] [-2.30372748e-02 -1.31508059e-03 9.99733742e-01 -6.39953503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.315898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.58, Y:-40.48, Z:-6.40 [[ 9.76263205e-01 2.15566574e-01 2.10048994e-02 3.88578621e+02] [-2.15543047e-01 9.76488404e-01 -3.40466059e-03 -4.04821543e+01] [-2.12449717e-02 -1.20361515e-03 9.99773576e-01 -6.40098858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34589822699996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.61, Y:-40.49, Z:-6.40 [[ 9.76469019e-01 2.14749262e-01 1.97739466e-02 3.88605158e+02] [-2.14728268e-01 9.76668575e-01 -3.20392093e-03 -4.04898901e+01] [-2.00006319e-02 -1.11749577e-03 9.99799343e-01 -6.40270329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.375898227 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.63, Y:-40.50, Z:-6.40 [[ 9.76761689e-01 2.13386651e-01 2.00683787e-02 3.88631296e+02] [-2.13364779e-01 9.76967200e-01 -3.24978285e-03 -4.05023743e+01] [-2.02996080e-02 -1.10762178e-03 9.99793328e-01 -6.40497350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40589822699997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:388.66, Y:-40.51, Z:-6.41 [[ 9.76835001e-01 2.13037198e-01 2.02122068e-02 3.88656873e+02] [-2.13014957e-01 9.77043460e-01 -3.27201018e-03 -4.05115023e+01] [-2.04452643e-02 -1.10928831e-03 9.99790358e-01 -6.40627241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43589822699994 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:388.68, Y:-40.52, Z:-6.41 [[ 9.77023119e-01 2.12248436e-01 1.94017201e-02 3.88683850e+02] [-2.12227821e-01 9.77215175e-01 -3.13916904e-03 -4.05206271e+01] [-1.96259390e-02 -1.05054405e-03 9.99806841e-01 -6.40720355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46589822699997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:388.71, Y:-40.53, Z:-6.41 [[ 9.77241706e-01 2.11390253e-01 1.76864389e-02 3.88709646e+02] [-2.11372993e-01 9.77401285e-01 -2.86099024e-03 -4.05295108e+01] [-1.78915335e-02 -9.42556528e-04 9.99839489e-01 -6.40874577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49589822699994 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:388.74, Y:-40.54, Z:-6.41 [[ 9.77621114e-01 2.09902174e-01 1.40725146e-02 3.88735843e+02] [-2.09891115e-01 9.77722121e-01 -2.27483944e-03 -4.05427744e+01] [-1.42365026e-02 -7.29764710e-04 9.99898390e-01 -6.41053516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.52589822699997 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:388.76, Y:-40.55, Z:-6.41 [[ 9.77691604e-01 2.09581549e-01 1.39535330e-02 3.88762301e+02] [-2.09570657e-01 9.77790906e-01 -2.25466587e-03 -4.05517403e+01] [-1.41161740e-02 -7.19883178e-04 9.99900103e-01 -6.41125060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55589822699994 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:388.83, Y:-40.52, Z:-6.42 [[ 9.77246370e-01 2.12073321e-01 -3.79979321e-03 3.88829373e+02] [-2.11173136e-01 9.71106440e-01 -1.11167387e-01 -4.05237978e+01] [-1.98856333e-02 1.09440340e-01 9.93794432e-01 -6.41570678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.585898227 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:388.86, Y:-40.57, Z:-6.40 [[ 9.77471470e-01 2.10975821e-01 6.22327742e-03 3.88862990e+02] [-2.10839718e-01 9.77361378e-01 -1.76451400e-02 -4.05718442e+01] [-9.80508891e-03 1.59355069e-02 9.99824945e-01 -6.40285059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61589822699995 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:388.87, Y:-40.59, Z:-6.45 [[ 9.77056615e-01 2.10495997e-01 3.24315527e-02 3.88865618e+02] [-2.10681765e-01 9.77551798e-01 2.38263213e-03 -4.05903559e+01] [-3.12019881e-02 -9.16070326e-03 9.99471119e-01 -6.44532188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.645898227 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:388.91, Y:-40.58, Z:-6.43 [[ 9.77804469e-01 2.08832667e-01 1.69510435e-02 3.88908796e+02] [-2.07909212e-01 9.77119995e-01 -4.48360853e-02 -4.05766488e+01] [-2.59264429e-02 4.03166465e-02 9.98850533e-01 -6.43427767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67589822699995 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:388.91, Y:-40.68, Z:-6.43 [[ 9.77583728e-01 2.00129848e-01 6.54071767e-02 3.88905627e+02] [-2.08717586e-01 9.62005170e-01 1.76019949e-01 -4.06775767e+01] [-2.76951965e-02 -1.85725866e-01 9.82211219e-01 -6.42578274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.705898227 meters Centerline goodness : 0.986850 Centerline is valid? [True, True] Translation: X:388.95, Y:-40.60, Z:-6.38 [[ 9.79140260e-01 2.03067109e-01 6.93544401e-03 3.88948358e+02] [-2.03002344e-01 9.79136565e-01 -9.03519660e-03 -4.06035143e+01] [-8.62549808e-03 7.43881335e-03 9.99935130e-01 -6.38384142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73589822699995 meters Centerline goodness : 0.984778 Centerline is valid? [True, True] Translation: X:388.97, Y:-40.62, Z:-6.38 [[ 9.79749956e-01 1.99994481e-01 9.60376869e-03 3.88973515e+02] [-1.99927518e-01 9.79781996e-01 -7.49853787e-03 -4.06186045e+01] [-1.09092658e-02 5.42663450e-03 9.99925767e-01 -6.38120784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.765898227 meters Centerline goodness : 0.982989 Centerline is valid? [True, True] Translation: X:389.00, Y:-40.63, Z:-6.38 [[ 9.80038952e-01 1.98490004e-01 1.11968813e-02 3.88999698e+02] [-1.98473535e-01 9.80102866e-01 -2.57454668e-03 -4.06288052e+01] [-1.14851172e-02 3.00871414e-04 9.99933999e-01 -6.38106135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79589822699995 meters Centerline goodness : 0.981104 Centerline is valid? [True, True] Translation: X:389.03, Y:-40.64, Z:-6.38 [[ 9.80340180e-01 1.96767904e-01 1.46807203e-02 3.89027461e+02] [-1.96834713e-01 9.80431334e-01 3.23958017e-03 -4.06387412e+01] [-1.37559928e-02 -6.06556597e-03 9.99886984e-01 -6.38160039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.825898227 meters Centerline goodness : 0.979952 Centerline is valid? [True, True] Translation: X:389.05, Y:-40.64, Z:-6.38 [[ 9.80347115e-01 1.96749387e-01 1.44641724e-02 3.89054975e+02] [-1.96706698e-01 9.80452812e-01 -4.33105820e-03 -4.06439150e+01] [-1.50335715e-02 1.40074083e-03 9.99886008e-01 -6.38135380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85589822699995 meters Centerline goodness : 0.974692 Centerline is valid? [True, True] Translation: X:389.08, Y:-40.65, Z:-6.38 [[ 9.80342997e-01 1.96518210e-01 1.75556765e-02 3.89081602e+02] [-1.96529940e-01 9.80497238e-01 -1.07153156e-03 -4.06549328e+01] [-1.74238678e-02 -2.39974759e-03 9.99845313e-01 -6.38225694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.885898227 meters Centerline goodness : 0.975388 Centerline is valid? [True, True] Translation: X:389.11, Y:-40.66, Z:-6.38 [[ 9.80491744e-01 1.95801607e-01 1.72531281e-02 3.89111167e+02] [-1.95693815e-01 9.80634457e-01 -7.74544712e-03 -4.06591130e+01] [-1.84355829e-02 4.21801650e-03 9.99821153e-01 -6.38166054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91589822699996 meters Centerline goodness : 0.094908 Centerline is valid? [True, False] Translation: X:389.11, Y:-40.66, Z:-6.38 [[ 9.81297038e-01 1.91772565e-01 1.67154422e-02 3.89110858e+02] [-1.91583250e-01 9.81399433e-01 -1.22886667e-02 -4.06572107e+01] [-1.87611546e-02 8.85643345e-03 9.99784768e-01 -6.38223730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.945898227 meters Centerline goodness : 0.970081 Centerline is valid? [False, True] Translation: X:389.11, Y:-40.66, Z:-6.38 [[ 9.82091579e-01 1.87705798e-01 1.62069183e-02 3.89110411e+02] [-1.87438174e-01 9.82134239e-01 -1.67112720e-02 -4.06560251e+01] [-1.90541720e-02 1.33742043e-02 9.99728998e-01 -6.38276318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97589822699996 meters Centerline goodness : 0.104254 Centerline is valid? [True, False] Translation: X:389.05, Y:-40.65, Z:-6.39 [[ 9.83732088e-01 1.78666467e-01 1.86941991e-02 3.89048874e+02] [-1.78396147e-01 9.83840406e-01 -1.52600996e-02 -4.06508963e+01] [-2.11185765e-02 1.16768766e-02 9.99708786e-01 -6.38671390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.005898227 meters Centerline goodness : 0.105091 Centerline is valid? [False, False] Translation: X:389.05, Y:-40.65, Z:-6.39 [[ 9.85184792e-01 1.70599660e-01 1.75123399e-02 3.89048969e+02] [-1.70160228e-01 9.85121543e-01 -2.41048111e-02 -4.06480706e+01] [-2.13640559e-02 2.07677895e-02 9.99556039e-01 -6.38778182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03589822699996 meters Centerline goodness : 0.102102 Centerline is valid? [False, False] Translation: X:389.05, Y:-40.65, Z:-6.39 [[ 9.85899773e-01 1.66458958e-01 1.71187775e-02 3.89048806e+02] [-1.65944840e-01 9.85736766e-01 -2.80238934e-02 -4.06495979e+01] [-2.15394364e-02 2.47879773e-02 9.99460659e-01 -6.38928275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.065898227 meters Centerline goodness : 0.104516 Centerline is valid? [False, False] Translation: X:389.05, Y:-40.66, Z:-6.39 [[ 9.85927087e-01 1.66233356e-01 1.77271126e-02 3.89047336e+02] [-1.65727920e-01 9.85803222e-01 -2.69492984e-02 -4.06552213e+01] [-2.19553170e-02 2.36321658e-02 9.99479607e-01 -6.39125861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09589822699996 meters Centerline goodness : 0.104712 Centerline is valid? [False, False] Translation: X:389.04, Y:-40.66, Z:-6.39 [[ 9.86727001e-01 1.61688397e-01 1.50561628e-02 3.89040296e+02] [-1.61518329e-01 9.86797880e-01 -1.19068226e-02 -4.06635974e+01] [-1.67825846e-02 9.31693706e-03 9.99815753e-01 -6.38711573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.125898227 meters Centerline goodness : 0.106106 Centerline is valid? [False, False] Translation: X:389.01, Y:-40.66, Z:-6.39 [[ 9.87611424e-01 1.56526517e-01 1.10961580e-02 3.89005818e+02] [-1.56320992e-01 9.87552055e-01 -1.74552471e-02 -4.06566038e+01] [-1.36902426e-02 1.55044390e-02 9.99786072e-01 -6.38973794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15589822699997 meters Centerline goodness : 0.105524 Centerline is valid? [False, False] Translation: X:388.99, Y:-40.66, Z:-6.40 [[ 9.88199080e-01 1.52471112e-01 1.46675779e-02 3.88993268e+02] [-1.52282974e-01 9.88248875e-01 -1.31930983e-02 -4.06613721e+01] [-1.65067837e-02 1.08037852e-02 9.99805383e-01 -6.40011854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18589822699994 meters Centerline goodness : 0.103148 Centerline is valid? [False, False] Translation: X:389.00, Y:-40.66, Z:-6.40 [[ 9.88832691e-01 1.48401104e-01 1.36755533e-02 3.88995606e+02] [-1.48148106e-01 9.88802071e-01 -1.79611720e-02 -4.06584503e+01] [-1.61878732e-02 1.57345867e-02 9.99745155e-01 -6.40133662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21589822699997 meters Centerline goodness : 0.102064 Centerline is valid? [False, False] Translation: X:388.99, Y:-40.67, Z:-6.40 [[ 9.88999439e-01 1.47027675e-01 1.62164404e-02 3.88991924e+02] [-1.47094947e-01 9.89117735e-01 3.03023196e-03 -4.06675769e+01] [-1.55944408e-02 -5.38225415e-03 9.99863913e-01 -6.40133366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24589822699994 meters Centerline goodness : 0.104790 Centerline is valid? [False, False] Translation: X:388.98, Y:-40.66, Z:-6.40 [[ 9.89638742e-01 1.43116477e-01 1.15253607e-02 3.88981627e+02] [-1.42946258e-01 9.89625024e-01 -1.44457240e-02 -4.06581579e+01] [-1.34732065e-02 1.26485409e-02 9.99829229e-01 -6.40443194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27589822699997 meters Centerline goodness : 0.104790 Centerline is valid? [False, False] Translation: X:388.98, Y:-40.66, Z:-6.40 [[ 9.89638742e-01 1.43116477e-01 1.15253607e-02 3.88981627e+02] [-1.42946258e-01 9.89625024e-01 -1.44457240e-02 -4.06581579e+01] [-1.34732065e-02 1.26485409e-02 9.99829229e-01 -6.40443194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30589822699994 meters Centerline goodness : 0.103583 Centerline is valid? [False, False] Translation: X:388.98, Y:-40.66, Z:-6.41 [[ 9.89643368e-01 1.43051400e-01 1.19290257e-02 3.88980407e+02] [-1.42884949e-01 9.89643026e-01 -1.38048086e-02 -4.06611760e+01] [-1.37802743e-02 1.19573590e-02 9.99833549e-01 -6.40530408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.335898227 meters Centerline goodness : 0.103361 Centerline is valid? [False, False] Translation: X:388.98, Y:-40.66, Z:-6.41 [[ 9.90254863e-01 1.38781409e-01 1.16200789e-02 3.88979748e+02] [-1.38559230e-01 9.90188072e-01 -1.81362084e-02 -4.06607293e+01] [-1.40230321e-02 1.63493994e-02 9.99767999e-01 -6.40569643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36589822699995 meters Centerline goodness : 0.104569 Centerline is valid? [False, False] Translation: X:388.98, Y:-40.67, Z:-6.41 [[ 9.90295507e-01 1.38443361e-01 1.21755568e-02 3.88977857e+02] [-1.38225708e-01 9.90251373e-01 -1.72009277e-02 -4.06655999e+01] [-1.44382160e-02 1.53510264e-02 9.99777917e-01 -6.40693850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.395898227 meters Centerline goodness : 0.107894 Centerline is valid? [False, False] Translation: X:388.97, Y:-40.67, Z:-6.40 [[ 9.91530575e-01 1.29584790e-01 8.65450611e-03 3.88968786e+02] [-1.29523749e-01 9.91549607e-01 -7.27838659e-03 -4.06743063e+01] [-9.52454034e-03 6.09577877e-03 9.99936060e-01 -6.40342138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.42589822699995 meters Centerline goodness : 0.108670 Centerline is valid? [False, False] Translation: X:388.94, Y:-40.66, Z:-6.40 [[ 9.92602279e-01 1.21333750e-01 4.34006331e-03 3.88935980e+02] [-1.21237303e-01 9.92459253e-01 -1.80595767e-02 -4.06616288e+01] [-6.49857216e-03 1.73997994e-02 9.99827493e-01 -6.40490689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.455898227 meters Centerline goodness : 0.107671 Centerline is valid? [False, False] Translation: X:388.93, Y:-40.66, Z:-6.41 [[ 9.92616946e-01 1.21199301e-01 4.72523693e-03 3.88934851e+02] [-1.21099212e-01 9.92484064e-01 -1.76171313e-02 -4.06637787e+01] [-6.82490635e-03 1.69148406e-02 9.99833641e-01 -6.40567949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.48589822699995 meters Centerline goodness : 0.110222 Centerline is valid? [False, False] Translation: X:388.94, Y:-40.66, Z:-6.41 [[ 9.93120367e-01 1.17028124e-01 4.04402257e-03 3.88935989e+02] [-1.16908621e-01 9.92886179e-01 -2.25701283e-02 -4.06604313e+01] [-6.65659389e-03 2.19420730e-02 9.99737083e-01 -6.40568553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.515898227 meters Centerline goodness : 0.104665 Centerline is valid? [False, False] Translation: X:388.93, Y:-40.70, Z:-6.39 [[ 9.92165374e-01 1.24026704e-01 1.50082703e-02 3.88933774e+02] [-1.24659472e-01 9.90758443e-01 5.34576861e-02 -4.07030372e+01] [-8.23938989e-03 -5.49097882e-02 9.98457324e-01 -6.39431726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.54589822699995 meters Centerline goodness : 0.107594 Centerline is valid? [False, False] Translation: X:388.92, Y:-40.69, Z:-6.40 [[ 9.91886388e-01 1.26221070e-01 1.51536925e-02 3.88923876e+02] [-1.26628237e-01 9.91500574e-01 2.98647192e-02 -4.06889453e+01] [-1.12553380e-02 -3.15412938e-02 9.99439075e-01 -6.40047645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.575898227 meters Centerline goodness : 0.107879 Centerline is valid? [False, False] Translation: X:388.92, Y:-40.68, Z:-6.40 [[ 9.91672716e-01 1.28157027e-01 1.26885931e-02 3.88924203e+02] [-1.28296675e-01 9.91676159e-01 1.08793253e-02 -4.06773883e+01] [-1.11887133e-02 -1.24166344e-02 9.99860310e-01 -6.40105748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.60589822699995 meters Centerline goodness : 0.105063 Centerline is valid? [False, False] Translation: X:388.94, Y:-40.67, Z:-6.40 [[ 9.91499232e-01 1.29590800e-01 1.16403135e-02 3.88942690e+02] [-1.29602531e-01 9.91565993e-01 2.55979299e-04 -4.06728075e+01] [-1.15089665e-02 -1.76241737e-03 9.99932216e-01 -6.39793691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11108.72 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%| | 0/13251 [00:00